# Statistics

data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0839271;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916073;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.2463;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.46;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.158072;Timing/Map_optimization/ms:9.79996;Timing/Memory_cleanup/ms:0.0939369;Timing/Memory_update/ms:61.5108;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211954;Timing/Proximity_by_space/ms:13.2391;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.327826;Timing/Statistics_creation/ms:0.128984;Timing/Total/ms:85.5658;TimingMem/Add_new_words/ms:8.12101;TimingMem/Compressing_data/ms:1.54018;TimingMem/Descriptors_extraction/ms:20.7388;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0939369;TimingMem/Keypoints_detection/ms:24.7061;TimingMem/Occupancy_grid/ms:1.06502;TimingMem/Post_decimation/ms:1.10793;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.470161;TimingMem/Signature_creation/ms:61.034


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0837873;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916213;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.3066;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.485;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:10.4771;Timing/Memory_cleanup/ms:0.0891685;Timing/Memory_update/ms:59.3619;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.202179;Timing/Proximity_by_space/ms:15.2941;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.283957;Timing/Statistics_creation/ms:0.130892;Timing/Total/ms:86.0691;TimingMem/Add_new_words/ms:5.018;TimingMem/Compressing_data/ms:0.686884;TimingMem/Descriptors_extraction/ms:15.31;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:31.4369;TimingMem/Occupancy_grid/ms:1.57309;TimingMem/Post_decimation/ms:1.02401;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.451088;TimingMem/Signature_creation/ms:58.9001


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0836771;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:76491.5;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.11194;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916323;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.3668;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0450611;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.202894;Timing/Map_optimization/ms:12.136;Timing/Memory_cleanup/ms:0.279903;Timing/Memory_update/ms:56.196;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.29397;Timing/Proximity_by_space/ms:12.121;Timing/Proximity_by_time/ms:0.0660419;Timing/Reactivation/ms:0.421047;Timing/Statistics_creation/ms:0.379086;Timing/Total/ms:82.1481;TimingMem/Add_new_words/ms:6.22511;TimingMem/Compressing_data/ms:0.705957;TimingMem/Descriptors_extraction/ms:15.0371;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.11301;TimingMem/Keypoints_detection/ms:27.951;TimingMem/Occupancy_grid/ms:1.20401;TimingMem/Post_decimation/ms:1.58;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.546932;TimingMem/Signature_creation/ms:55.6421


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0835902;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91641;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.4271;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.041008;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00715256;Timing/Likelihood_computation/ms:0.165939;Timing/Map_optimization/ms:10.628;Timing/Memory_cleanup/ms:0.0901222;Timing/Memory_update/ms:41.3401;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.257015;Timing/Proximity_by_space/ms:22.964;Timing/Proximity_by_time/ms:0.0319481;Timing/Reactivation/ms:0.352859;Timing/Statistics_creation/ms:0.123024;Timing/Total/ms:76.0021;TimingMem/Add_new_words/ms:4.97794;TimingMem/Compressing_data/ms:0.658035;TimingMem/Descriptors_extraction/ms:10.922;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.114202;TimingMem/Keypoints_detection/ms:19.5169;TimingMem/Occupancy_grid/ms:0.859976;TimingMem/Post_decimation/ms:0.94986;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.449896;TimingMem/Signature_creation/ms:40.8821


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0835199;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91648;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.4873;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.515;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.153065;Timing/Map_optimization/ms:10.5371;Timing/Memory_cleanup/ms:0.11301;Timing/Memory_update/ms:51.0931;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.204086;Timing/Proximity_by_space/ms:14.7259;Timing/Proximity_by_time/ms:0.0529289;Timing/Reactivation/ms:0.302076;Timing/Statistics_creation/ms:0.187874;Timing/Total/ms:77.404;TimingMem/Add_new_words/ms:4.78601;TimingMem/Compressing_data/ms:0.669003;TimingMem/Descriptors_extraction/ms:19.1309;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0920296;TimingMem/Keypoints_detection/ms:19.738;TimingMem/Occupancy_grid/ms:1.94407;TimingMem/Post_decimation/ms:1.02496;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.520945;TimingMem/Signature_creation/ms:50.565


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0834664;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916534;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.5476;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:15.017;Timing/Memory_cleanup/ms:0.141144;Timing/Memory_update/ms:47.22;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.205994;Timing/Proximity_by_space/ms:11.7979;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.319004;Timing/Statistics_creation/ms:0.215054;Timing/Total/ms:75.1481;TimingMem/Add_new_words/ms:7.42197;TimingMem/Compressing_data/ms:0.666142;TimingMem/Descriptors_extraction/ms:13.9029;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.110865;TimingMem/Keypoints_detection/ms:19.9802;TimingMem/Occupancy_grid/ms:0.870943;TimingMem/Post_decimation/ms:0.932932;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.472784;TimingMem/Signature_creation/ms:46.741


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0834218;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916578;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.6078;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.46;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.146866;Timing/Map_optimization/ms:10.515;Timing/Memory_cleanup/ms:0.0882149;Timing/Memory_update/ms:55.8131;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200033;Timing/Proximity_by_space/ms:12.3;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.29707;Timing/Statistics_creation/ms:0.126839;Timing/Total/ms:79.5681;TimingMem/Add_new_words/ms:8.58903;TimingMem/Compressing_data/ms:4.2479;TimingMem/Descriptors_extraction/ms:18.46;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.153065;TimingMem/Keypoints_detection/ms:18.6689;TimingMem/Occupancy_grid/ms:0.887156;TimingMem/Post_decimation/ms:1.56403;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.434875;TimingMem/Signature_creation/ms:55.371


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0833879;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916612;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.6681;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.210047;Timing/Map_optimization/ms:10.154;Timing/Memory_cleanup/ms:0.0841618;Timing/Memory_update/ms:46.5138;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211;Timing/Proximity_by_space/ms:10.057;Timing/Proximity_by_time/ms:0.0550747;Timing/Reactivation/ms:0.302076;Timing/Statistics_creation/ms:0.126839;Timing/Total/ms:67.75;TimingMem/Add_new_words/ms:4.56405;TimingMem/Compressing_data/ms:0.627995;TimingMem/Descriptors_extraction/ms:12.3999;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0910759;TimingMem/Keypoints_detection/ms:23.463;TimingMem/Occupancy_grid/ms:0.905037;TimingMem/Post_decimation/ms:0.991821;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.433922;TimingMem/Signature_creation/ms:46.073


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.083361;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916639;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.7284;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.47;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.00214577;Timing/Hypotheses_creation/ms:0.0338554;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.164986;Timing/Map_optimization/ms:14.8549;Timing/Memory_cleanup/ms:0.36788;Timing/Memory_update/ms:49.3209;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.294209;Timing/Proximity_by_space/ms:10.3681;Timing/Proximity_by_time/ms:0.0529289;Timing/Reactivation/ms:0.332117;Timing/Statistics_creation/ms:0.411034;Timing/Total/ms:76.211;TimingMem/Add_new_words/ms:4.65512;TimingMem/Compressing_data/ms:0.678062;TimingMem/Descriptors_extraction/ms:15.4989;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0841618;TimingMem/Keypoints_detection/ms:22.4452;TimingMem/Occupancy_grid/ms:1.30486;TimingMem/Post_decimation/ms:1.02091;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.453949;TimingMem/Signature_creation/ms:48.8579


