# Statistics

data:
Keypoint/Dictionary_size/words:3532;Keypoint/Index_memory_usage/KB:912;Keypoint/Indexed_words/words:3501;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:101;Loop/Highest_hypothesis_value/:0.0974039;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:101;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.902596;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:25.9835;Memory/Immunized_globally/:13;Memory/Immunized_locally/:20;Memory/Immunized_locally_max/:20;Memory/Local_graph_size/:92;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.345679;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:83;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.732087;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000108657;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:5;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:0.0269413;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.174046;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0579357;Timing/Memory_update/ms:59.1831;Timing/Neighbor_link_refining/ms:26.1381;Timing/Posterior_computation/ms:0.233889;Timing/Proximity_by_space/ms:3.99113;Timing/Proximity_by_time/ms:0.0789165;Timing/Reactivation/ms:0.329971;Timing/Statistics_creation/ms:0.105143;Timing/Total/ms:90.3251;TimingMem/Add_new_words/ms:3.79896;TimingMem/Compressing_data/ms:0.862837;TimingMem/Descriptors_extraction/ms:7.95698;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0548363;TimingMem/Keypoints_detection/ms:36.972;TimingMem/Occupancy_grid/ms:2.02703;TimingMem/Post_decimation/ms:1.46103;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.128984;TimingMem/Signature_creation/ms:59.0389


data:
Keypoint/Dictionary_size/words:3568;Keypoint/Index_memory_usage/KB:920;Keypoint/Indexed_words/words:3532;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:101;Loop/Highest_hypothesis_value/:0.0993807;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:101;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.900619;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:26.3374;Memory/Immunized_globally/:13;Memory/Immunized_locally/:21;Memory/Immunized_locally_max/:21;Memory/Local_graph_size/:93;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.282353;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:84;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.76324;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.66839e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:5;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:0.0200272;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.123024;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0300407;Timing/Memory_update/ms:54.9231;Timing/Neighbor_link_refining/ms:13.818;Timing/Posterior_computation/ms:0.177145;Timing/Proximity_by_space/ms:2.62904;Timing/Proximity_by_time/ms:0.0138283;Timing/Reactivation/ms:0.239134;Timing/Statistics_creation/ms:0.0679493;Timing/Total/ms:72.0451;TimingMem/Add_new_words/ms:6.66499;TimingMem/Compressing_data/ms:2.033;TimingMem/Descriptors_extraction/ms:6.12688;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.056982;TimingMem/Keypoints_detection/ms:29.5401;TimingMem/Occupancy_grid/ms:2.42996;TimingMem/Post_decimation/ms:2.27904;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.079155;TimingMem/Signature_creation/ms:54.827


data:
Keypoint/Dictionary_size/words:3600;Keypoint/Index_memory_usage/KB:930;Keypoint/Indexed_words/words:3568;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:98;Loop/Highest_hypothesis_value/:0.0897436;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:98;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.910256;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:26.708;Memory/Immunized_globally/:13;Memory/Immunized_locally/:21;Memory/Immunized_locally_max/:21;Memory/Local_graph_size/:94;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.305882;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:85;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.760125;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000112047;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:5;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:0.0228882;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.179052;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0369549;Timing/Memory_update/ms:60.8509;Timing/Neighbor_link_refining/ms:17.0741;Timing/Posterior_computation/ms:0.222921;Timing/Proximity_by_space/ms:2.98691;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.280142;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:81.7499;TimingMem/Add_new_words/ms:5.48196;TimingMem/Compressing_data/ms:1.21808;TimingMem/Descriptors_extraction/ms:12.4309;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.054121;TimingMem/Keypoints_detection/ms:28.7201;TimingMem/Occupancy_grid/ms:3.44205;TimingMem/Post_decimation/ms:2.53606;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.105858;TimingMem/Signature_creation/ms:60.7331


data:
Keypoint/Dictionary_size/words:3630;Keypoint/Index_memory_usage/KB:938;Keypoint/Indexed_words/words:3600;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:89;Loop/Highest_hypothesis_value/:0.0876082;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:89;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.912392;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:27.0796;Memory/Immunized_globally/:13;Memory/Immunized_locally/:21;Memory/Immunized_locally_max/:21;Memory/Local_graph_size/:95;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.27957;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:86;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.760125;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000121226;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.240088;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0648499;Timing/Memory_update/ms:44.054;Timing/Neighbor_link_refining/ms:21.318;Timing/Posterior_computation/ms:0.273943;Timing/Proximity_by_space/ms:0.196934;Timing/Proximity_by_time/ms:0.0238419;Timing/Reactivation/ms:0.413179;Timing/Statistics_creation/ms:0.105143;Timing/Total/ms:66.7279;TimingMem/Add_new_words/ms:3.53599;TimingMem/Compressing_data/ms:0.948191;TimingMem/Descriptors_extraction/ms:9.50885;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.0560284;TimingMem/Keypoints_detection/ms:19.4821;TimingMem/Occupancy_grid/ms:1.98197;TimingMem/Post_decimation/ms:1.19686;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0910759;TimingMem/Signature_creation/ms:43.9501


data:
Keypoint/Dictionary_size/words:3671;Keypoint/Index_memory_usage/KB:946;Keypoint/Indexed_words/words:3630;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:94;Loop/Highest_hypothesis_value/:0.0851309;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:94;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.914869;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:27.4452;Memory/Immunized_globally/:13;Memory/Immunized_locally/:21;Memory/Immunized_locally_max/:21;Memory/Local_graph_size/:96;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.278351;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:87;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.757009;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000112454;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.0219345;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.144005;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0360012;Timing/Memory_update/ms:59.7591;Timing/Neighbor_link_refining/ms:17.1168;Timing/Posterior_computation/ms:0.19908;Timing/Proximity_by_space/ms:0.123024;Timing/Proximity_by_time/ms:0.0140667;Timing/Reactivation/ms:0.272989;Timing/Statistics_creation/ms:0.0588894;Timing/Total/ms:77.7509;TimingMem/Add_new_words/ms:2.44308;TimingMem/Compressing_data/ms:2.96688;TimingMem/Descriptors_extraction/ms:18.1429;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.041008;TimingMem/Keypoints_detection/ms:28.456;TimingMem/Occupancy_grid/ms:1.49107;TimingMem/Post_decimation/ms:1.36399;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.082016;TimingMem/Signature_creation/ms:59.6669


data:
Keypoint/Dictionary_size/words:3726;Keypoint/Index_memory_usage/KB:957;Keypoint/Indexed_words/words:3671;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:151;Loop/Highest_hypothesis_value/:0.0865226;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:151;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.913477;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:27.8074;Memory/Immunized_globally/:13;Memory/Immunized_locally/:22;Memory/Immunized_locally_max/:22;Memory/Local_graph_size/:97;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.288;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:88;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.753894;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.0001025;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.027895;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.166893;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0460148;Timing/Memory_update/ms:54.497;Timing/Neighbor_link_refining/ms:21.0171;Timing/Posterior_computation/ms:0.30899;Timing/Proximity_by_space/ms:0.12207;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.27895;Timing/Statistics_creation/ms:0.0669956;Timing/Total/ms:76.5541;TimingMem/Add_new_words/ms:6.02007;TimingMem/Compressing_data/ms:1.39499;TimingMem/Descriptors_extraction/ms:10.69;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:25.9271;TimingMem/Occupancy_grid/ms:1.87898;TimingMem/Post_decimation/ms:2.04802;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.169992;TimingMem/Signature_creation/ms:54.307


data:
Keypoint/Dictionary_size/words:3781;Keypoint/Index_memory_usage/KB:971;Keypoint/Indexed_words/words:3726;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:163;Loop/Highest_hypothesis_value/:0.0924051;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:163;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.907595;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:28.1947;Memory/Immunized_globally/:8;Memory/Immunized_locally/:22;Memory/Immunized_locally_max/:22;Memory/Local_graph_size/:98;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.291971;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:89;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.741433;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.42054e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0238419;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.179052;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0557899;Timing/Memory_update/ms:87.467;Timing/Neighbor_link_refining/ms:32.063;Timing/Posterior_computation/ms:0.190973;Timing/Proximity_by_space/ms:0.133038;Timing/Proximity_by_time/ms:0.0140667;Timing/Reactivation/ms:0.267982;Timing/Statistics_creation/ms:0.0782013;Timing/Total/ms:120.479;TimingMem/Add_new_words/ms:4.16398;TimingMem/Compressing_data/ms:2.19893;TimingMem/Descriptors_extraction/ms:26.3782;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.0698566;TimingMem/Keypoints_detection/ms:41.8348;TimingMem/Occupancy_grid/ms:3.92199;TimingMem/Post_decimation/ms:1.46389;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.123978;TimingMem/Signature_creation/ms:87.3299


data:
Keypoint/Dictionary_size/words:3847;Keypoint/Index_memory_usage/KB:985;Keypoint/Indexed_words/words:3781;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.097343;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:79;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.902657;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:28.5685;Memory/Immunized_globally/:13;Memory/Immunized_locally/:22;Memory/Immunized_locally_max/:22;Memory/Local_graph_size/:99;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.27381;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:90;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.76324;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.00010405;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0228882;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.200987;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0760555;Timing/Memory_update/ms:71.8591;Timing/Neighbor_link_refining/ms:11.107;Timing/Posterior_computation/ms:0.205994;Timing/Proximity_by_space/ms:0.128031;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.258923;Timing/Statistics_creation/ms:0.0860691;Timing/Total/ms:83.9641;TimingMem/Add_new_words/ms:4.49014;TimingMem/Compressing_data/ms:0.917912;TimingMem/Descriptors_extraction/ms:21.554;TimingMem/Joining_dictionary_update/ms:0.00977516;TimingMem/Keypoints_3D/ms:0.0941753;TimingMem/Keypoints_detection/ms:37.2961;TimingMem/Occupancy_grid/ms:1.54805;TimingMem/Post_decimation/ms:0.854015;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.102997;TimingMem/Signature_creation/ms:71.743


data:
Keypoint/Dictionary_size/words:3904;Keypoint/Index_memory_usage/KB:1002;Keypoint/Indexed_words/words:3847;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:119;Loop/Highest_hypothesis_value/:0.0821356;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:119;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.917864;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:28.9335;Memory/Immunized_globally/:13;Memory/Immunized_locally/:22;Memory/Immunized_locally_max/:22;Memory/Local_graph_size/:100;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.333333;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:91;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.744548;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000102278;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.275135;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0748634;Timing/Memory_update/ms:57.267;Timing/Neighbor_link_refining/ms:14.9729;Timing/Posterior_computation/ms:0.268936;Timing/Proximity_by_space/ms:0.167847;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.383139;Timing/Statistics_creation/ms:0.115156;Timing/Total/ms:73.5829;TimingMem/Add_new_words/ms:4.73285;TimingMem/Compressing_data/ms:3.28588;TimingMem/Descriptors_extraction/ms:12.1779;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0600815;TimingMem/Keypoints_detection/ms:24.658;TimingMem/Occupancy_grid/ms:2.99406;TimingMem/Post_decimation/ms:2.10118;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.100136;TimingMem/Signature_creation/ms:57.1549