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.083339;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939.3;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.7886;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.18096;Timing/Map_optimization/ms:9.70912;Timing/Memory_cleanup/ms:0.0860691;Timing/Memory_update/ms:53.2949;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.217915;Timing/Proximity_by_space/ms:13.0649;Timing/Proximity_by_time/ms:0.0391006;Timing/Reactivation/ms:0.316143;Timing/Statistics_creation/ms:0.124931;Timing/Total/ms:77.071;TimingMem/Add_new_words/ms:8.81314;TimingMem/Compressing_data/ms:0.970125;TimingMem/Descriptors_extraction/ms:16.6168;TimingMem/Joining_dictionary_update/ms:0.0178814;TimingMem/Keypoints_3D/ms:0.139952;TimingMem/Keypoints_detection/ms:19.6631;TimingMem/Occupancy_grid/ms:0.966787;TimingMem/Post_decimation/ms:1.23692;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.13583;TimingMem/Signature_creation/ms:52.1522


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0833215;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939.3;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916679;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.8489;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.167131;Timing/Map_optimization/ms:10.4539;Timing/Memory_cleanup/ms:0.110149;Timing/Memory_update/ms:59.8049;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.233889;Timing/Proximity_by_space/ms:13.5541;Timing/Proximity_by_time/ms:0.0498295;Timing/Reactivation/ms:0.490904;Timing/Statistics_creation/ms:0.144005;Timing/Total/ms:85.0511;TimingMem/Add_new_words/ms:5.0571;TimingMem/Compressing_data/ms:0.818968;TimingMem/Descriptors_extraction/ms:14.1351;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:29.5839;TimingMem/Occupancy_grid/ms:4.57215;TimingMem/Post_decimation/ms:1.20401;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.496149;TimingMem/Signature_creation/ms:59.3009


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0833075;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916692;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.9091;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0298023;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.164032;Timing/Map_optimization/ms:11.2789;Timing/Memory_cleanup/ms:0.0920296;Timing/Memory_update/ms:46.828;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.221968;Timing/Proximity_by_space/ms:24.739;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.307083;Timing/Statistics_creation/ms:0.132084;Timing/Total/ms:83.8499;TimingMem/Add_new_words/ms:4.48799;TimingMem/Compressing_data/ms:0.715971;TimingMem/Descriptors_extraction/ms:12.6421;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0808239;TimingMem/Keypoints_detection/ms:23.6299;TimingMem/Occupancy_grid/ms:0.895977;TimingMem/Post_decimation/ms:1.03998;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.436068;TimingMem/Signature_creation/ms:46.38


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0832968;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916703;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.9694;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0429153;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.200987;Timing/Map_optimization/ms:14.024;Timing/Memory_cleanup/ms:0.57292;Timing/Memory_update/ms:52.4809;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.28801;Timing/Proximity_by_space/ms:19.6791;Timing/Proximity_by_time/ms:0.0591278;Timing/Reactivation/ms:0.431061;Timing/Statistics_creation/ms:0.30303;Timing/Total/ms:88.0911;TimingMem/Add_new_words/ms:6.56891;TimingMem/Compressing_data/ms:0.769138;TimingMem/Descriptors_extraction/ms:15.8842;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:1.73187;TimingMem/Keypoints_detection/ms:21.3559;TimingMem/Occupancy_grid/ms:1.31178;TimingMem/Post_decimation/ms:1.45602;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.564814;TimingMem/Signature_creation/ms:51.9011


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0832886;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916711;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.0296;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.465;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00500679;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.155926;Timing/Map_optimization/ms:10.267;Timing/Memory_cleanup/ms:0.209093;Timing/Memory_update/ms:53.3421;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.217199;Timing/Proximity_by_space/ms:11.4911;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.312805;Timing/Statistics_creation/ms:0.211;Timing/Total/ms:76.2951;TimingMem/Add_new_words/ms:4.75097;TimingMem/Compressing_data/ms:0.631094;TimingMem/Descriptors_extraction/ms:18.2319;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:22.9452;TimingMem/Occupancy_grid/ms:1.019;TimingMem/Post_decimation/ms:1.07002;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.478029;TimingMem/Signature_creation/ms:52.855


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0832814;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916719;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.0899;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00691414;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.154972;Timing/Map_optimization/ms:10.6189;Timing/Memory_cleanup/ms:0.102997;Timing/Memory_update/ms:41.9469;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.252008;Timing/Proximity_by_space/ms:13.1302;Timing/Proximity_by_time/ms:0.0481606;Timing/Reactivation/ms:0.298977;Timing/Statistics_creation/ms:0.134945;Timing/Total/ms:66.7269;TimingMem/Add_new_words/ms:4.6401;TimingMem/Compressing_data/ms:0.70715;TimingMem/Descriptors_extraction/ms:11.4582;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.105858;TimingMem/Keypoints_detection/ms:19.562;TimingMem/Occupancy_grid/ms:1.31893;TimingMem/Post_decimation/ms:0.975847;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.694036;TimingMem/Signature_creation/ms:41.2471


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0832763;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916724;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.1502;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.47;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.043869;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0121593;Timing/Likelihood_computation/ms:0.206947;Timing/Map_optimization/ms:10.34;Timing/Memory_cleanup/ms:0.0970364;Timing/Memory_update/ms:60.9779;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.225067;Timing/Proximity_by_space/ms:13.9132;Timing/Proximity_by_time/ms:0.0700951;Timing/Reactivation/ms:0.611782;Timing/Statistics_creation/ms:0.133038;Timing/Total/ms:86.6311;TimingMem/Add_new_words/ms:9.87005;TimingMem/Compressing_data/ms:1.37496;TimingMem/Descriptors_extraction/ms:18.4202;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.0958443;TimingMem/Keypoints_detection/ms:20.6749;TimingMem/Occupancy_grid/ms:1.07217;TimingMem/Post_decimation/ms:2.04587;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.804901;TimingMem/Signature_creation/ms:60.1652


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.083272;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916728;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.2104;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.465;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.00214577;Timing/Hypotheses_creation/ms:0.0691414;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0140667;Timing/Likelihood_computation/ms:0.264883;Timing/Map_optimization/ms:11.9462;Timing/Memory_cleanup/ms:0.39196;Timing/Memory_update/ms:58.8331;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.338078;Timing/Proximity_by_space/ms:14.2758;Timing/Proximity_by_time/ms:0.0479221;Timing/Reactivation/ms:0.360012;Timing/Statistics_creation/ms:0.533819;Timing/Total/ms:87.0781;TimingMem/Add_new_words/ms:4.76503;TimingMem/Compressing_data/ms:0.915051;TimingMem/Descriptors_extraction/ms:25.4979;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:22.5492;TimingMem/Occupancy_grid/ms:0.853062;TimingMem/Post_decimation/ms:0.936031;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.534058;TimingMem/Signature_creation/ms:58.2929