data:
Keypoint/Dictionary_size/words:3969;Keypoint/Index_memory_usage/KB:1017;Keypoint/Indexed_words/words:3904;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:149;Loop/Highest_hypothesis_value/:0.067377;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:149;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.932623;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:29.29;Memory/Immunized_globally/:13;Memory/Immunized_locally/:23;Memory/Immunized_locally_max/:23;Memory/Local_graph_size/:101;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.305882;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:92;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.772586;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000108539;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0231266;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.211;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0469685;Timing/Memory_update/ms:73.061;Timing/Neighbor_link_refining/ms:8.22806;Timing/Posterior_computation/ms:0.209808;Timing/Proximity_by_space/ms:0.109911;Timing/Proximity_by_time/ms:0.0138283;Timing/Reactivation/ms:0.272989;Timing/Statistics_creation/ms:0.0720024;Timing/Total/ms:82.2539;TimingMem/Add_new_words/ms:4.65012;TimingMem/Compressing_data/ms:0.703096;TimingMem/Descriptors_extraction/ms:29.2728;TimingMem/Joining_dictionary_update/ms:0.0128746;TimingMem/Keypoints_3D/ms:0.0832081;TimingMem/Keypoints_detection/ms:29.3841;TimingMem/Occupancy_grid/ms:1.58501;TimingMem/Post_decimation/ms:2.04492;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.451088;TimingMem/Signature_creation/ms:72.5961


data:
Keypoint/Dictionary_size/words:4037;Keypoint/Index_memory_usage/KB:1034;Keypoint/Indexed_words/words:3969;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0663099;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:81;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.93369;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:29.6445;Memory/Immunized_globally/:13;Memory/Immunized_locally/:23;Memory/Immunized_locally_max/:23;Memory/Local_graph_size/:102;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.329897;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:93;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.750779;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000124068;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0231266;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.218153;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0510216;Timing/Memory_update/ms:64.636;Timing/Neighbor_link_refining/ms:12.3961;Timing/Posterior_computation/ms:0.193834;Timing/Proximity_by_space/ms:0.105143;Timing/Proximity_by_time/ms:0.0138283;Timing/Reactivation/ms:0.261784;Timing/Statistics_creation/ms:0.0720024;Timing/Total/ms:77.976;TimingMem/Add_new_words/ms:6.25801;TimingMem/Compressing_data/ms:0.722885;TimingMem/Descriptors_extraction/ms:12.167;TimingMem/Joining_dictionary_update/ms:0.0138283;TimingMem/Keypoints_3D/ms:0.113964;TimingMem/Keypoints_detection/ms:39.1271;TimingMem/Occupancy_grid/ms:1.07813;TimingMem/Post_decimation/ms:0.922203;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.121117;TimingMem/Signature_creation/ms:64.4979


data:
Keypoint/Dictionary_size/words:4105;Keypoint/Index_memory_usage/KB:1052;Keypoint/Indexed_words/words:4037;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0636781;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:81;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.936322;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:30.0316;Memory/Immunized_globally/:13;Memory/Immunized_locally/:23;Memory/Immunized_locally_max/:23;Memory/Local_graph_size/:103;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.386598;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:94;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.757009;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000101932;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0472069;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00977516;Timing/Likelihood_computation/ms:0.366926;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0948906;Timing/Memory_update/ms:74.2631;Timing/Neighbor_link_refining/ms:18.224;Timing/Posterior_computation/ms:0.324965;Timing/Proximity_by_space/ms:0.191927;Timing/Proximity_by_time/ms:0.0319481;Timing/Reactivation/ms:0.475168;Timing/Statistics_creation/ms:0.15521;Timing/Total/ms:94.188;TimingMem/Add_new_words/ms:9.17602;TimingMem/Compressing_data/ms:1.05977;TimingMem/Descriptors_extraction/ms:13.9949;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.112057;TimingMem/Keypoints_detection/ms:42.556;TimingMem/Occupancy_grid/ms:1.50704;TimingMem/Post_decimation/ms:1.58787;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.141144;TimingMem/Signature_creation/ms:74.1088


data:
Keypoint/Dictionary_size/words:4168;Keypoint/Index_memory_usage/KB:1070;Keypoint/Indexed_words/words:4105;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0790818;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:81;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.920918;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:30.4055;Memory/Immunized_globally/:13;Memory/Immunized_locally/:23;Memory/Immunized_locally_max/:23;Memory/Local_graph_size/:104;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.404145;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:95;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.750779;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000136742;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0629425;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0150204;Timing/Likelihood_computation/ms:0.341177;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.108004;Timing/Memory_update/ms:72.758;Timing/Neighbor_link_refining/ms:24.394;Timing/Posterior_computation/ms:0.540018;Timing/Proximity_by_space/ms:0.217915;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.524044;Timing/Statistics_creation/ms:0.289917;Timing/Total/ms:99.2811;TimingMem/Add_new_words/ms:6.33621;TimingMem/Compressing_data/ms:0.635862;TimingMem/Descriptors_extraction/ms:18.012;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0898838;TimingMem/Keypoints_detection/ms:42.4399;TimingMem/Occupancy_grid/ms:0.82612;TimingMem/Post_decimation/ms:0.844955;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.183105;TimingMem/Signature_creation/ms:72.5598


data:
Keypoint/Dictionary_size/words:4230;Keypoint/Index_memory_usage/KB:1086;Keypoint/Indexed_words/words:4168;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:96;Loop/Highest_hypothesis_value/:0.0663786;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:96;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.933621;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:30.7665;Memory/Immunized_globally/:13;Memory/Immunized_locally/:24;Memory/Immunized_locally_max/:24;Memory/Local_graph_size/:105;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.378947;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:96;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.785047;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000112239;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00214577;Timing/Hypotheses_creation/ms:0.041008;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.370979;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.277996;Timing/Memory_update/ms:47.637;Timing/Neighbor_link_refining/ms:15.393;Timing/Posterior_computation/ms:0.222921;Timing/Proximity_by_space/ms:0.123978;Timing/Proximity_by_time/ms:0.0200272;Timing/Reactivation/ms:0.360012;Timing/Statistics_creation/ms:0.11301;Timing/Total/ms:64.5699;TimingMem/Add_new_words/ms:3.44491;TimingMem/Compressing_data/ms:0.730991;TimingMem/Descriptors_extraction/ms:16.0332;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0579357;TimingMem/Keypoints_detection/ms:22.485;TimingMem/Occupancy_grid/ms:0.830173;TimingMem/Post_decimation/ms:0.953913;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.0998974;TimingMem/Signature_creation/ms:47.519


data:
Keypoint/Dictionary_size/words:4284;Keypoint/Index_memory_usage/KB:1102;Keypoint/Indexed_words/words:4230;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.0590668;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:79;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.940933;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:31.1351;Memory/Immunized_globally/:13;Memory/Immunized_locally/:24;Memory/Immunized_locally_max/:24;Memory/Local_graph_size/:106;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.422222;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:97;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.772586;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.38039e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.00214577;Timing/Hypotheses_creation/ms:0.0329018;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.306845;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.172853;Timing/Memory_update/ms:86.2751;Timing/Neighbor_link_refining/ms:8.68106;Timing/Posterior_computation/ms:0.236034;Timing/Proximity_by_space/ms:0.231981;Timing/Proximity_by_time/ms:0.0200272;Timing/Reactivation/ms:0.368834;Timing/Statistics_creation/ms:0.144005;Timing/Total/ms:96.4792;TimingMem/Add_new_words/ms:5.50699;TimingMem/Compressing_data/ms:0.90003;TimingMem/Descriptors_extraction/ms:18.806;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.104189;TimingMem/Keypoints_detection/ms:55.0671;TimingMem/Occupancy_grid/ms:0.967979;TimingMem/Post_decimation/ms:1.33395;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.901937;TimingMem/Signature_creation/ms:85.3541


data:
Keypoint/Dictionary_size/words:4357;Keypoint/Index_memory_usage/KB:1116;Keypoint/Indexed_words/words:4284;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0634218;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.936578;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:31.4908;Memory/Immunized_globally/:9;Memory/Immunized_locally/:24;Memory/Immunized_locally_max/:24;Memory/Local_graph_size/:107;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.343434;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:98;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.757009;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:8.5972e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0321865;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.286102;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.149012;Timing/Memory_update/ms:60.4339;Timing/Neighbor_link_refining/ms:40.6401;Timing/Posterior_computation/ms:0.228882;Timing/Proximity_by_space/ms:0.184059;Timing/Proximity_by_time/ms:0.0178814;Timing/Reactivation/ms:0.327826;Timing/Statistics_creation/ms:0.182152;Timing/Total/ms:102.489;TimingMem/Add_new_words/ms:10.314;TimingMem/Compressing_data/ms:2.45118;TimingMem/Descriptors_extraction/ms:14.571;TimingMem/Joining_dictionary_update/ms:0.0238419;TimingMem/Keypoints_3D/ms:0.185013;TimingMem/Keypoints_detection/ms:24.9569;TimingMem/Occupancy_grid/ms:2.46501;TimingMem/Post_decimation/ms:1.87898;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.138998;TimingMem/Signature_creation/ms:60.2741


data:
Keypoint/Dictionary_size/words:4432;Keypoint/Index_memory_usage/KB:1135;Keypoint/Indexed_words/words:4357;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0674109;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:81;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.932589;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:31.8579;Memory/Immunized_globally/:13;Memory/Immunized_locally/:24;Memory/Immunized_locally_max/:24;Memory/Local_graph_size/:108;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.338384;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:99;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.688474;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000102925;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0369549;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.260115;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0619888;Timing/Memory_update/ms:58.1751;Timing/Neighbor_link_refining/ms:15.331;Timing/Posterior_computation/ms:0.273943;Timing/Proximity_by_space/ms:0.124931;Timing/Proximity_by_time/ms:0.0338554;Timing/Reactivation/ms:0.337124;Timing/Statistics_creation/ms:0.103951;Timing/Total/ms:74.749;TimingMem/Add_new_words/ms:6.48022;TimingMem/Compressing_data/ms:1.38497;TimingMem/Descriptors_extraction/ms:20.9181;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0917912;TimingMem/Keypoints_detection/ms:22.656;TimingMem/Occupancy_grid/ms:1.51896;TimingMem/Post_decimation/ms:1.508;TimingMem/Pre_update/ms:0.0038147;TimingMem/Rehearsal/ms:0.159979;TimingMem/Signature_creation/ms:57.9941


data:
Keypoint/Dictionary_size/words:4515;Keypoint/Index_memory_usage/KB:1155;Keypoint/Indexed_words/words:4432;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0650682;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:50;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.934932;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:32.2276;Memory/Immunized_globally/:9;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:109;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.296875;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:100;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.76947;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000112488;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0259876;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.211;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0510216;Timing/Memory_update/ms:72.4099;Timing/Neighbor_link_refining/ms:7.55906;Timing/Posterior_computation/ms:0.207901;Timing/Proximity_by_space/ms:0.108957;Timing/Proximity_by_time/ms:0.0140667;Timing/Reactivation/ms:0.263929;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:80.9259;TimingMem/Add_new_words/ms:10.1309;TimingMem/Compressing_data/ms:1.97697;TimingMem/Descriptors_extraction/ms:27.529;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.109196;TimingMem/Keypoints_detection/ms:27.0219;TimingMem/Occupancy_grid/ms:0.889063;TimingMem/Post_decimation/ms:1.69015;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.136852;TimingMem/Signature_creation/ms:72.2592


data:
Keypoint/Dictionary_size/words:4602;Keypoint/Index_memory_usage/KB:1177;Keypoint/Indexed_words/words:4515;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:97;Loop/Highest_hypothesis_value/:0.0658487;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:97;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.934151;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:32.4628;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:110;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.34;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:101;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.841121;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.61664e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.0269413;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.255823;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0658035;Timing/Memory_update/ms:67.3318;Timing/Neighbor_link_refining/ms:7.47681;Timing/Posterior_computation/ms:0.233173;Timing/Proximity_by_space/ms:0.128031;Timing/Proximity_by_time/ms:0.0162125;Timing/Reactivation/ms:0.313044;Timing/Statistics_creation/ms:0.0841618;Timing/Total/ms:75.9368;TimingMem/Add_new_words/ms:7.98488;TimingMem/Compressing_data/ms:1.9381;TimingMem/Descriptors_extraction/ms:20.0231;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.105858;TimingMem/Keypoints_detection/ms:30.3729;TimingMem/Occupancy_grid/ms:1.10102;TimingMem/Post_decimation/ms:1.50704;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.134945;TimingMem/Signature_creation/ms:67.1852


data:
Keypoint/Dictionary_size/words:4675;Keypoint/Index_memory_usage/KB:1199;Keypoint/Indexed_words/words:4602;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:87;Loop/Highest_hypothesis_value/:0.0542213;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:87;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.945779;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:32.5918;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:111;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.43;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:102;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.906542;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.21499e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0591278;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0140667;Timing/Likelihood_computation/ms:0.407934;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.100851;Timing/Memory_update/ms:69.324;Timing/Neighbor_link_refining/ms:17.591;Timing/Posterior_computation/ms:0.371933;Timing/Proximity_by_space/ms:0.19598;Timing/Proximity_by_time/ms:0.0340939;Timing/Reactivation/ms:0.521898;Timing/Statistics_creation/ms:0.166178;Timing/Total/ms:88.7909;TimingMem/Add_new_words/ms:5.13387;TimingMem/Compressing_data/ms:0.995874;TimingMem/Descriptors_extraction/ms:21.421;TimingMem/Joining_dictionary_update/ms:0.0112057;TimingMem/Keypoints_3D/ms:0.109911;TimingMem/Keypoints_detection/ms:36.8891;TimingMem/Occupancy_grid/ms:1.01995;TimingMem/Post_decimation/ms:1.37711;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.119925;TimingMem/Signature_creation/ms:69.1919