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0832686;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916731;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.2707;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.47;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.104904;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.027895;Timing/Likelihood_computation/ms:0.383139;Timing/Map_optimization/ms:10.148;Timing/Memory_cleanup/ms:0.0939369;Timing/Memory_update/ms:57.0121;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.313044;Timing/Proximity_by_space/ms:17.72;Timing/Proximity_by_time/ms:0.110865;Timing/Reactivation/ms:0.542164;Timing/Statistics_creation/ms:0.124931;Timing/Total/ms:86.5819;TimingMem/Add_new_words/ms:6.64401;TimingMem/Compressing_data/ms:1.88899;TimingMem/Descriptors_extraction/ms:16.0851;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:0.144958;TimingMem/Keypoints_detection/ms:21.0309;TimingMem/Occupancy_grid/ms:2.11096;TimingMem/Post_decimation/ms:2.83885;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.83487;TimingMem/Signature_creation/ms:55.1629


data:
Keypoint/Dictionary_size/words:6325;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.107316;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.892684;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.2707;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:229977;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.152111;Timing/Hypotheses_creation/ms:0.0298023;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.19002;Timing/Map_optimization/ms:11.194;Timing/Memory_cleanup/ms:0.27895;Timing/Memory_update/ms:56.2661;Timing/Neighbor_link_refining/ms:0.00596046;Timing/Posterior_computation/ms:0.207186;Timing/Proximity_by_space/ms:13.308;Timing/Proximity_by_time/ms:0.0269413;Timing/Reactivation/ms:0.304937;Timing/Statistics_creation/ms:0.123978;Timing/Total/ms:81.9402;TimingMem/Add_new_words/ms:5.4462;TimingMem/Compressing_data/ms:0.599861;TimingMem/Descriptors_extraction/ms:18.687;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0851154;TimingMem/Keypoints_detection/ms:26.7398;TimingMem/Occupancy_grid/ms:0.861168;TimingMem/Post_decimation/ms:0.97394;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.185966;TimingMem/Signature_creation/ms:56.073


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0961618;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.903838;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.3309;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.169992;Timing/Map_optimization/ms:9.73606;Timing/Memory_cleanup/ms:0.0910759;Timing/Memory_update/ms:50.8401;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216007;Timing/Proximity_by_space/ms:12.213;Timing/Proximity_by_time/ms:0.0560284;Timing/Reactivation/ms:0.324011;Timing/Statistics_creation/ms:0.135899;Timing/Total/ms:73.8251;TimingMem/Add_new_words/ms:7.45702;TimingMem/Compressing_data/ms:1.28889;TimingMem/Descriptors_extraction/ms:15.635;TimingMem/Joining_dictionary_update/ms:0.0197887;TimingMem/Keypoints_3D/ms:0.141144;TimingMem/Keypoints_detection/ms:19.2759;TimingMem/Occupancy_grid/ms:1.25599;TimingMem/Post_decimation/ms:1.29414;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.562906;TimingMem/Signature_creation/ms:50.271


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0910041;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.908996;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.3912;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.148058;Timing/Map_optimization/ms:12.7139;Timing/Memory_cleanup/ms:0.102997;Timing/Memory_update/ms:49.0351;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.202894;Timing/Proximity_by_space/ms:19.2721;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.401974;Timing/Statistics_creation/ms:0.170946;Timing/Total/ms:82.134;TimingMem/Add_new_words/ms:5.18799;TimingMem/Compressing_data/ms:0.712872;TimingMem/Descriptors_extraction/ms:15.729;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.102043;TimingMem/Keypoints_detection/ms:22.085;TimingMem/Occupancy_grid/ms:0.956059;TimingMem/Post_decimation/ms:1.08385;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.440836;TimingMem/Signature_creation/ms:48.588


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0883857;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.911614;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.4514;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.170946;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.161171;Timing/Likelihood_computation/ms:0.516891;Timing/Map_optimization/ms:9.64713;Timing/Memory_cleanup/ms:0.0839233;Timing/Memory_update/ms:62.5129;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.401974;Timing/Proximity_by_space/ms:11.719;Timing/Proximity_by_time/ms:0.994205;Timing/Reactivation/ms:0.994921;Timing/Statistics_creation/ms:0.121117;Timing/Total/ms:87.327;TimingMem/Add_new_words/ms:4.71997;TimingMem/Compressing_data/ms:0.712156;TimingMem/Descriptors_extraction/ms:13.186;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:37.9181;TimingMem/Occupancy_grid/ms:1.11985;TimingMem/Post_decimation/ms:1.09196;TimingMem/Pre_update/ms:0.00500679;TimingMem/Rehearsal/ms:0.599861;TimingMem/Signature_creation/ms:61.893


data:
Keypoint/Dictionary_size/words:6328;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.112805;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:9;Loop/Vp_hypothesis/:0.887195;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.4514;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:199980;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:6.33407;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0.1719;Timing/Hypotheses_creation/ms:0.0340939;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.216007;Timing/Map_optimization/ms:11.3218;Timing/Memory_cleanup/ms:0.473022;Timing/Memory_update/ms:60.323;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.222921;Timing/Proximity_by_space/ms:13.618;Timing/Proximity_by_time/ms:0.597954;Timing/Reactivation/ms:0.339031;Timing/Statistics_creation/ms:0.198126;Timing/Total/ms:93.6909;TimingMem/Add_new_words/ms:6.52289;TimingMem/Compressing_data/ms:1.30796;TimingMem/Descriptors_extraction/ms:23.454;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.079155;TimingMem/Keypoints_detection/ms:22.7249;TimingMem/Occupancy_grid/ms:1.22118;TimingMem/Post_decimation/ms:1.10292;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.12517;TimingMem/Signature_creation/ms:60.189


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.10068;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:76491.5;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.11194;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.89932;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.5117;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0379086;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.266075;Timing/Map_optimization/ms:10.34;Timing/Memory_cleanup/ms:0.119209;Timing/Memory_update/ms:61.636;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211;Timing/Proximity_by_space/ms:12.0599;Timing/Proximity_by_time/ms:0.0598431;Timing/Reactivation/ms:0.355005;Timing/Statistics_creation/ms:0.166893;Timing/Total/ms:85.259;TimingMem/Add_new_words/ms:4.93312;TimingMem/Compressing_data/ms:0.699997;TimingMem/Descriptors_extraction/ms:22.5301;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:27.58;TimingMem/Occupancy_grid/ms:1.04094;TimingMem/Post_decimation/ms:0.97394;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.464916;TimingMem/Signature_creation/ms:61.1641


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0946237;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.905376;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.5719;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00405312;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.148058;Timing/Map_optimization/ms:10.2699;Timing/Memory_cleanup/ms:0.11301;Timing/Memory_update/ms:44.0221;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.202894;Timing/Proximity_by_space/ms:23.2842;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.303984;Timing/Statistics_creation/ms:0.154972;Timing/Total/ms:78.589;TimingMem/Add_new_words/ms:4.36115;TimingMem/Compressing_data/ms:0.638962;TimingMem/Descriptors_extraction/ms:12.5141;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0839233;TimingMem/Keypoints_detection/ms:20.7779;TimingMem/Occupancy_grid/ms:0.856876;TimingMem/Post_decimation/ms:0.941038;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.447035;TimingMem/Signature_creation/ms:43.5679