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1218;Keypoint/Indexed_words/words:4675;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0561781;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.943822;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:32.8184;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.34;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.850467;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:8.56106e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.0281334;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.257969;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0669956;Timing/Memory_update/ms:69.2229;Timing/Neighbor_link_refining/ms:29.995;Timing/Posterior_computation/ms:0.222921;Timing/Proximity_by_space/ms:0.128031;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.399828;Timing/Statistics_creation/ms:0.0920296;Timing/Total/ms:100.433;TimingMem/Add_new_words/ms:8.3642;TimingMem/Compressing_data/ms:0.849009;TimingMem/Descriptors_extraction/ms:21.533;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0760555;TimingMem/Keypoints_detection/ms:33.1001;TimingMem/Occupancy_grid/ms:1.07503;TimingMem/Post_decimation/ms:1.22595;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.135183;TimingMem/Signature_creation/ms:69.0699


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0568523;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.943148;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:33.0451;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.575;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.112057;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.025034;Timing/Likelihood_computation/ms:0.402927;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.18096;Timing/Memory_update/ms:86.657;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.346899;Timing/Proximity_by_space/ms:0.247955;Timing/Proximity_by_time/ms:0.0700951;Timing/Reactivation/ms:0.610113;Timing/Statistics_creation/ms:0.22006;Timing/Total/ms:88.8751;TimingMem/Add_new_words/ms:10.365;TimingMem/Compressing_data/ms:2.64311;TimingMem/Descriptors_extraction/ms:21.8699;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0901222;TimingMem/Keypoints_detection/ms:44.7762;TimingMem/Occupancy_grid/ms:0.790834;TimingMem/Post_decimation/ms:0.937939;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.82891;TimingMem/Signature_creation/ms:84.8181


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0570932;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942907;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:33.2717;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.62;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00786781;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0338554;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.304937;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0679493;Timing/Memory_update/ms:87.3618;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.262022;Timing/Proximity_by_space/ms:0.133038;Timing/Proximity_by_time/ms:0.218153;Timing/Reactivation/ms:0.389099;Timing/Statistics_creation/ms:0.095129;Timing/Total/ms:88.8729;TimingMem/Add_new_words/ms:16.2721;TimingMem/Compressing_data/ms:4.65107;TimingMem/Descriptors_extraction/ms:24.5311;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.102043;TimingMem/Keypoints_detection/ms:30.164;TimingMem/Occupancy_grid/ms:2.51102;TimingMem/Post_decimation/ms:3.35789;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.98603;TimingMem/Signature_creation/ms:85.3632


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0571796;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.94282;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:33.4983;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.6;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0391006;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.241995;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0650883;Timing/Memory_update/ms:54.822;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.231981;Timing/Proximity_by_space/ms:0.134945;Timing/Proximity_by_time/ms:0.0660419;Timing/Reactivation/ms:0.441074;Timing/Statistics_creation/ms:0.141859;Timing/Total/ms:56.19;TimingMem/Add_new_words/ms:5.11003;TimingMem/Compressing_data/ms:1.16801;TimingMem/Descriptors_extraction/ms:15.475;TimingMem/Joining_dictionary_update/ms:0.0259876;TimingMem/Keypoints_3D/ms:0.174999;TimingMem/Keypoints_detection/ms:26.7332;TimingMem/Occupancy_grid/ms:1.369;TimingMem/Post_decimation/ms:1.01686;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.14989;TimingMem/Signature_creation/ms:53.6621


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.05721;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.94279;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:33.725;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.58;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0338554;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.252008;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.111818;Timing/Memory_update/ms:71.7201;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.205994;Timing/Proximity_by_space/ms:0.195026;Timing/Proximity_by_time/ms:0.133038;Timing/Reactivation/ms:0.421047;Timing/Statistics_creation/ms:0.169992;Timing/Total/ms:73.252;TimingMem/Add_new_words/ms:7.72691;TimingMem/Compressing_data/ms:1.34587;TimingMem/Descriptors_extraction/ms:20.7522;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0698566;TimingMem/Keypoints_detection/ms:29.084;TimingMem/Occupancy_grid/ms:3.057;TimingMem/Post_decimation/ms:1.48416;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:3.65996;TimingMem/Signature_creation/ms:68.043


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572212;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942779;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:33.9516;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.62;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0741482;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.411034;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.163078;Timing/Memory_update/ms:100.601;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.27585;Timing/Proximity_by_space/ms:0.235081;Timing/Proximity_by_time/ms:0.101089;Timing/Reactivation/ms:0.595808;Timing/Statistics_creation/ms:0.277996;Timing/Total/ms:102.747;TimingMem/Add_new_words/ms:6.16097;TimingMem/Compressing_data/ms:1.10197;TimingMem/Descriptors_extraction/ms:40.72;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0948906;TimingMem/Keypoints_detection/ms:43.6602;TimingMem/Occupancy_grid/ms:1.13702;TimingMem/Post_decimation/ms:1.58811;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.92213;TimingMem/Signature_creation/ms:98.6669


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572249;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942775;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:34.1783;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.605;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0360012;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.174999;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0660419;Timing/Memory_update/ms:71.6469;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200987;Timing/Proximity_by_space/ms:0.132084;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.432014;Timing/Statistics_creation/ms:0.0829697;Timing/Total/ms:72.824;TimingMem/Add_new_words/ms:6.48403;TimingMem/Compressing_data/ms:0.89097;TimingMem/Descriptors_extraction/ms:23.051;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.105143;TimingMem/Keypoints_detection/ms:34.236;TimingMem/Occupancy_grid/ms:1.0879;TimingMem/Post_decimation/ms:2.17295;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.861883;TimingMem/Signature_creation/ms:70.7769


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572258;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942774;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:34.4049;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.59;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0391006;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.245094;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.115156;Timing/Memory_update/ms:71.233;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.228882;Timing/Proximity_by_space/ms:1.0221;Timing/Proximity_by_time/ms:0.056982;Timing/Reactivation/ms:0.51403;Timing/Statistics_creation/ms:0.175953;Timing/Total/ms:73.6382;TimingMem/Add_new_words/ms:9.26805;TimingMem/Compressing_data/ms:1.00803;TimingMem/Descriptors_extraction/ms:17.3149;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.152111;TimingMem/Keypoints_detection/ms:36.8681;TimingMem/Occupancy_grid/ms:1.09601;TimingMem/Post_decimation/ms:1.4379;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.637054;TimingMem/Signature_creation/ms:70.575


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572268;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942773;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:34.6316;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.565;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.104189;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0298023;Timing/Likelihood_computation/ms:0.37694;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.163078;Timing/Memory_update/ms:55.584;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.272989;Timing/Proximity_by_space/ms:0.422001;Timing/Proximity_by_time/ms:0.183105;Timing/Reactivation/ms:1.2641;Timing/Statistics_creation/ms:0.227928;Timing/Total/ms:58.6312;TimingMem/Add_new_words/ms:4.44388;TimingMem/Compressing_data/ms:1.19686;TimingMem/Descriptors_extraction/ms:19.2661;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.068903;TimingMem/Keypoints_detection/ms:20.438;TimingMem/Occupancy_grid/ms:3.52716;TimingMem/Post_decimation/ms:0.856161;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:2.74992;TimingMem/Signature_creation/ms:52.8221


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572269;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942773;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:34.8582;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.585;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00190735;Timing/Hypotheses_creation/ms:0.120163;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0338554;Timing/Likelihood_computation/ms:0.329018;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.210047;Timing/Memory_update/ms:56.6201;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.310898;Timing/Proximity_by_space/ms:0.422955;Timing/Proximity_by_time/ms:0.0829697;Timing/Reactivation/ms:0.685215;Timing/Statistics_creation/ms:0.369072;Timing/Total/ms:59.1881;TimingMem/Add_new_words/ms:6.29687;TimingMem/Compressing_data/ms:1.03498;TimingMem/Descriptors_extraction/ms:15.965;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0967979;TimingMem/Keypoints_detection/ms:25.8081;TimingMem/Occupancy_grid/ms:1.07598;TimingMem/Post_decimation/ms:1.44911;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:2.40922;TimingMem/Signature_creation/ms:54.0149


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.057227;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942773;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:35.0848;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.58;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.0331402;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.207901;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.132799;Timing/Memory_update/ms:57.219;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216961;Timing/Proximity_by_space/ms:0.18692;Timing/Proximity_by_time/ms:0.0581741;Timing/Reactivation/ms:0.448942;Timing/Statistics_creation/ms:0.09799;Timing/Total/ms:58.6102;TimingMem/Add_new_words/ms:6.91199;TimingMem/Compressing_data/ms:0.684023;TimingMem/Descriptors_extraction/ms:21.872;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.084877;TimingMem/Keypoints_detection/ms:22.2671;TimingMem/Occupancy_grid/ms:1.06502;TimingMem/Post_decimation/ms:1.40905;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.730991;TimingMem/Signature_creation/ms:56.4799


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572271;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942773;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:35.3115;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.565;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0808239;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.319004;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.19002;Timing/Memory_update/ms:59.927;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.257969;Timing/Proximity_by_space/ms:0.285864;Timing/Proximity_by_time/ms:0.102043;Timing/Reactivation/ms:0.48399;Timing/Statistics_creation/ms:0.22912;Timing/Total/ms:61.883;TimingMem/Add_new_words/ms:4.287;TimingMem/Compressing_data/ms:0.650167;TimingMem/Descriptors_extraction/ms:20.0319;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0729561;TimingMem/Keypoints_detection/ms:28.8661;TimingMem/Occupancy_grid/ms:0.703812;TimingMem/Post_decimation/ms:0.864983;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.18208;TimingMem/Signature_creation/ms:58.732


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572271;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942773;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:35.5381;Memory/Immunized_globally/:13;Memory/Immunized_locally/:25;Memory/Immunized_locally_max/:25;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.55;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:103;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00286102;Timing/Forgetting/ms:0.00405312;Timing/Hypotheses_creation/ms:0.0760555;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.015974;Timing/Likelihood_computation/ms:0.416994;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.823021;Timing/Memory_update/ms:61.6229;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.313997;Timing/Proximity_by_space/ms:0.344038;Timing/Proximity_by_time/ms:0.102043;Timing/Reactivation/ms:0.860929;Timing/Statistics_creation/ms:0.271082;Timing/Total/ms:64.8499;TimingMem/Add_new_words/ms:4.38499;TimingMem/Compressing_data/ms:1.08695;TimingMem/Descriptors_extraction/ms:23.257;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0710487;TimingMem/Keypoints_detection/ms:24.0581;TimingMem/Occupancy_grid/ms:2.13385;TimingMem/Post_decimation/ms:1.45698;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.867128;TimingMem/Signature_creation/ms:60.7431


data:
Keypoint/Dictionary_size/words:4839;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:165;Loop/Highest_hypothesis_value/:0.0511495;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:165;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.948851;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:35.5687;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:113;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;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/:104;NeighborLinkRefining/Variance/:229977;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00214577;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.349045;Timing/Hypotheses_creation/ms:0.056982;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0121593;Timing/Likelihood_computation/ms:0.383139;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:1.06096;Timing/Memory_update/ms:63.458;Timing/Neighbor_link_refining/ms:0.0138283;Timing/Posterior_computation/ms:0.316858;Timing/Proximity_by_space/ms:0.279903;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.728846;Timing/Statistics_creation/ms:0.183105;Timing/Total/ms:66.5488;TimingMem/Add_new_words/ms:5.20301;TimingMem/Compressing_data/ms:0.651836;TimingMem/Descriptors_extraction/ms:19.8221;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0798702;TimingMem/Keypoints_detection/ms:32.82;TimingMem/Occupancy_grid/ms:0.780106;TimingMem/Post_decimation/ms:1.12319;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.280857;TimingMem/Signature_creation/ms:63.159


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0550745;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.944925;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:35.7954;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.55;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00286102;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0929832;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0188351;Timing/Likelihood_computation/ms:0.495911;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0989437;Timing/Memory_update/ms:59.875;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.275135;Timing/Proximity_by_space/ms:0.216007;Timing/Proximity_by_time/ms:0.22006;Timing/Reactivation/ms:0.714064;Timing/Statistics_creation/ms:0.153065;Timing/Total/ms:62.1631;TimingMem/Add_new_words/ms:7.07006;TimingMem/Compressing_data/ms:1.06502;TimingMem/Descriptors_extraction/ms:13.6881;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.113964;TimingMem/Keypoints_detection/ms:30.7488;TimingMem/Occupancy_grid/ms:1.38593;TimingMem/Post_decimation/ms:1.02592;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:2.16913;TimingMem/Signature_creation/ms:57.6889


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0564598;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.94354;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:36.022;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.585;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00190735;Timing/Hypotheses_creation/ms:0.0340939;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00882149;Timing/Likelihood_computation/ms:0.200033;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.161171;Timing/Memory_update/ms:52.7821;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.175953;Timing/Proximity_by_space/ms:0.149012;Timing/Proximity_by_time/ms:0.0488758;Timing/Reactivation/ms:0.714064;Timing/Statistics_creation/ms:0.286818;Timing/Total/ms:54.563;TimingMem/Add_new_words/ms:4.01402;TimingMem/Compressing_data/ms:0.663042;TimingMem/Descriptors_extraction/ms:18.558;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0679493;TimingMem/Keypoints_detection/ms:25.0909;TimingMem/Occupancy_grid/ms:0.778913;TimingMem/Post_decimation/ms:0.86689;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.406027;TimingMem/Signature_creation/ms:52.3679


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0569503;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.94305;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:36.2487;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.59;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.164032;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:60.298;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.181913;Timing/Proximity_by_space/ms:0.193119;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.40102;Timing/Statistics_creation/ms:0.101089;Timing/Total/ms:61.507;TimingMem/Add_new_words/ms:7.08008;TimingMem/Compressing_data/ms:0.86689;TimingMem/Descriptors_extraction/ms:19.9239;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.114918;TimingMem/Keypoints_detection/ms:26.3741;TimingMem/Occupancy_grid/ms:0.786066;TimingMem/Post_decimation/ms:1.58691;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.468016;TimingMem/Signature_creation/ms:59.8209


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0571243;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942876;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:36.4753;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.555;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.19908;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0801086;Timing/Memory_update/ms:59.767;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.156879;Timing/Proximity_by_space/ms:0.127792;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.338078;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:60.828;TimingMem/Add_new_words/ms:6.181;TimingMem/Compressing_data/ms:0.786066;TimingMem/Descriptors_extraction/ms:23.0391;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0679493;TimingMem/Keypoints_detection/ms:24.014;TimingMem/Occupancy_grid/ms:0.737906;TimingMem/Post_decimation/ms:1.1909;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.44506;TimingMem/Signature_creation/ms:58.315


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0571855;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942814;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:36.702;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.58;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0481606;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00786781;Timing/Likelihood_computation/ms:0.277996;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.134945;Timing/Memory_update/ms:55.2571;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.261784;Timing/Proximity_by_space/ms:0.212908;Timing/Proximity_by_time/ms:0.082016;Timing/Reactivation/ms:0.545979;Timing/Statistics_creation/ms:0.178099;Timing/Total/ms:57.009;TimingMem/Add_new_words/ms:7.3719;TimingMem/Compressing_data/ms:3.58677;TimingMem/Descriptors_extraction/ms:14.6811;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:22.3219;TimingMem/Occupancy_grid/ms:0.788212;TimingMem/Post_decimation/ms:2.37203;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:1.16587;TimingMem/Signature_creation/ms:54.08


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572081;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942792;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:36.9286;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.6;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0660419;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0238419;Timing/Likelihood_computation/ms:0.477076;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:70.791;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.252962;Timing/Proximity_by_space/ms:0.168085;Timing/Proximity_by_time/ms:0.0669956;Timing/Reactivation/ms:0.480175;Timing/Statistics_creation/ms:0.119925;Timing/Total/ms:72.53;TimingMem/Add_new_words/ms:9.00006;TimingMem/Compressing_data/ms:1.46103;TimingMem/Descriptors_extraction/ms:19.218;TimingMem/Joining_dictionary_update/ms:0.0197887;TimingMem/Keypoints_3D/ms:0.138044;TimingMem/Keypoints_detection/ms:30.9231;TimingMem/Occupancy_grid/ms:3.23296;TimingMem/Post_decimation/ms:1.73306;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.737906;TimingMem/Signature_creation/ms:70.0331


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572156;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942784;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:37.1552;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.56;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0851154;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0178814;Timing/Likelihood_computation/ms:0.19908;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.230074;Timing/Memory_update/ms:59.7501;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.974894;Timing/Proximity_by_space/ms:0.586987;Timing/Proximity_by_time/ms:0.0429153;Timing/Reactivation/ms:1.50013;Timing/Statistics_creation/ms:0.264883;Timing/Total/ms:63.6561;TimingMem/Add_new_words/ms:10.5782;TimingMem/Compressing_data/ms:3.73197;TimingMem/Descriptors_extraction/ms:16.6719;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.101089;TimingMem/Keypoints_detection/ms:22.4731;TimingMem/Occupancy_grid/ms:0.954866;TimingMem/Post_decimation/ms:1.89686;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.792027;TimingMem/Signature_creation/ms:58.949


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572186;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942781;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:37.3819;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.585;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.027895;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.176907;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0970364;Timing/Memory_update/ms:57.6251;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.159025;Timing/Proximity_by_space/ms:0.147104;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.412941;Timing/Statistics_creation/ms:0.124931;Timing/Total/ms:58.83;TimingMem/Add_new_words/ms:7.05409;TimingMem/Compressing_data/ms:0.893831;TimingMem/Descriptors_extraction/ms:22.2239;TimingMem/Joining_dictionary_update/ms:0.0128746;TimingMem/Keypoints_3D/ms:0.0991821;TimingMem/Keypoints_detection/ms:19.6929;TimingMem/Occupancy_grid/ms:1.79291;TimingMem/Post_decimation/ms:2.28906;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.527859;TimingMem/Signature_creation/ms:57.0881


data:
Keypoint/Dictionary_size/words:4752;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0572192;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942781;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:37.6085;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:112;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:188;Memory/Rehearsal_merged/:188;Memory/Rehearsal_sim/:0.585;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.056982;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0119209;Timing/Likelihood_computation/ms:0.411987;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.117064;Timing/Memory_update/ms:93.293;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.248194;Timing/Proximity_by_space/ms:0.230074;Timing/Proximity_by_time/ms:0.298977;Timing/Reactivation/ms:0.542879;Timing/Statistics_creation/ms:0.169039;Timing/Total/ms:95.382;TimingMem/Add_new_words/ms:14.957;TimingMem/Compressing_data/ms:1.15204;TimingMem/Descriptors_extraction/ms:30.9131;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.104904;TimingMem/Keypoints_detection/ms:38.4889;TimingMem/Occupancy_grid/ms:1.46794;TimingMem/Post_decimation/ms:1.06406;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:2.23517;TimingMem/Signature_creation/ms:91.0339


data:
Keypoint/Dictionary_size/words:4826;Keypoint/Index_memory_usage/KB:1238;Keypoint/Indexed_words/words:4752;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:119;Loop/Highest_hypothesis_value/:0.0584673;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:119;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.941533;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:37.749;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:113;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.345;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:104;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.816199;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.93371e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.155926;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0491142;Timing/Likelihood_computation/ms:0.653028;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.185013;Timing/Memory_update/ms:87.4531;Timing/Neighbor_link_refining/ms:20.304;Timing/Posterior_computation/ms:0.48995;Timing/Proximity_by_space/ms:0.165939;Timing/Proximity_by_time/ms:0.0240803;Timing/Reactivation/ms:0.543833;Timing/Statistics_creation/ms:0.144958;Timing/Total/ms:110.173;TimingMem/Add_new_words/ms:8.28505;TimingMem/Compressing_data/ms:3.51286;TimingMem/Descriptors_extraction/ms:26.2592;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.100851;TimingMem/Keypoints_detection/ms:40.2639;TimingMem/Occupancy_grid/ms:1.78504;TimingMem/Post_decimation/ms:1.39213;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.236034;TimingMem/Signature_creation/ms:87.209


data:
Keypoint/Dictionary_size/words:4902;Keypoint/Index_memory_usage/KB:1258;Keypoint/Indexed_words/words:4826;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:97;Loop/Highest_hypothesis_value/:0.0572082;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:97;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942792;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:38.0734;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:114;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.415;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:105;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.741433;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.3658e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.027895;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.248909;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0610352;Timing/Memory_update/ms:94.4111;Timing/Neighbor_link_refining/ms:18.0919;Timing/Posterior_computation/ms:0.22006;Timing/Proximity_by_space/ms:0.127077;Timing/Proximity_by_time/ms:0.0140667;Timing/Reactivation/ms:0.289917;Timing/Statistics_creation/ms:0.102997;Timing/Total/ms:113.599;TimingMem/Add_new_words/ms:25.032;TimingMem/Compressing_data/ms:2.22278;TimingMem/Descriptors_extraction/ms:22.0919;TimingMem/Joining_dictionary_update/ms:0.0319481;TimingMem/Keypoints_3D/ms:0.337124;TimingMem/Keypoints_detection/ms:37.246;TimingMem/Occupancy_grid/ms:1.81413;TimingMem/Post_decimation/ms:1.02806;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.737906;TimingMem/Signature_creation/ms:93.6379