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0912645;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.908735;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.6322;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.46;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0312328;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.152826;Timing/Map_optimization/ms:14.0049;Timing/Memory_cleanup/ms:0.182152;Timing/Memory_update/ms:60.607;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.201941;Timing/Proximity_by_space/ms:15.0261;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.313997;Timing/Statistics_creation/ms:0.231028;Timing/Total/ms:90.8101;TimingMem/Add_new_words/ms:5.99194;TimingMem/Compressing_data/ms:0.693083;TimingMem/Descriptors_extraction/ms:15.615;TimingMem/Joining_dictionary_update/ms:0.0181198;TimingMem/Keypoints_3D/ms:0.154972;TimingMem/Keypoints_detection/ms:33.0279;TimingMem/Occupancy_grid/ms:0.845909;TimingMem/Post_decimation/ms:0.993967;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.479937;TimingMem/Signature_creation/ms:60.1199


data:
Keypoint/Dictionary_size/words:6315;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.140826;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:12;Loop/Vp_hypothesis/:0.859174;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.6322;Memory/Immunized_globally/:9;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.44;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:209979;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:8.47793;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.277996;Timing/Hypotheses_creation/ms:0.109911;Timing/Hypotheses_validation/ms:0.00190735;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.19598;Timing/Map_optimization/ms:10.7281;Timing/Memory_cleanup/ms:0.597;Timing/Memory_update/ms:46.0119;Timing/Neighbor_link_refining/ms:0.00596046;Timing/Posterior_computation/ms:0.195026;Timing/Proximity_by_space/ms:16.14;Timing/Proximity_by_time/ms:0.0271797;Timing/Reactivation/ms:0.61512;Timing/Statistics_creation/ms:0.357866;Timing/Total/ms:83.4708;TimingMem/Add_new_words/ms:4.71592;TimingMem/Compressing_data/ms:0.77796;TimingMem/Descriptors_extraction/ms:13.16;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0889301;TimingMem/Keypoints_detection/ms:22.0301;TimingMem/Occupancy_grid/ms:1.02091;TimingMem/Post_decimation/ms:1.00112;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.188828;TimingMem/Signature_creation/ms:45.8171


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.120163;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:17;Loop/Vp_hypothesis/:0.879837;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.6925;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:10.1461;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.102997;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.0150204;Timing/Likelihood_computation/ms:0.684023;Timing/Map_optimization/ms:9.77588;Timing/Memory_cleanup/ms:0.0870228;Timing/Memory_update/ms:54.527;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.472069;Timing/Proximity_by_space/ms:15.6701;Timing/Proximity_by_time/ms:0.173807;Timing/Reactivation/ms:1.79601;Timing/Statistics_creation/ms:0.132084;Timing/Total/ms:93.585;TimingMem/Add_new_words/ms:5.04112;TimingMem/Compressing_data/ms:0.60606;TimingMem/Descriptors_extraction/ms:14.4651;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0860691;TimingMem/Keypoints_detection/ms:25.9969;TimingMem/Occupancy_grid/ms:0.953913;TimingMem/Post_decimation/ms:1.00493;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:1.92785;TimingMem/Signature_creation/ms:52.582


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.108753;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.891247;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.7527;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0329018;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.160933;Timing/Map_optimization/ms:14.1859;Timing/Memory_cleanup/ms:0.162125;Timing/Memory_update/ms:61.27;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.221014;Timing/Proximity_by_space/ms:13.4001;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.323057;Timing/Statistics_creation/ms:0.22006;Timing/Total/ms:90.029;TimingMem/Add_new_words/ms:4.62914;TimingMem/Compressing_data/ms:0.983;TimingMem/Descriptors_extraction/ms:24.4842;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0789165;TimingMem/Keypoints_detection/ms:24.744;TimingMem/Occupancy_grid/ms:1.42884;TimingMem/Post_decimation/ms:1.20306;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.468969;TimingMem/Signature_creation/ms:60.7941


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.101913;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.898087;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.813;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0321865;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.155926;Timing/Map_optimization/ms:10.963;Timing/Memory_cleanup/ms:0.0898838;Timing/Memory_update/ms:63.9009;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200987;Timing/Proximity_by_space/ms:11.6539;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.30899;Timing/Statistics_creation/ms:0.126123;Timing/Total/ms:87.4829;TimingMem/Add_new_words/ms:8.94618;TimingMem/Compressing_data/ms:0.825167;TimingMem/Descriptors_extraction/ms:16.762;TimingMem/Joining_dictionary_update/ms:0.0309944;TimingMem/Keypoints_3D/ms:0.209808;TimingMem/Keypoints_detection/ms:30.9482;TimingMem/Occupancy_grid/ms:1.17278;TimingMem/Post_decimation/ms:1.59287;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.461817;TimingMem/Signature_creation/ms:63.432


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0974143;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.902586;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.8732;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0298023;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.154018;Timing/Map_optimization/ms:15.209;Timing/Memory_cleanup/ms:0.164032;Timing/Memory_update/ms:44.2169;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.2141;Timing/Proximity_by_space/ms:16.2871;Timing/Proximity_by_time/ms:0.0550747;Timing/Reactivation/ms:0.313997;Timing/Statistics_creation/ms:0.209093;Timing/Total/ms:76.858;TimingMem/Add_new_words/ms:4.71783;TimingMem/Compressing_data/ms:0.61202;TimingMem/Descriptors_extraction/ms:13.742;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.161886;TimingMem/Keypoints_detection/ms:19.2931;TimingMem/Occupancy_grid/ms:0.889063;TimingMem/Post_decimation/ms:1.00398;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.482082;TimingMem/Signature_creation/ms:43.7269


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0942239;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.905776;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.9335;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0479221;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.203133;Timing/Map_optimization/ms:10.0849;Timing/Memory_cleanup/ms:0.0929832;Timing/Memory_update/ms:60.1318;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.28801;Timing/Proximity_by_space/ms:23.622;Timing/Proximity_by_time/ms:0.0650883;Timing/Reactivation/ms:0.442028;Timing/Statistics_creation/ms:0.133991;Timing/Total/ms:95.1178;TimingMem/Add_new_words/ms:4.30799;TimingMem/Compressing_data/ms:1.05619;TimingMem/Descriptors_extraction/ms:17.9379;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0891685;TimingMem/Keypoints_detection/ms:30.8981;TimingMem/Occupancy_grid/ms:1.17397;TimingMem/Post_decimation/ms:1.10602;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.545025;TimingMem/Signature_creation/ms:59.5791


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0918469;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.908153;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.9937;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0329018;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.164986;Timing/Map_optimization/ms:9.77993;Timing/Memory_cleanup/ms:0.0808239;Timing/Memory_update/ms:48.424;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.22006;Timing/Proximity_by_space/ms:11.5101;Timing/Proximity_by_time/ms:0.0629425;Timing/Reactivation/ms:0.375986;Timing/Statistics_creation/ms:0.126123;Timing/Total/ms:70.7829;TimingMem/Add_new_words/ms:4.51398;TimingMem/Compressing_data/ms:0.70405;TimingMem/Descriptors_extraction/ms:18.332;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:19.084;TimingMem/Occupancy_grid/ms:0.884056;TimingMem/Post_decimation/ms:0.951052;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.700951;TimingMem/Signature_creation/ms:47.7159


data:
Keypoint/Dictionary_size/words:6329;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.110946;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:9;Loop/Vp_hypothesis/:0.889054;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:49.9937;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:209979;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:7.89714;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.162125;Timing/Hypotheses_creation/ms:0.0700951;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0138283;Timing/Likelihood_computation/ms:0.413179;Timing/Map_optimization/ms:9.691;Timing/Memory_cleanup/ms:0.301838;Timing/Memory_update/ms:59.648;Timing/Neighbor_link_refining/ms:0.00786781;Timing/Posterior_computation/ms:0.26989;Timing/Proximity_by_space/ms:13.355;Timing/Proximity_by_time/ms:0.0360012;Timing/Reactivation/ms:0.406027;Timing/Statistics_creation/ms:0.118971;Timing/Total/ms:92.2301;TimingMem/Add_new_words/ms:6.27303;TimingMem/Compressing_data/ms:1.71709;TimingMem/Descriptors_extraction/ms:17.868;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.104904;TimingMem/Keypoints_detection/ms:22.4988;TimingMem/Occupancy_grid/ms:4.43292;TimingMem/Post_decimation/ms:1.69897;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.319004;TimingMem/Signature_creation/ms:59.319


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.101632;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.898368;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.054;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.0038147;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.152111;Timing/Map_optimization/ms:11.09;Timing/Memory_cleanup/ms:0.22006;Timing/Memory_update/ms:51.0211;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.204802;Timing/Proximity_by_space/ms:13.942;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.308037;Timing/Statistics_creation/ms:0.247002;Timing/Total/ms:77.2731;TimingMem/Add_new_words/ms:5.20706;TimingMem/Compressing_data/ms:0.72217;TimingMem/Descriptors_extraction/ms:18.62;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0808239;TimingMem/Keypoints_detection/ms:21.441;TimingMem/Occupancy_grid/ms:0.841856;TimingMem/Post_decimation/ms:0.960827;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.433922;TimingMem/Signature_creation/ms:50.581


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0964206;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.903579;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.1143;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0348091;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.169992;Timing/Map_optimization/ms:11.8818;Timing/Memory_cleanup/ms:0.128984;Timing/Memory_update/ms:53.601;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.215054;Timing/Proximity_by_space/ms:14.5822;Timing/Proximity_by_time/ms:0.0550747;Timing/Reactivation/ms:0.355005;Timing/Statistics_creation/ms:0.141144;Timing/Total/ms:81.172;TimingMem/Add_new_words/ms:5.35488;TimingMem/Compressing_data/ms:0.798941;TimingMem/Descriptors_extraction/ms:15.9049;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.197172;TimingMem/Keypoints_detection/ms:25.0962;TimingMem/Occupancy_grid/ms:1.09005;TimingMem/Post_decimation/ms:1.34802;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.504017;TimingMem/Signature_creation/ms:53.088


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0931165;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.906883;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.1745;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.47;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00405312;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.15521;Timing/Map_optimization/ms:10.323;Timing/Memory_cleanup/ms:0.0901222;Timing/Memory_update/ms:47.0231;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.202894;Timing/Proximity_by_space/ms:16.6781;Timing/Proximity_by_time/ms:0.0529289;Timing/Reactivation/ms:0.324965;Timing/Statistics_creation/ms:0.141859;Timing/Total/ms:75.0301;TimingMem/Add_new_words/ms:4.93312;TimingMem/Compressing_data/ms:0.695944;TimingMem/Descriptors_extraction/ms:16.3372;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:19.7189;TimingMem/Occupancy_grid/ms:0.892162;TimingMem/Post_decimation/ms:1.07503;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.525951;TimingMem/Signature_creation/ms:46.49


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.090839;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:76491.5;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.11194;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.909161;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.2348;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0429153;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.200987;Timing/Map_optimization/ms:12.7831;Timing/Memory_cleanup/ms:0.2141;Timing/Memory_update/ms:50.5831;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.298023;Timing/Proximity_by_space/ms:25.1589;Timing/Proximity_by_time/ms:0.0600815;Timing/Reactivation/ms:0.436068;Timing/Statistics_creation/ms:0.302076;Timing/Total/ms:90.0881;TimingMem/Add_new_words/ms:4.65202;TimingMem/Compressing_data/ms:1.22499;TimingMem/Descriptors_extraction/ms:15.491;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0867844;TimingMem/Keypoints_detection/ms:22.239;TimingMem/Occupancy_grid/ms:1.261;TimingMem/Post_decimation/ms:1.98102;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.57292;TimingMem/Signature_creation/ms:49.998


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0891706;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.910829;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.295;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.147104;Timing/Map_optimization/ms:10.278;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:47.1361;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.207901;Timing/Proximity_by_space/ms:14.0982;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.315905;Timing/Statistics_creation/ms:0.125885;Timing/Total/ms:72.4821;TimingMem/Add_new_words/ms:4.31204;TimingMem/Compressing_data/ms:0.691891;TimingMem/Descriptors_extraction/ms:14.7972;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:22.2309;TimingMem/Occupancy_grid/ms:0.848055;TimingMem/Post_decimation/ms:0.91815;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.440836;TimingMem/Signature_creation/ms:46.6831


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0879063;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:76491.8;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.11194;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.912094;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.3553;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.100851;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0271797;Timing/Likelihood_computation/ms:0.424862;Timing/Map_optimization/ms:9.99594;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:51.3949;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.317097;Timing/Proximity_by_space/ms:18.218;Timing/Proximity_by_time/ms:0.0910759;Timing/Reactivation/ms:0.618935;Timing/Statistics_creation/ms:0.12517;Timing/Total/ms:81.399;TimingMem/Add_new_words/ms:4.86517;TimingMem/Compressing_data/ms:0.869036;TimingMem/Descriptors_extraction/ms:15.3232;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:20.0179;TimingMem/Occupancy_grid/ms:1.79982;TimingMem/Post_decimation/ms:0.967979;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:2.70295;TimingMem/Signature_creation/ms:48.6822


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0869274;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.913073;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.4155;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.475;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00286102;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.150204;Timing/Map_optimization/ms:11.482;Timing/Memory_cleanup/ms:0.193119;Timing/Memory_update/ms:53.3419;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.198841;Timing/Proximity_by_space/ms:15.1072;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.325918;Timing/Statistics_creation/ms:0.247955;Timing/Total/ms:81.1291;TimingMem/Add_new_words/ms:4.50802;TimingMem/Compressing_data/ms:0.62418;TimingMem/Descriptors_extraction/ms:18.0931;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:24.647;TimingMem/Occupancy_grid/ms:1.02377;TimingMem/Post_decimation/ms:1.13702;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.436068;TimingMem/Signature_creation/ms:52.9001


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0861589;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.913841;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.4758;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.145912;Timing/Map_optimization/ms:9.94897;Timing/Memory_cleanup/ms:0.0858307;Timing/Memory_update/ms:56.6309;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.192165;Timing/Proximity_by_space/ms:14.1809;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.299931;Timing/Statistics_creation/ms:0.12207;Timing/Total/ms:81.6898;TimingMem/Add_new_words/ms:5.862;TimingMem/Compressing_data/ms:0.843048;TimingMem/Descriptors_extraction/ms:23.8969;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0832081;TimingMem/Keypoints_detection/ms:20.262;TimingMem/Occupancy_grid/ms:0.889063;TimingMem/Post_decimation/ms:1.02901;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.445127;TimingMem/Signature_creation/ms:56.179


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.085555;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.914445;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.5361;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.45;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:11.5421;Timing/Memory_cleanup/ms:0.0839233;Timing/Memory_update/ms:46.766;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.210047;Timing/Proximity_by_space/ms:12.886;Timing/Proximity_by_time/ms:0.0548363;Timing/Reactivation/ms:0.309944;Timing/Statistics_creation/ms:0.124931;Timing/Total/ms:72.1638;TimingMem/Add_new_words/ms:4.48799;TimingMem/Compressing_data/ms:0.681162;TimingMem/Descriptors_extraction/ms:15.6271;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0867844;TimingMem/Keypoints_detection/ms:20.241;TimingMem/Occupancy_grid/ms:1.02282;TimingMem/Post_decimation/ms:1.15895;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.507116;TimingMem/Signature_creation/ms:46.252


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0850779;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.914922;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.5963;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.102043;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.199795;Timing/Map_optimization/ms:11.3702;Timing/Memory_cleanup/ms:0.124216;Timing/Memory_update/ms:63.5591;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.296116;Timing/Proximity_by_space/ms:23.9439;Timing/Proximity_by_time/ms:0.0598431;Timing/Reactivation/ms:0.447035;Timing/Statistics_creation/ms:0.142813;Timing/Total/ms:100.253;TimingMem/Add_new_words/ms:6.94513;TimingMem/Compressing_data/ms:1.13106;TimingMem/Descriptors_extraction/ms:19.469;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.114918;TimingMem/Keypoints_detection/ms:28.95;TimingMem/Occupancy_grid/ms:1.80602;TimingMem/Post_decimation/ms:1.47295;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.567913;TimingMem/Signature_creation/ms:62.984