data:
Keypoint/Dictionary_size/words:4981;Keypoint/Index_memory_usage/KB:1278;Keypoint/Indexed_words/words:4902;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:166;Loop/Highest_hypothesis_value/:0.0628011;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:166;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.937199;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:38.4455;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:115;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.325;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:106;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.722741;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000126262;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.369072;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0779629;Timing/Memory_update/ms:76.252;Timing/Neighbor_link_refining/ms:13.5741;Timing/Posterior_computation/ms:0.329971;Timing/Proximity_by_space/ms:0.141859;Timing/Proximity_by_time/ms:0.0228882;Timing/Reactivation/ms:0.461817;Timing/Statistics_creation/ms:0.108004;Timing/Total/ms:91.3999;TimingMem/Add_new_words/ms:6.98209;TimingMem/Compressing_data/ms:4.33683;TimingMem/Descriptors_extraction/ms:28.8689;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:30.237;TimingMem/Occupancy_grid/ms:2.01297;TimingMem/Post_decimation/ms:1.16706;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.154972;TimingMem/Signature_creation/ms:76.0779


data:
Keypoint/Dictionary_size/words:5045;Keypoint/Index_memory_usage/KB:1298;Keypoint/Indexed_words/words:4981;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:166;Loop/Highest_hypothesis_value/:0.0660878;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:166;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.933912;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:38.7196;Memory/Immunized_globally/:13;Memory/Immunized_locally/:26;Memory/Immunized_locally_max/:26;Memory/Local_graph_size/:116;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.42;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:107;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.794393;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.39342e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0810623;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0178814;Timing/Likelihood_computation/ms:0.610828;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.252962;Timing/Memory_update/ms:76.3798;Timing/Neighbor_link_refining/ms:20.4172;Timing/Posterior_computation/ms:0.415087;Timing/Proximity_by_space/ms:0.168085;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.452995;Timing/Statistics_creation/ms:0.215054;Timing/Total/ms:99.0608;TimingMem/Add_new_words/ms:4.54998;TimingMem/Compressing_data/ms:0.751972;TimingMem/Descriptors_extraction/ms:25.7051;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:41.827;TimingMem/Occupancy_grid/ms:0.68593;TimingMem/Post_decimation/ms:0.99802;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.160933;TimingMem/Signature_creation/ms:76.2081


data:
Keypoint/Dictionary_size/words:5123;Keypoint/Index_memory_usage/KB:1315;Keypoint/Indexed_words/words:5045;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:103;Loop/Highest_hypothesis_value/:0.0753659;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:103;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.924634;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:38.9732;Memory/Immunized_globally/:13;Memory/Immunized_locally/:27;Memory/Immunized_locally_max/:27;Memory/Local_graph_size/:117;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.4;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:108;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.853583;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.0301e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.068903;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0169277;Timing/Likelihood_computation/ms:0.45085;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0729561;Timing/Memory_update/ms:71.034;Timing/Neighbor_link_refining/ms:19.505;Timing/Posterior_computation/ms:0.269175;Timing/Proximity_by_space/ms:0.157118;Timing/Proximity_by_time/ms:0.038147;Timing/Reactivation/ms:0.498056;Timing/Statistics_creation/ms:0.11301;Timing/Total/ms:92.227;TimingMem/Add_new_words/ms:10.206;TimingMem/Compressing_data/ms:2.80905;TimingMem/Descriptors_extraction/ms:24.76;TimingMem/Joining_dictionary_update/ms:0.0209808;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:28.882;TimingMem/Occupancy_grid/ms:1.00207;TimingMem/Post_decimation/ms:1.66392;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.121117;TimingMem/Signature_creation/ms:70.9009


data:
Keypoint/Dictionary_size/words:5204;Keypoint/Index_memory_usage/KB:1335;Keypoint/Indexed_words/words:5123;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:95;Loop/Highest_hypothesis_value/:0.0678592;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:95;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.932141;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:39.2479;Memory/Immunized_globally/:13;Memory/Immunized_locally/:27;Memory/Immunized_locally_max/:27;Memory/Local_graph_size/:118;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.33;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:109;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.819315;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.83652e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0379086;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.267982;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:76.2229;Timing/Neighbor_link_refining/ms:45.377;Timing/Posterior_computation/ms:0.287056;Timing/Proximity_by_space/ms:0.348091;Timing/Proximity_by_time/ms:0.015974;Timing/Reactivation/ms:0.800848;Timing/Statistics_creation/ms:0.130892;Timing/Total/ms:123.581;TimingMem/Add_new_words/ms:14.5831;TimingMem/Compressing_data/ms:1.47295;TimingMem/Descriptors_extraction/ms:26.372;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.161886;TimingMem/Keypoints_detection/ms:22.1951;TimingMem/Occupancy_grid/ms:3.38697;TimingMem/Post_decimation/ms:4.46606;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.338793;TimingMem/Signature_creation/ms:75.8719


data:
Keypoint/Dictionary_size/words:5274;Keypoint/Index_memory_usage/KB:1356;Keypoint/Indexed_words/words:5204;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:185;Loop/Highest_hypothesis_value/:0.0590414;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:185;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.940959;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:39.4401;Memory/Immunized_globally/:7;Memory/Immunized_locally/:27;Memory/Immunized_locally_max/:27;Memory/Local_graph_size/:119;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.41;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:110;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.88785;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.73872e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0271797;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.247002;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0591278;Timing/Memory_update/ms:93.3051;Timing/Neighbor_link_refining/ms:27.4658;Timing/Posterior_computation/ms:0.231981;Timing/Proximity_by_space/ms:0.132084;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.234842;Timing/Statistics_creation/ms:0.0798702;Timing/Total/ms:121.803;TimingMem/Add_new_words/ms:6.12712;TimingMem/Compressing_data/ms:0.629902;TimingMem/Descriptors_extraction/ms:35.81;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0948906;TimingMem/Keypoints_detection/ms:46.736;TimingMem/Occupancy_grid/ms:0.80514;TimingMem/Post_decimation/ms:1.32394;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.123024;TimingMem/Signature_creation/ms:93.168


data:
Keypoint/Dictionary_size/words:5321;Keypoint/Index_memory_usage/KB:1375;Keypoint/Indexed_words/words:5274;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0643721;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:81;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.935628;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:39.6066;Memory/Immunized_globally/:13;Memory/Immunized_locally/:27;Memory/Immunized_locally_max/:27;Memory/Local_graph_size/:120;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:217;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.461929;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:111;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.909657;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.55668e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.261068;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0720024;Timing/Memory_update/ms:98.1021;Timing/Neighbor_link_refining/ms:24.235;Timing/Posterior_computation/ms:0.236988;Timing/Proximity_by_space/ms:0.144005;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.276089;Timing/Statistics_creation/ms:0.09799;Timing/Total/ms:123.481;TimingMem/Add_new_words/ms:5.66006;TimingMem/Compressing_data/ms:0.949144;TimingMem/Descriptors_extraction/ms:25.485;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0698566;TimingMem/Keypoints_detection/ms:57.7791;TimingMem/Occupancy_grid/ms:1.04189;TimingMem/Post_decimation/ms:5.34296;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.150919;TimingMem/Signature_creation/ms:97.9371


data:
Keypoint/Dictionary_size/words:5384;Keypoint/Index_memory_usage/KB:1387;Keypoint/Indexed_words/words:5321;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:119;Loop/Highest_hypothesis_value/:0.064813;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:119;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.935187;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:39.765;Memory/Immunized_globally/:13;Memory/Immunized_locally/:28;Memory/Immunized_locally_max/:28;Memory/Local_graph_size/:121;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:218;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.45;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:112;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.912773;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.70132e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.056982;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.013113;Timing/Likelihood_computation/ms:0.543833;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:98.9769;Timing/Neighbor_link_refining/ms:34.9669;Timing/Posterior_computation/ms:0.339985;Timing/Proximity_by_space/ms:0.159025;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.349045;Timing/Statistics_creation/ms:0.111103;Timing/Total/ms:135.628;TimingMem/Add_new_words/ms:17.0782;TimingMem/Compressing_data/ms:3.21698;TimingMem/Descriptors_extraction/ms:34.2901;TimingMem/Joining_dictionary_update/ms:0.0178814;TimingMem/Keypoints_3D/ms:0.138044;TimingMem/Keypoints_detection/ms:39.7091;TimingMem/Occupancy_grid/ms:1.20401;TimingMem/Post_decimation/ms:1.33991;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.12207;TimingMem/Signature_creation/ms:98.8431


data:
Keypoint/Dictionary_size/words:5457;Keypoint/Index_memory_usage/KB:1403;Keypoint/Indexed_words/words:5384;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:188;Loop/Highest_hypothesis_value/:0.0695465;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:188;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.930453;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:40.0289;Memory/Immunized_globally/:7;Memory/Immunized_locally/:28;Memory/Immunized_locally_max/:28;Memory/Local_graph_size/:122;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.375;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:113;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.856698;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:8.54275e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.102043;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0221729;Timing/Likelihood_computation/ms:0.573874;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0941753;Timing/Memory_update/ms:73.993;Timing/Neighbor_link_refining/ms:16.413;Timing/Posterior_computation/ms:0.500917;Timing/Proximity_by_space/ms:0.231981;Timing/Proximity_by_time/ms:0.0321865;Timing/Reactivation/ms:0.418901;Timing/Statistics_creation/ms:0.170946;Timing/Total/ms:92.555;TimingMem/Add_new_words/ms:7.81703;TimingMem/Compressing_data/ms:1.38402;TimingMem/Descriptors_extraction/ms:29.104;TimingMem/Joining_dictionary_update/ms:0.0391006;TimingMem/Keypoints_3D/ms:0.123978;TimingMem/Keypoints_detection/ms:28.6181;TimingMem/Occupancy_grid/ms:1.74999;TimingMem/Post_decimation/ms:1.52183;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.227928;TimingMem/Signature_creation/ms:73.745


data:
Keypoint/Dictionary_size/words:5457;Keypoint/Index_memory_usage/KB:1422;Keypoint/Indexed_words/words:5457;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:188;Loop/Highest_hypothesis_value/:0.0718842;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:188;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.928116;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:40.2927;Memory/Immunized_globally/:7;Memory/Immunized_locally/:28;Memory/Immunized_locally_max/:28;Memory/Local_graph_size/:122;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:220;Memory/Rehearsal_merged/:220;Memory/Rehearsal_sim/:0.520619;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:113;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.0441074;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.27895;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.301838;Timing/Memory_update/ms:87.846;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.309944;Timing/Proximity_by_space/ms:0.240088;Timing/Proximity_by_time/ms:0.602007;Timing/Reactivation/ms:0.720024;Timing/Statistics_creation/ms:0.178099;Timing/Total/ms:90.5299;TimingMem/Add_new_words/ms:10.6061;TimingMem/Compressing_data/ms:1.48797;TimingMem/Descriptors_extraction/ms:34.7819;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.143051;TimingMem/Keypoints_detection/ms:33.3261;TimingMem/Occupancy_grid/ms:1.19996;TimingMem/Post_decimation/ms:2.05398;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.539064;TimingMem/Signature_creation/ms:87.297


data:
Keypoint/Dictionary_size/words:5554;Keypoint/Index_memory_usage/KB:1422;Keypoint/Indexed_words/words:5457;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:188;Loop/Highest_hypothesis_value/:0.0682418;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:188;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.931758;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:40.5862;Memory/Immunized_globally/:8;Memory/Immunized_locally/:23;Memory/Immunized_locally_max/:28;Memory/Local_graph_size/:123;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.28;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:114;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.903427;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.4953e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.0348091;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00476837;Timing/Likelihood_computation/ms:0.307798;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0610352;Timing/Memory_update/ms:67.389;Timing/Neighbor_link_refining/ms:4.95505;Timing/Posterior_computation/ms:0.263214;Timing/Proximity_by_space/ms:0.158072;Timing/Proximity_by_time/ms:0.0221729;Timing/Reactivation/ms:0.261068;Timing/Statistics_creation/ms:0.082016;Timing/Total/ms:73.5431;TimingMem/Add_new_words/ms:8.82101;TimingMem/Compressing_data/ms:0.626802;TimingMem/Descriptors_extraction/ms:23.7279;TimingMem/Joining_dictionary_update/ms:0.0188351;TimingMem/Keypoints_3D/ms:0.109196;TimingMem/Keypoints_detection/ms:30.2682;TimingMem/Occupancy_grid/ms:0.836134;TimingMem/Post_decimation/ms:1.06716;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.136137;TimingMem/Signature_creation/ms:67.24