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0846995;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915301;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.6566;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0391006;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.19002;Timing/Map_optimization/ms:9.77111;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:64.9622;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211954;Timing/Proximity_by_space/ms:11.7741;Timing/Proximity_by_time/ms:0.0419617;Timing/Reactivation/ms:0.324965;Timing/Statistics_creation/ms:0.125885;Timing/Total/ms:87.5299;TimingMem/Add_new_words/ms:5.39398;TimingMem/Compressing_data/ms:0.641823;TimingMem/Descriptors_extraction/ms:26.896;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:24.9891;TimingMem/Occupancy_grid/ms:0.863075;TimingMem/Post_decimation/ms:1.10722;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.994921;TimingMem/Signature_creation/ms:63.9582


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0844001;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.9156;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.7168;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.158072;Timing/Map_optimization/ms:9.84311;Timing/Memory_cleanup/ms:0.084877;Timing/Memory_update/ms:65.654;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216961;Timing/Proximity_by_space/ms:11.1229;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.379801;Timing/Statistics_creation/ms:0.123978;Timing/Total/ms:87.677;TimingMem/Add_new_words/ms:8.61597;TimingMem/Compressing_data/ms:3.17097;TimingMem/Descriptors_extraction/ms:24.895;TimingMem/Joining_dictionary_update/ms:0.0188351;TimingMem/Keypoints_3D/ms:0.161171;TimingMem/Keypoints_detection/ms:22.438;TimingMem/Occupancy_grid/ms:1.39594;TimingMem/Post_decimation/ms:1.07312;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.513077;TimingMem/Signature_creation/ms:65.134


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.084162;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915838;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.7771;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.51;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0400543;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.154972;Timing/Map_optimization/ms:12.0261;Timing/Memory_cleanup/ms:0.184059;Timing/Memory_update/ms:59.5138;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211954;Timing/Proximity_by_space/ms:12.1989;Timing/Proximity_by_time/ms:0.0600815;Timing/Reactivation/ms:0.324011;Timing/Statistics_creation/ms:0.244141;Timing/Total/ms:84.965;TimingMem/Add_new_words/ms:4.54712;TimingMem/Compressing_data/ms:0.759125;TimingMem/Descriptors_extraction/ms:22.0678;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0939369;TimingMem/Keypoints_detection/ms:26.8052;TimingMem/Occupancy_grid/ms:0.893831;TimingMem/Post_decimation/ms:0.975847;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.47493;TimingMem/Signature_creation/ms:59.0332


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0839754;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916025;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.8373;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.485;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0491142;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.234842;Timing/Map_optimization/ms:11.0009;Timing/Memory_cleanup/ms:0.0908375;Timing/Memory_update/ms:63.4439;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.339985;Timing/Proximity_by_space/ms:21.311;Timing/Proximity_by_time/ms:0.0472069;Timing/Reactivation/ms:0.482082;Timing/Statistics_creation/ms:0.138998;Timing/Total/ms:97.1479;TimingMem/Add_new_words/ms:6.05297;TimingMem/Compressing_data/ms:1.23;TimingMem/Descriptors_extraction/ms:22.1539;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:0.128031;TimingMem/Keypoints_detection/ms:24.6842;TimingMem/Occupancy_grid/ms:2.56205;TimingMem/Post_decimation/ms:1.70708;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.85783;TimingMem/Signature_creation/ms:62.577


data:
Keypoint/Dictionary_size/words:6329;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0878116;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.912188;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.8373;Memory/Immunized_globally/:9;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:239976;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00405312;Timing/Forgetting/ms:0.154972;Timing/Hypotheses_creation/ms:0.0379086;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.276804;Timing/Map_optimization/ms:9.69291;Timing/Memory_cleanup/ms:0.270844;Timing/Memory_update/ms:58.5191;Timing/Neighbor_link_refining/ms:0.00596046;Timing/Posterior_computation/ms:0.23222;Timing/Proximity_by_space/ms:14.956;Timing/Proximity_by_time/ms:0.0290871;Timing/Reactivation/ms:0.339985;Timing/Statistics_creation/ms:0.119209;Timing/Total/ms:84.4851;TimingMem/Add_new_words/ms:12.6379;TimingMem/Compressing_data/ms:1.09601;TimingMem/Descriptors_extraction/ms:16.0549;TimingMem/Joining_dictionary_update/ms:0.0469685;TimingMem/Keypoints_3D/ms:0.602007;TimingMem/Keypoints_detection/ms:22.651;TimingMem/Occupancy_grid/ms:1.18804;TimingMem/Post_decimation/ms:1.38903;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.209093;TimingMem/Signature_creation/ms:58.3029


data:
Keypoint/Dictionary_size/words:6330;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0845925;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:76491.2;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.11194;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915407;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.8373;Memory/Immunized_globally/:9;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.42;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:229977;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.169992;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.22006;Timing/Map_optimization/ms:9.98712;Timing/Memory_cleanup/ms:0.299931;Timing/Memory_update/ms:55.2981;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.231981;Timing/Proximity_by_space/ms:12.9831;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.360966;Timing/Statistics_creation/ms:0.138044;Timing/Total/ms:79.5991;TimingMem/Add_new_words/ms:5.06997;TimingMem/Compressing_data/ms:1.02806;TimingMem/Descriptors_extraction/ms:14.746;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0908375;TimingMem/Keypoints_detection/ms:26.0899;TimingMem/Occupancy_grid/ms:3.40295;TimingMem/Post_decimation/ms:1.20306;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.232935;TimingMem/Signature_creation/ms:55.057


data:
Keypoint/Dictionary_size/words:6350;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0994821;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.900518;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.8373;Memory/Immunized_globally/:9;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.325;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:219978;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0.285149;Timing/Hypotheses_creation/ms:0.0460148;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.267029;Timing/Map_optimization/ms:14.3268;Timing/Memory_cleanup/ms:0.639915;Timing/Memory_update/ms:53.6821;Timing/Neighbor_link_refining/ms:0.00786781;Timing/Posterior_computation/ms:0.291109;Timing/Proximity_by_space/ms:23.3071;Timing/Proximity_by_time/ms:0.0348091;Timing/Reactivation/ms:0.534058;Timing/Statistics_creation/ms:0.245094;Timing/Total/ms:93.3909;TimingMem/Add_new_words/ms:6.69098;TimingMem/Compressing_data/ms:0.71907;TimingMem/Descriptors_extraction/ms:22.007;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.119925;TimingMem/Keypoints_detection/ms:19.165;TimingMem/Occupancy_grid/ms:1.28698;TimingMem/Post_decimation/ms:1.45912;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.216961;TimingMem/Signature_creation/ms:53.4561


data:
Keypoint/Dictionary_size/words:6331;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0976769;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.902323;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.8373;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.31;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:229977;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.362158;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.19598;Timing/Map_optimization/ms:13.6271;Timing/Memory_cleanup/ms:0.78392;Timing/Memory_update/ms:38.794;Timing/Neighbor_link_refining/ms:0.00596046;Timing/Posterior_computation/ms:0.202179;Timing/Proximity_by_space/ms:10.4091;Timing/Proximity_by_time/ms:0.335932;Timing/Reactivation/ms:0.30899;Timing/Statistics_creation/ms:0.343084;Timing/Total/ms:65.0458;TimingMem/Add_new_words/ms:4.529;TimingMem/Compressing_data/ms:0.527859;TimingMem/Descriptors_extraction/ms:9.14502;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.101089;TimingMem/Keypoints_detection/ms:20.6819;TimingMem/Occupancy_grid/ms:0.806093;TimingMem/Post_decimation/ms:0.912189;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0929832;TimingMem/Signature_creation/ms:38.693