data:
Keypoint/Dictionary_size/words:5636;Keypoint/Index_memory_usage/KB:1448;Keypoint/Indexed_words/words:5554;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:188;Loop/Highest_hypothesis_value/:0.0630363;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:188;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.936964;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:40.9365;Memory/Immunized_globally/:9;Memory/Immunized_locally/:20;Memory/Immunized_locally_max/:28;Memory/Local_graph_size/:124;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.33;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:115;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.866044;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:8.11353e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00190735;Timing/Hypotheses_creation/ms:0.12207;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0298023;Timing/Likelihood_computation/ms:0.472069;Timing/Map_optimization/ms:0.00214577;Timing/Memory_cleanup/ms:0.275135;Timing/Memory_update/ms:58.8639;Timing/Neighbor_link_refining/ms:33.3672;Timing/Posterior_computation/ms:0.387907;Timing/Proximity_by_space/ms:0.380993;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.6001;Timing/Statistics_creation/ms:0.291824;Timing/Total/ms:94.8269;TimingMem/Add_new_words/ms:5.98192;TimingMem/Compressing_data/ms:1.19185;TimingMem/Descriptors_extraction/ms:24.3831;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0770092;TimingMem/Keypoints_detection/ms:23.427;TimingMem/Occupancy_grid/ms:0.870228;TimingMem/Post_decimation/ms:1.50514;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.124931;TimingMem/Signature_creation/ms:58.7251


data:
Keypoint/Dictionary_size/words:5703;Keypoint/Index_memory_usage/KB:1469;Keypoint/Indexed_words/words:5636;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:188;Loop/Highest_hypothesis_value/:0.0576826;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:188;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.942317;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.1482;Memory/Immunized_globally/:10;Memory/Immunized_locally/:17;Memory/Immunized_locally_max/:29;Memory/Local_graph_size/:125;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.225;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:116;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.88162;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.52348e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;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:0.00286102;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.130892;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.025034;Timing/Likelihood_computation/ms:0.524998;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.155926;Timing/Memory_update/ms:64.0359;Timing/Neighbor_link_refining/ms:14.766;Timing/Posterior_computation/ms:0.547171;Timing/Proximity_by_space/ms:0.293016;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.599146;Timing/Statistics_creation/ms:0.167131;Timing/Total/ms:81.275;TimingMem/Add_new_words/ms:4.19593;TimingMem/Compressing_data/ms:0.651121;TimingMem/Descriptors_extraction/ms:24.7312;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:31.3859;TimingMem/Occupancy_grid/ms:0.678062;TimingMem/Post_decimation/ms:1.15991;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.09799;TimingMem/Signature_creation/ms:63.9241


data:
Keypoint/Dictionary_size/words:5759;Keypoint/Index_memory_usage/KB:1486;Keypoint/Indexed_words/words:5703;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:92;Loop/Highest_hypothesis_value/:0.0596416;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:92;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.940358;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.4015;Memory/Immunized_globally/:13;Memory/Immunized_locally/:15;Memory/Immunized_locally_max/:29;Memory/Local_graph_size/:126;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.220859;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:117;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.781931;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:5.48351e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:1;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0669956;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.015974;Timing/Likelihood_computation/ms:0.432968;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.108004;Timing/Memory_update/ms:79.5689;Timing/Neighbor_link_refining/ms:21.1141;Timing/Posterior_computation/ms:0.4282;Timing/Proximity_by_space/ms:0.300884;Timing/Proximity_by_time/ms:0.0319481;Timing/Reactivation/ms:0.537872;Timing/Statistics_creation/ms:0.181913;Timing/Total/ms:102.791;TimingMem/Add_new_words/ms:4.85492;TimingMem/Compressing_data/ms:4.11701;TimingMem/Descriptors_extraction/ms:26.4649;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0650883;TimingMem/Keypoints_detection/ms:35.0561;TimingMem/Occupancy_grid/ms:2.75397;TimingMem/Post_decimation/ms:1.38021;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.149965;TimingMem/Signature_creation/ms:79.402


data:
Keypoint/Dictionary_size/words:5827;Keypoint/Index_memory_usage/KB:1501;Keypoint/Indexed_words/words:5759;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:92;Loop/Highest_hypothesis_value/:0.0831051;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:92;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916895;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.514;Memory/Immunized_globally/:13;Memory/Immunized_locally/:16;Memory/Immunized_locally_max/:29;Memory/Local_graph_size/:127;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.246835;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:118;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.875389;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:2.65503e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00286102;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.139952;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0369549;Timing/Likelihood_computation/ms:0.451088;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.128031;Timing/Memory_update/ms:60.8239;Timing/Neighbor_link_refining/ms:19.5389;Timing/Posterior_computation/ms:0.555992;Timing/Proximity_by_space/ms:0.475883;Timing/Proximity_by_time/ms:0.041008;Timing/Reactivation/ms:0.952005;Timing/Statistics_creation/ms:0.342131;Timing/Total/ms:83.4899;TimingMem/Add_new_words/ms:4.8821;TimingMem/Compressing_data/ms:0.648975;TimingMem/Descriptors_extraction/ms:20.884;TimingMem/Joining_dictionary_update/ms:0.0240803;TimingMem/Keypoints_3D/ms:0.20504;TimingMem/Keypoints_detection/ms:28.991;TimingMem/Occupancy_grid/ms:0.921965;TimingMem/Post_decimation/ms:0.862837;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.194073;TimingMem/Signature_creation/ms:60.6091


data:
Keypoint/Dictionary_size/words:5878;Keypoint/Index_memory_usage/KB:1519;Keypoint/Indexed_words/words:5827;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:91;Loop/Highest_hypothesis_value/:0.104503;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:91;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.895497;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.6187;Memory/Immunized_globally/:13;Memory/Immunized_locally/:16;Memory/Immunized_locally_max/:29;Memory/Local_graph_size/:128;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:226;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.450292;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:119;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.953271;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:2.1818e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.173092;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0259876;Timing/Likelihood_computation/ms:0.77486;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0720024;Timing/Memory_update/ms:97.1429;Timing/Neighbor_link_refining/ms:23.4389;Timing/Posterior_computation/ms:0.751019;Timing/Proximity_by_space/ms:0.200987;Timing/Proximity_by_time/ms:0.0360012;Timing/Reactivation/ms:0.439882;Timing/Statistics_creation/ms:0.101089;Timing/Total/ms:123.161;TimingMem/Add_new_words/ms:9.2268;TimingMem/Compressing_data/ms:3.021;TimingMem/Descriptors_extraction/ms:31.672;TimingMem/Joining_dictionary_update/ms:0.0112057;TimingMem/Keypoints_3D/ms:0.0839233;TimingMem/Keypoints_detection/ms:44.4279;TimingMem/Occupancy_grid/ms:1.62315;TimingMem/Post_decimation/ms:2.60711;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.130177;TimingMem/Signature_creation/ms:97.0018


data:
Keypoint/Dictionary_size/words:5921;Keypoint/Index_memory_usage/KB:1532;Keypoint/Indexed_words/words:5878;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:89;Loop/Highest_hypothesis_value/:0.111624;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:89;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:7;Loop/Vp_hypothesis/:0.888376;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.8352;Memory/Immunized_globally/:13;Memory/Immunized_locally/:18;Memory/Immunized_locally_max/:30;Memory/Local_graph_size/:129;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.146199;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:120;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.900312;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.14345e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:6.25706;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0669956;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0209808;Timing/Likelihood_computation/ms:0.259876;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.095129;Timing/Memory_update/ms:68.4021;Timing/Neighbor_link_refining/ms:20.1359;Timing/Posterior_computation/ms:0.328064;Timing/Proximity_by_space/ms:0.422955;Timing/Proximity_by_time/ms:0.0162125;Timing/Reactivation/ms:0.49901;Timing/Statistics_creation/ms:0.656843;Timing/Total/ms:97.1651;TimingMem/Add_new_words/ms:7.14707;TimingMem/Compressing_data/ms:1.78003;TimingMem/Descriptors_extraction/ms:27.446;TimingMem/Joining_dictionary_update/ms:0.0269413;TimingMem/Keypoints_3D/ms:0.10705;TimingMem/Keypoints_detection/ms:25.111;TimingMem/Occupancy_grid/ms:1.06287;TimingMem/Post_decimation/ms:1.26004;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.130892;TimingMem/Signature_creation/ms:68.258


data:
Keypoint/Dictionary_size/words:6020;Keypoint/Index_memory_usage/KB:1543;Keypoint/Indexed_words/words:5921;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:147;Loop/Highest_hypothesis_value/:0.0942808;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:147;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.905719;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.9003;Memory/Immunized_globally/:13;Memory/Immunized_locally/:30;Memory/Immunized_locally_max/:30;Memory/Local_graph_size/:130;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.0258065;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:121;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.753894;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:1.55703e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.105858;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0281334;Timing/Likelihood_computation/ms:0.464916;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.131845;Timing/Memory_update/ms:75.5281;Timing/Neighbor_link_refining/ms:17.5838;Timing/Posterior_computation/ms:0.378132;Timing/Proximity_by_space/ms:0.270128;Timing/Proximity_by_time/ms:0.0400543;Timing/Reactivation/ms:0.479937;Timing/Statistics_creation/ms:0.185966;Timing/Total/ms:95.201;TimingMem/Add_new_words/ms:6.62208;TimingMem/Compressing_data/ms:3.00789;TimingMem/Descriptors_extraction/ms:17.9019;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.0970364;TimingMem/Keypoints_detection/ms:40.8919;TimingMem/Occupancy_grid/ms:1.83392;TimingMem/Post_decimation/ms:1.59311;TimingMem/Pre_update/ms:0.00691414;TimingMem/Rehearsal/ms:0.10705;TimingMem/Signature_creation/ms:75.388


data:
Keypoint/Dictionary_size/words:6117;Keypoint/Index_memory_usage/KB:1569;Keypoint/Indexed_words/words:6020;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.10947;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.89053;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:41.9711;Memory/Immunized_globally/:7;Memory/Immunized_locally/:30;Memory/Immunized_locally_max/:30;Memory/Local_graph_size/:131;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.145;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:122;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.436137;NeighborLinkRefining/Pts/:314;NeighborLinkRefining/Variance/:1.82987e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0369549;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00810623;Timing/Likelihood_computation/ms:0.231028;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:61.4641;Timing/Neighbor_link_refining/ms:32.197;Timing/Posterior_computation/ms:0.277996;Timing/Proximity_by_space/ms:0.194073;Timing/Proximity_by_time/ms:0.0169277;Timing/Reactivation/ms:0.265837;Timing/Statistics_creation/ms:0.0929832;Timing/Total/ms:94.8648;TimingMem/Add_new_words/ms:6.07991;TimingMem/Compressing_data/ms:1.45888;TimingMem/Descriptors_extraction/ms:13.0279;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.133038;TimingMem/Keypoints_detection/ms:24.78;TimingMem/Occupancy_grid/ms:1.80006;TimingMem/Post_decimation/ms:1.51515;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.104189;TimingMem/Signature_creation/ms:61.3098