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.092991;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:110833;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.79259;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.907009;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.8976;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.163078;Timing/Map_optimization/ms:15.456;Timing/Memory_cleanup/ms:0.164986;Timing/Memory_update/ms:45.9821;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.22006;Timing/Proximity_by_space/ms:17.5509;Timing/Proximity_by_time/ms:0.0548363;Timing/Reactivation/ms:0.324011;Timing/Statistics_creation/ms:0.173092;Timing/Total/ms:80.1241;TimingMem/Add_new_words/ms:4.81892;TimingMem/Compressing_data/ms:0.869036;TimingMem/Descriptors_extraction/ms:10.8571;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0789165;TimingMem/Keypoints_detection/ms:24.0309;TimingMem/Occupancy_grid/ms:1.00183;TimingMem/Post_decimation/ms:1.03116;TimingMem/Pre_update/ms:0.00500679;TimingMem/Rehearsal/ms:0.720024;TimingMem/Signature_creation/ms:45.244


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0902862;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.909714;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.9579;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.47;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.153065;Timing/Map_optimization/ms:12.5639;Timing/Memory_cleanup/ms:0.163078;Timing/Memory_update/ms:42.8939;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.204086;Timing/Proximity_by_space/ms:9.57704;Timing/Proximity_by_time/ms:0.0479221;Timing/Reactivation/ms:0.309944;Timing/Statistics_creation/ms:0.128031;Timing/Total/ms:66.077;TimingMem/Add_new_words/ms:4.84395;TimingMem/Compressing_data/ms:0.741005;TimingMem/Descriptors_extraction/ms:11.7509;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0779629;TimingMem/Keypoints_detection/ms:20.3931;TimingMem/Occupancy_grid/ms:0.872135;TimingMem/Post_decimation/ms:1.01399;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.692129;TimingMem/Signature_creation/ms:42.186


data:
Keypoint/Dictionary_size/words:6324;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.105754;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.3;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.894246;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:50.9579;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.43;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:229977;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.154018;Timing/Hypotheses_creation/ms:0.0290871;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.189066;Timing/Map_optimization/ms:9.78804;Timing/Memory_cleanup/ms:0.264883;Timing/Memory_update/ms:44.8968;Timing/Neighbor_link_refining/ms:0.00715256;Timing/Posterior_computation/ms:0.202894;Timing/Proximity_by_space/ms:12.6839;Timing/Proximity_by_time/ms:0.0269413;Timing/Reactivation/ms:0.313044;Timing/Statistics_creation/ms:0.123024;Timing/Total/ms:68.5298;TimingMem/Add_new_words/ms:4.54903;TimingMem/Compressing_data/ms:0.638008;TimingMem/Descriptors_extraction/ms:14.5741;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.09799;TimingMem/Keypoints_detection/ms:20.3791;TimingMem/Occupancy_grid/ms:0.844955;TimingMem/Post_decimation/ms:1.06192;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.185013;TimingMem/Signature_creation/ms:44.7042


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0977364;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.902264;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0181;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.45;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.158072;Timing/Map_optimization/ms:12.506;Timing/Memory_cleanup/ms:0.0991821;Timing/Memory_update/ms:49.6991;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.315905;Timing/Proximity_by_space/ms:15.3689;Timing/Proximity_by_time/ms:0.0529289;Timing/Reactivation/ms:0.354052;Timing/Statistics_creation/ms:0.136852;Timing/Total/ms:78.7311;TimingMem/Add_new_words/ms:5.74994;TimingMem/Compressing_data/ms:0.755072;TimingMem/Descriptors_extraction/ms:15.3408;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0910759;TimingMem/Keypoints_detection/ms:22.0542;TimingMem/Occupancy_grid/ms:1.02782;TimingMem/Post_decimation/ms:1.1971;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.462055;TimingMem/Signature_creation/ms:49.2311


data:
Keypoint/Dictionary_size/words:6359;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.103946;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.896054;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0182;Memory/Immunized_globally/:9;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.245;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:229977;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.301123;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.211954;Timing/Map_optimization/ms:11.194;Timing/Memory_cleanup/ms:1.1518;Timing/Memory_update/ms:56.442;Timing/Neighbor_link_refining/ms:0.00596046;Timing/Posterior_computation/ms:0.215054;Timing/Proximity_by_space/ms:14.9789;Timing/Proximity_by_time/ms:0.241041;Timing/Reactivation/ms:0.323057;Timing/Statistics_creation/ms:0.33617;Timing/Total/ms:85.1371;TimingMem/Add_new_words/ms:5.97;TimingMem/Compressing_data/ms:0.748873;TimingMem/Descriptors_extraction/ms:22.1899;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0908375;TimingMem/Keypoints_detection/ms:24.298;TimingMem/Occupancy_grid/ms:0.71311;TimingMem/Post_decimation/ms:0.957012;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0839233;TimingMem/Signature_creation/ms:56.3509


data:
Keypoint/Dictionary_size/words:6365;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.102088;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.897912;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0183;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.245;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:219978;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.174046;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.191927;Timing/Map_optimization/ms:11.8821;Timing/Memory_cleanup/ms:0.475883;Timing/Memory_update/ms:63.5378;Timing/Neighbor_link_refining/ms:0.00715256;Timing/Posterior_computation/ms:0.194073;Timing/Proximity_by_space/ms:14.348;Timing/Proximity_by_time/ms:0.025034;Timing/Reactivation/ms:0.311136;Timing/Statistics_creation/ms:0.242949;Timing/Total/ms:91.2518;TimingMem/Add_new_words/ms:6.11091;TimingMem/Compressing_data/ms:0.672102;TimingMem/Descriptors_extraction/ms:24.631;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0948906;TimingMem/Keypoints_detection/ms:27.9248;TimingMem/Occupancy_grid/ms:0.88501;TimingMem/Post_decimation/ms:1.14894;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.179052;TimingMem/Signature_creation/ms:63.3521


data:
Keypoint/Dictionary_size/words:6343;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.111628;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:9;Loop/Vp_hypothesis/:0.888372;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0183;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.385;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:219978;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:8.26907;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00405312;Timing/Forgetting/ms:0.154972;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.219822;Timing/Map_optimization/ms:13.3269;Timing/Memory_cleanup/ms:0.30303;Timing/Memory_update/ms:77.4291;Timing/Neighbor_link_refining/ms:0.00810623;Timing/Posterior_computation/ms:0.216007;Timing/Proximity_by_space/ms:17.051;Timing/Proximity_by_time/ms:0.0300407;Timing/Reactivation/ms:0.349045;Timing/Statistics_creation/ms:0.126123;Timing/Total/ms:117.363;TimingMem/Add_new_words/ms:5.66602;TimingMem/Compressing_data/ms:1.98722;TimingMem/Descriptors_extraction/ms:37.0841;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.216961;TimingMem/Keypoints_detection/ms:26.83;TimingMem/Occupancy_grid/ms:0.87595;TimingMem/Post_decimation/ms:1.28293;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.253916;TimingMem/Signature_creation/ms:77.168