data:
Keypoint/Dictionary_size/words:6191;Keypoint/Index_memory_usage/KB:1594;Keypoint/Indexed_words/words:6117;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.131174;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:9;Loop/Vp_hypothesis/:0.868826;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.0377;Memory/Immunized_globally/:8;Memory/Immunized_locally/:30;Memory/Immunized_locally_max/:30;Memory/Local_graph_size/:132;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;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/:123;NeighborLinkRefining/Variance/:199980;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:9.94706;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.158072;Timing/Hypotheses_creation/ms:0.0557899;Timing/Hypotheses_validation/ms:0.00119209;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.32115;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.248909;Timing/Memory_update/ms:86.5171;Timing/Neighbor_link_refining/ms:0.0109673;Timing/Posterior_computation/ms:0.375032;Timing/Proximity_by_space/ms:0.390053;Timing/Proximity_by_time/ms:0.473976;Timing/Reactivation/ms:0.415802;Timing/Statistics_creation/ms:0.105143;Timing/Total/ms:98.8741;TimingMem/Add_new_words/ms:8.27098;TimingMem/Compressing_data/ms:0.751972;TimingMem/Descriptors_extraction/ms:20.0851;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.109911;TimingMem/Keypoints_detection/ms:39.736;TimingMem/Occupancy_grid/ms:2.52008;TimingMem/Post_decimation/ms:1.41597;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.156164;TimingMem/Signature_creation/ms:86.349


data:
Keypoint/Dictionary_size/words:6190;Keypoint/Index_memory_usage/KB:1594;Keypoint/Indexed_words/words:6117;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.152245;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:1;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:8;Loop/Vp_hypothesis/:0.847755;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.1603;Memory/Immunized_globally/:7;Memory/Immunized_locally/:30;Memory/Immunized_locally_max/:30;Memory/Local_graph_size/:132;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.33;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:123;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.800623;NeighborLinkRefining/Pts/:319;NeighborLinkRefining/Variance/:2.84116e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:13.1891;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0460148;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00810623;Timing/Likelihood_computation/ms:0.262976;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.141144;Timing/Memory_update/ms:87.081;Timing/Neighbor_link_refining/ms:20.411;Timing/Posterior_computation/ms:0.226974;Timing/Proximity_by_space/ms:0.555992;Timing/Proximity_by_time/ms:0.0169277;Timing/Reactivation/ms:0.336885;Timing/Statistics_creation/ms:0.210047;Timing/Total/ms:122.486;TimingMem/Add_new_words/ms:9.81021;TimingMem/Compressing_data/ms:1.93;TimingMem/Descriptors_extraction/ms:31.1561;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.121832;TimingMem/Keypoints_detection/ms:34.375;TimingMem/Occupancy_grid/ms:1.53303;TimingMem/Post_decimation/ms:1.63102;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.531912;TimingMem/Signature_creation/ms:86.5278


data:
Keypoint/Dictionary_size/words:6269;Keypoint/Index_memory_usage/KB:1613;Keypoint/Indexed_words/words:6190;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.125892;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:18;Loop/Vp_hypothesis/:0.874108;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.2206;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/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.375;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.82866;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:1.78854e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:15.933;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0500679;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.00905991;Timing/Likelihood_computation/ms:0.338078;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.168085;Timing/Memory_update/ms:94.8689;Timing/Neighbor_link_refining/ms:34.5001;Timing/Posterior_computation/ms:0.438929;Timing/Proximity_by_space/ms:1.78695;Timing/Proximity_by_time/ms:0.0388622;Timing/Reactivation/ms:0.422001;Timing/Statistics_creation/ms:5.79691;Timing/Total/ms:154.353;TimingMem/Add_new_words/ms:7.71022;TimingMem/Compressing_data/ms:2.44713;TimingMem/Descriptors_extraction/ms:25.5668;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.138044;TimingMem/Keypoints_detection/ms:47.0972;TimingMem/Occupancy_grid/ms:3.20983;TimingMem/Post_decimation/ms:2.46787;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.678062;TimingMem/Signature_creation/ms:94.1782


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/:0.111953;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:17;Loop/Vp_hypothesis/:0.888047;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.2809;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/:0.535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:16.2151;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0469685;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.221968;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.149965;Timing/Memory_update/ms:69.0331;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.277996;Timing/Proximity_by_space/ms:0.486851;Timing/Proximity_by_time/ms:0.0789165;Timing/Reactivation/ms:0.390053;Timing/Statistics_creation/ms:0.766993;Timing/Total/ms:87.677;TimingMem/Add_new_words/ms:9.57012;TimingMem/Compressing_data/ms:0.981092;TimingMem/Descriptors_extraction/ms:18.8529;TimingMem/Joining_dictionary_update/ms:0.0288486;TimingMem/Keypoints_3D/ms:0.226021;TimingMem/Keypoints_detection/ms:31.6961;TimingMem/Occupancy_grid/ms:1.52397;TimingMem/Post_decimation/ms:1.58787;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.645161;TimingMem/Signature_creation/ms:68.378


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/:0.10389;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.89611;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.3411;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/:0.555;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0851154;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0150204;Timing/Likelihood_computation/ms:0.223875;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.130177;Timing/Memory_update/ms:70.313;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.30899;Timing/Proximity_by_space/ms:0.323772;Timing/Proximity_by_time/ms:0.0629425;Timing/Reactivation/ms:0.451088;Timing/Statistics_creation/ms:0.172853;Timing/Total/ms:72.088;TimingMem/Add_new_words/ms:8.25095;TimingMem/Compressing_data/ms:1.15609;TimingMem/Descriptors_extraction/ms:23.777;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.133038;TimingMem/Keypoints_detection/ms:29.717;TimingMem/Occupancy_grid/ms:1.27101;TimingMem/Post_decimation/ms:1.09005;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.612974;TimingMem/Signature_creation/ms:69.6909


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/:0.0987544;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.901246;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.4014;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/:0.515;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0579357;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0150204;Timing/Likelihood_computation/ms:0.33617;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.124931;Timing/Memory_update/ms:70.534;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.300884;Timing/Proximity_by_space/ms:0.319004;Timing/Proximity_by_time/ms:0.111818;Timing/Reactivation/ms:0.516176;Timing/Statistics_creation/ms:0.179052;Timing/Total/ms:72.4959;TimingMem/Add_new_words/ms:9.60207;TimingMem/Compressing_data/ms:0.976086;TimingMem/Descriptors_extraction/ms:19.541;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.153065;TimingMem/Keypoints_detection/ms:32.5558;TimingMem/Occupancy_grid/ms:1.34087;TimingMem/Post_decimation/ms:1.62792;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.748873;TimingMem/Signature_creation/ms:69.7751


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/:0.0952017;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.904798;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.4616;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/:0.535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.0460148;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00810623;Timing/Likelihood_computation/ms:0.159979;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.123978;Timing/Memory_update/ms:57.337;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.236988;Timing/Proximity_by_space/ms:0.276804;Timing/Proximity_by_time/ms:0.0350475;Timing/Reactivation/ms:0.349998;Timing/Statistics_creation/ms:0.134945;Timing/Total/ms:58.7101;TimingMem/Add_new_words/ms:6.27398;TimingMem/Compressing_data/ms:0.926018;TimingMem/Descriptors_extraction/ms:21.7719;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.134945;TimingMem/Keypoints_detection/ms:22.423;TimingMem/Occupancy_grid/ms:0.872135;TimingMem/Post_decimation/ms:1.18995;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.495911;TimingMem/Signature_creation/ms:56.8321


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/:0.0925984;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.907402;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.5219;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/:0.545;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0481606;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00786781;Timing/Likelihood_computation/ms:0.205994;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.118971;Timing/Memory_update/ms:87.0121;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.285864;Timing/Proximity_by_space/ms:0.303984;Timing/Proximity_by_time/ms:0.0419617;Timing/Reactivation/ms:0.41008;Timing/Statistics_creation/ms:0.145197;Timing/Total/ms:88.582;TimingMem/Add_new_words/ms:6.93703;TimingMem/Compressing_data/ms:1.55401;TimingMem/Descriptors_extraction/ms:30.1931;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.145912;TimingMem/Keypoints_detection/ms:40.8049;TimingMem/Occupancy_grid/ms:1.32895;TimingMem/Post_decimation/ms:1.50084;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.617981;TimingMem/Signature_creation/ms:86.3862


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/:0.0906212;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.909379;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.5821;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/:0.55;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.0469685;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.271082;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.12517;Timing/Memory_update/ms:63.17;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.31805;Timing/Proximity_by_space/ms:0.340939;Timing/Proximity_by_time/ms:0.0698566;Timing/Reactivation/ms:0.418186;Timing/Statistics_creation/ms:0.150919;Timing/Total/ms:64.918;TimingMem/Add_new_words/ms:9.65095;TimingMem/Compressing_data/ms:2.97189;TimingMem/Descriptors_extraction/ms:17.9441;TimingMem/Joining_dictionary_update/ms:0.0112057;TimingMem/Keypoints_3D/ms:0.0998974;TimingMem/Keypoints_detection/ms:23.6261;TimingMem/Occupancy_grid/ms:1.683;TimingMem/Post_decimation/ms:1.858;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.17707;TimingMem/Signature_creation/ms:61.9831


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/:0.0890878;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.910912;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.6424;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/:0.545;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0488758;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.271082;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0910759;Timing/Memory_update/ms:67.785;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.237942;Timing/Proximity_by_space/ms:0.211954;Timing/Proximity_by_time/ms:0.0700951;Timing/Reactivation/ms:0.322104;Timing/Statistics_creation/ms:0.10705;Timing/Total/ms:69.1552;TimingMem/Add_new_words/ms:8.75878;TimingMem/Compressing_data/ms:3.65901;TimingMem/Descriptors_extraction/ms:25.2991;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.130177;TimingMem/Keypoints_detection/ms:23.0589;TimingMem/Occupancy_grid/ms:1.52993;TimingMem/Post_decimation/ms:1.31822;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.705004;TimingMem/Signature_creation/ms:67.071


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/:0.0878868;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.912113;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.7027;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.041008;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00715256;Timing/Likelihood_computation/ms:0.219822;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.119925;Timing/Memory_update/ms:73.94;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.292063;Timing/Proximity_by_space/ms:0.292063;Timing/Proximity_by_time/ms:0.0600815;Timing/Reactivation/ms:0.397921;Timing/Statistics_creation/ms:0.137091;Timing/Total/ms:75.511;TimingMem/Add_new_words/ms:9.23705;TimingMem/Compressing_data/ms:3.93891;TimingMem/Descriptors_extraction/ms:19.774;TimingMem/Joining_dictionary_update/ms:0.0228882;TimingMem/Keypoints_3D/ms:0.192165;TimingMem/Keypoints_detection/ms:33.793;TimingMem/Occupancy_grid/ms:1.3442;TimingMem/Post_decimation/ms:1.25504;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.592947;TimingMem/Signature_creation/ms:73.3361


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/:0.0869407;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.913059;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.7629;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/:0.535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0340939;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.175953;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.2141;Timing/Memory_update/ms:56.3309;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.235081;Timing/Proximity_by_space/ms:0.392914;Timing/Proximity_by_time/ms:0.056982;Timing/Reactivation/ms:0.31209;Timing/Statistics_creation/ms:0.506878;Timing/Total/ms:58.265;TimingMem/Add_new_words/ms:5.50604;TimingMem/Compressing_data/ms:0.722885;TimingMem/Descriptors_extraction/ms:16.3212;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0898838;TimingMem/Keypoints_detection/ms:26.691;TimingMem/Occupancy_grid/ms:0.895023;TimingMem/Post_decimation/ms:1.333;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.689983;TimingMem/Signature_creation/ms:55.6281