data:
Keypoint/Dictionary_size/words:6336;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.13994;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:10;Loop/Vp_hypothesis/:0.86006;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0184;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.415;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:219978;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:6.83403;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.167847;Timing/Hypotheses_creation/ms:0.0360012;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.206947;Timing/Map_optimization/ms:10.546;Timing/Memory_cleanup/ms:0.298023;Timing/Memory_update/ms:57.343;Timing/Neighbor_link_refining/ms:0.00786781;Timing/Posterior_computation/ms:0.20504;Timing/Proximity_by_space/ms:20.3381;Timing/Proximity_by_time/ms:0.0281334;Timing/Reactivation/ms:0.329018;Timing/Statistics_creation/ms:0.126123;Timing/Total/ms:96.303;TimingMem/Add_new_words/ms:6.69789;TimingMem/Compressing_data/ms:4.32682;TimingMem/Descriptors_extraction/ms:16.2549;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0941753;TimingMem/Keypoints_detection/ms:21.492;TimingMem/Occupancy_grid/ms:3.24917;TimingMem/Post_decimation/ms:2.05398;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.239134;TimingMem/Signature_creation/ms:57.096


data:
Keypoint/Dictionary_size/words:6327;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.126129;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:13;Loop/Vp_hypothesis/:0.873871;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0185;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.435;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:209979;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:7.97701;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.224829;Timing/Hypotheses_creation/ms:0.0731945;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.015974;Timing/Likelihood_computation/ms:0.304937;Timing/Map_optimization/ms:12.666;Timing/Memory_cleanup/ms:0.566006;Timing/Memory_update/ms:48.1019;Timing/Neighbor_link_refining/ms:0.00905991;Timing/Posterior_computation/ms:0.274897;Timing/Proximity_by_space/ms:18.0199;Timing/Proximity_by_time/ms:0.0450611;Timing/Reactivation/ms:0.536919;Timing/Statistics_creation/ms:0.252008;Timing/Total/ms:88.8441;TimingMem/Add_new_words/ms:4.59909;TimingMem/Compressing_data/ms:1.42288;TimingMem/Descriptors_extraction/ms:14.199;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0989437;TimingMem/Keypoints_detection/ms:21.6072;TimingMem/Occupancy_grid/ms:0.960112;TimingMem/Post_decimation/ms:1.13702;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.647068;TimingMem/Signature_creation/ms:47.447


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.113621;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:95679.3;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.50385;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:17;Loop/Vp_hypothesis/:0.886379;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.0788;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:7.46393;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0331402;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.167847;Timing/Map_optimization/ms:14.7481;Timing/Memory_cleanup/ms:0.213861;Timing/Memory_update/ms:52.464;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211954;Timing/Proximity_by_space/ms:22.481;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.329971;Timing/Statistics_creation/ms:0.246048;Timing/Total/ms:98.4199;TimingMem/Add_new_words/ms:4.55093;TimingMem/Compressing_data/ms:0.663996;TimingMem/Descriptors_extraction/ms:19.0551;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:22.9928;TimingMem/Occupancy_grid/ms:0.864029;TimingMem/Post_decimation/ms:1.02186;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.496864;TimingMem/Signature_creation/ms:51.9581


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.105826;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:76491.5;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.11194;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.894174;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.139;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.46;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.115156;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0228882;Timing/Likelihood_computation/ms:0.384092;Timing/Map_optimization/ms:10.7689;Timing/Memory_cleanup/ms:0.169039;Timing/Memory_update/ms:54.4341;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.286818;Timing/Proximity_by_space/ms:14.6301;Timing/Proximity_by_time/ms:0.233889;Timing/Reactivation/ms:0.473022;Timing/Statistics_creation/ms:0.194073;Timing/Total/ms:81.7139;TimingMem/Add_new_words/ms:5.23496;TimingMem/Compressing_data/ms:0.733137;TimingMem/Descriptors_extraction/ms:14.7481;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0939369;TimingMem/Keypoints_detection/ms:25.327;TimingMem/Occupancy_grid/ms:0.982046;TimingMem/Post_decimation/ms:1.11699;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:2.03586;TimingMem/Signature_creation/ms:52.377


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.100539;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89939;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.899461;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.1993;Memory/Immunized_globally/:8;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:133;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:233;Memory/Rehearsal_merged/:233;Memory/Rehearsal_sim/:0.46;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:125;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0340939;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.154018;Timing/Map_optimization/ms:14.04;Timing/Memory_cleanup/ms:0.22006;Timing/Memory_update/ms:50.2348;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.217915;Timing/Proximity_by_space/ms:13.2101;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.392914;Timing/Statistics_creation/ms:0.28491;Timing/Total/ms:78.8448;TimingMem/Add_new_words/ms:9.06181;TimingMem/Compressing_data/ms:0.691175;TimingMem/Descriptors_extraction/ms:13.5372;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:21.5719;TimingMem/Occupancy_grid/ms:0.921011;TimingMem/Post_decimation/ms:1.00398;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.50807;TimingMem/Signature_creation/ms:49.72


data:
Keypoint/Dictionary_size/words:6325;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.119953;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:8;Loop/Vp_hypothesis/:0.880047;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.1993;Memory/Immunized_globally/:7;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.43;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:219978;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:6.94799;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.168085;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.202179;Timing/Map_optimization/ms:12.4128;Timing/Memory_cleanup/ms:0.341892;Timing/Memory_update/ms:46.998;Timing/Neighbor_link_refining/ms:0.00810623;Timing/Posterior_computation/ms:0.209808;Timing/Proximity_by_space/ms:20.9942;Timing/Proximity_by_time/ms:0.0288486;Timing/Reactivation/ms:0.329971;Timing/Statistics_creation/ms:0.14019;Timing/Total/ms:88.65;TimingMem/Add_new_words/ms:4.82988;TimingMem/Compressing_data/ms:0.627041;TimingMem/Descriptors_extraction/ms:14.523;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0910759;TimingMem/Keypoints_detection/ms:21.966;TimingMem/Occupancy_grid/ms:0.862122;TimingMem/Post_decimation/ms:1.03617;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.196934;TimingMem/Signature_creation/ms:46.792


data:
Keypoint/Dictionary_size/words:6325;Keypoint/Index_memory_usage/KB:1634;Keypoint/Indexed_words/words:6269;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.155641;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938.4;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:12;Loop/Vp_hypothesis/:0.844359;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:51.1994;Memory/Immunized_globally/:9;Memory/Immunized_locally/:31;Memory/Immunized_locally_max/:31;Memory/Local_graph_size/:134;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:125;NeighborLinkRefining/Variance/:209979;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:8.255;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.154972;Timing/Hypotheses_creation/ms:0.0369549;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.231028;Timing/Map_optimization/ms:9.91511;Timing/Memory_cleanup/ms:0.305891;Timing/Memory_update/ms:53.196;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.241995;Timing/Proximity_by_space/ms:12.4068;Timing/Proximity_by_time/ms:0.0321865;Timing/Reactivation/ms:0.365019;Timing/Statistics_creation/ms:0.12207;Timing/Total/ms:85.12;TimingMem/Add_new_words/ms:6.2151;TimingMem/Compressing_data/ms:1.47986;TimingMem/Descriptors_extraction/ms:18.9581;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0898838;TimingMem/Keypoints_detection/ms:19.546;TimingMem/Occupancy_grid/ms:1.29318;TimingMem/Post_decimation/ms:2.19083;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.222921;TimingMem/Signature_creation/ms:52.964