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/:0.0861929;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.913807;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.8232;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/:0.485;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.079155;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0178814;Timing/Likelihood_computation/ms:0.203133;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.111818;Timing/Memory_update/ms:71.033;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.995874;Timing/Proximity_by_space/ms:0.267029;Timing/Proximity_by_time/ms:0.0698566;Timing/Reactivation/ms:0.49901;Timing/Statistics_creation/ms:0.132084;Timing/Total/ms:73.411;TimingMem/Add_new_words/ms:4.92191;TimingMem/Compressing_data/ms:0.744104;TimingMem/Descriptors_extraction/ms:30.7002;TimingMem/Joining_dictionary_update/ms:0.0171661;TimingMem/Keypoints_3D/ms:0.0967979;TimingMem/Keypoints_detection/ms:28.975;TimingMem/Occupancy_grid/ms:0.898838;TimingMem/Post_decimation/ms:1.04904;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.49901;TimingMem/Signature_creation/ms:70.5261


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/:0.0856003;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.9144;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.8834;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/:0.52;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0298023;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.079155;Timing/Memory_update/ms:63.9579;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.204086;Timing/Proximity_by_space/ms:0.187874;Timing/Proximity_by_time/ms:0.0441074;Timing/Reactivation/ms:0.298023;Timing/Statistics_creation/ms:0.0708103;Timing/Total/ms:65.026;TimingMem/Add_new_words/ms:9.90605;TimingMem/Compressing_data/ms:0.68903;TimingMem/Descriptors_extraction/ms:24.0209;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.117064;TimingMem/Keypoints_detection/ms:23.2291;TimingMem/Occupancy_grid/ms:1.01495;TimingMem/Post_decimation/ms:1.683;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.447035;TimingMem/Signature_creation/ms:63.5049


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/:0.0851312;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.914869;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:42.9437;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/:0.51;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0329018;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:87.5602;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.247002;Timing/Proximity_by_space/ms:0.2141;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.339985;Timing/Statistics_creation/ms:0.0829697;Timing/Total/ms:88.762;TimingMem/Add_new_words/ms:14.019;TimingMem/Compressing_data/ms:1.41287;TimingMem/Descriptors_extraction/ms:34.786;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.175953;TimingMem/Keypoints_detection/ms:24.2281;TimingMem/Occupancy_grid/ms:4.05884;TimingMem/Post_decimation/ms:1.35493;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.469923;TimingMem/Signature_creation/ms:87.0831


data:
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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/:0.0844651;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915535;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.0642;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/:0.535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0038147;Timing/Likelihood_computation/ms:0.151157;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:52.125;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200987;Timing/Proximity_by_space/ms:0.19598;Timing/Proximity_by_time/ms:0.0648499;Timing/Reactivation/ms:0.294209;Timing/Statistics_creation/ms:0.0720024;Timing/Total/ms:53.2169;TimingMem/Add_new_words/ms:5.08118;TimingMem/Compressing_data/ms:0.7689;TimingMem/Descriptors_extraction/ms:21.2541;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0948906;TimingMem/Keypoints_detection/ms:19.748;TimingMem/Occupancy_grid/ms:0.923872;TimingMem/Post_decimation/ms:0.977993;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.437021;TimingMem/Signature_creation/ms:51.6729


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/:0.0842317;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915768;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.1245;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0431538;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00786781;Timing/Likelihood_computation/ms:0.229836;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.10705;Timing/Memory_update/ms:59.988;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.226974;Timing/Proximity_by_space/ms:0.231981;Timing/Proximity_by_time/ms:0.0720024;Timing/Reactivation/ms:0.374079;Timing/Statistics_creation/ms:0.139952;Timing/Total/ms:61.4228;TimingMem/Add_new_words/ms:6.4671;TimingMem/Compressing_data/ms:1.34706;TimingMem/Descriptors_extraction/ms:22.9499;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.133038;TimingMem/Keypoints_detection/ms:22.0811;TimingMem/Occupancy_grid/ms:1.8549;TimingMem/Post_decimation/ms:1.11198;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.800133;TimingMem/Signature_creation/ms:59.18


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/:0.0840464;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915954;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.1847;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/:0.55;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.152111;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:61.2509;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.203848;Timing/Proximity_by_space/ms:0.194073;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.277042;Timing/Statistics_creation/ms:0.0760555;Timing/Total/ms:62.3229;TimingMem/Add_new_words/ms:5.47194;TimingMem/Compressing_data/ms:0.863791;TimingMem/Descriptors_extraction/ms:26.8149;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0901222;TimingMem/Keypoints_detection/ms:22.6281;TimingMem/Occupancy_grid/ms:0.910044;TimingMem/Post_decimation/ms:0.922203;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.470877;TimingMem/Signature_creation/ms:60.7731


data:
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data:
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data:
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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/:0.0836189;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916381;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.4257;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.145912;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0751019;Timing/Memory_update/ms:56.227;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.193119;Timing/Proximity_by_space/ms:0.185966;Timing/Proximity_by_time/ms:0.0422001;Timing/Reactivation/ms:0.275135;Timing/Statistics_creation/ms:0.0669956;Timing/Total/ms:57.2481;TimingMem/Add_new_words/ms:5.12695;TimingMem/Compressing_data/ms:0.648022;TimingMem/Descriptors_extraction/ms:19.593;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0920296;TimingMem/Keypoints_detection/ms:25.584;TimingMem/Occupancy_grid/ms:0.838041;TimingMem/Post_decimation/ms:1.20997;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.427008;TimingMem/Signature_creation/ms:55.793


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/:0.0835602;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91644;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.486;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/:0.565;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0298023;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.145197;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0760555;Timing/Memory_update/ms:65.527;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.19598;Timing/Proximity_by_space/ms:0.196934;Timing/Proximity_by_time/ms:0.0479221;Timing/Reactivation/ms:0.283003;Timing/Statistics_creation/ms:0.0691414;Timing/Total/ms:66.5751;TimingMem/Add_new_words/ms:4.78101;TimingMem/Compressing_data/ms:0.827074;TimingMem/Descriptors_extraction/ms:29.881;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0932217;TimingMem/Keypoints_detection/ms:24.883;TimingMem/Occupancy_grid/ms:0.854015;TimingMem/Post_decimation/ms:0.945091;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.454903;TimingMem/Signature_creation/ms:65.0651


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/:0.0835152;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916485;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.5463;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.163078;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0779629;Timing/Memory_update/ms:64.8799;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.207901;Timing/Proximity_by_space/ms:0.194073;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.277996;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:65.959;TimingMem/Add_new_words/ms:6.86312;TimingMem/Compressing_data/ms:0.818014;TimingMem/Descriptors_extraction/ms:30.0221;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.146866;TimingMem/Keypoints_detection/ms:21.27;TimingMem/Occupancy_grid/ms:1.0221;TimingMem/Post_decimation/ms:1.13201;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.472069;TimingMem/Signature_creation/ms:64.4009


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/:0.0834789;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916521;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.6065;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.154972;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0998974;Timing/Memory_update/ms:51.9271;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.210047;Timing/Proximity_by_space/ms:0.203848;Timing/Proximity_by_time/ms:0.0460148;Timing/Reactivation/ms:0.323057;Timing/Statistics_creation/ms:0.0932217;Timing/Total/ms:53.097;TimingMem/Add_new_words/ms:9.48501;TimingMem/Compressing_data/ms:1.60313;TimingMem/Descriptors_extraction/ms:14.214;TimingMem/Joining_dictionary_update/ms:0.0138283;TimingMem/Keypoints_3D/ms:0.113964;TimingMem/Keypoints_detection/ms:18.2362;TimingMem/Occupancy_grid/ms:1.86396;TimingMem/Post_decimation/ms:2.69508;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.468016;TimingMem/Signature_creation/ms:51.4529


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/:0.0834488;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916551;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.6668;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0290871;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.148058;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0770092;Timing/Memory_update/ms:56.0679;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.190973;Timing/Proximity_by_space/ms:0.187874;Timing/Proximity_by_time/ms:0.0488758;Timing/Reactivation/ms:0.27895;Timing/Statistics_creation/ms:0.068903;Timing/Total/ms:57.1051;TimingMem/Add_new_words/ms:4.25196;TimingMem/Compressing_data/ms:0.705957;TimingMem/Descriptors_extraction/ms:18.0731;TimingMem/Joining_dictionary_update/ms:0.00715256;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:27.7159;TimingMem/Occupancy_grid/ms:0.826836;TimingMem/Post_decimation/ms:0.941038;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.438929;TimingMem/Signature_creation/ms:55.6221


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/:0.0834264;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916574;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.727;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/:0.52;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.154972;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0839233;Timing/Memory_update/ms:47.0481;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.201941;Timing/Proximity_by_space/ms:0.203848;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.277042;Timing/Statistics_creation/ms:0.115871;Timing/Total/ms:48.177;TimingMem/Add_new_words/ms:6.54888;TimingMem/Compressing_data/ms:1.63388;TimingMem/Descriptors_extraction/ms:13.212;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.148058;TimingMem/Keypoints_detection/ms:19.2819;TimingMem/Occupancy_grid/ms:1.20711;TimingMem/Post_decimation/ms:0.90003;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.519037;TimingMem/Signature_creation/ms:46.52


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/:0.0834084;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916592;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.7873;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.158072;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.259876;Timing/Memory_update/ms:46.8128;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.231028;Timing/Proximity_by_space/ms:0.387192;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.735998;Timing/Statistics_creation/ms:0.262976;Timing/Total/ms:48.919;TimingMem/Add_new_words/ms:4.30894;TimingMem/Compressing_data/ms:0.660896;TimingMem/Descriptors_extraction/ms:17.3779;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:18.965;TimingMem/Occupancy_grid/ms:0.841141;TimingMem/Post_decimation/ms:0.955105;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.504017;TimingMem/Signature_creation/ms:46.2992


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/:0.0833948;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916605;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.8475;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/:0.545;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.154018;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:52.7849;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200033;Timing/Proximity_by_space/ms:0.200033;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.27585;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:53.849;TimingMem/Add_new_words/ms:4.47893;TimingMem/Compressing_data/ms:0.657797;TimingMem/Descriptors_extraction/ms:20.2241;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0889301;TimingMem/Keypoints_detection/ms:21.487;TimingMem/Occupancy_grid/ms:0.941038;TimingMem/Post_decimation/ms:0.92721;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.519037;TimingMem/Signature_creation/ms:52.259


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/:0.0833836;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916616;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.9078;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/:0.505;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0338554;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.173092;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0939369;Timing/Memory_update/ms:62.669;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.222921;Timing/Proximity_by_space/ms:0.211954;Timing/Proximity_by_time/ms:0.0560284;Timing/Reactivation/ms:0.307083;Timing/Statistics_creation/ms:0.102043;Timing/Total/ms:63.875;TimingMem/Add_new_words/ms:6.79898;TimingMem/Compressing_data/ms:1.17612;TimingMem/Descriptors_extraction/ms:19.8159;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:22.059;TimingMem/Occupancy_grid/ms:4.86398;TimingMem/Post_decimation/ms:3.40986;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.584841;TimingMem/Signature_creation/ms:62.0751


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/:0.083374;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916626;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:43.9681;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/:0.53;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0801086;Timing/Memory_update/ms:50.211;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.237942;Timing/Proximity_by_space/ms:0.189066;Timing/Proximity_by_time/ms:0.0481606;Timing/Reactivation/ms:0.277996;Timing/Statistics_creation/ms:0.0708103;Timing/Total/ms:51.3;TimingMem/Add_new_words/ms:4.34303;TimingMem/Compressing_data/ms:0.70405;TimingMem/Descriptors_extraction/ms:17.2398;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.0810623;TimingMem/Keypoints_detection/ms:22.7842;TimingMem/Occupancy_grid/ms:0.849962;TimingMem/Post_decimation/ms:0.907898;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.429153;TimingMem/Signature_creation/ms:49.773


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/:0.0833673;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916633;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.0283;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/:0.515;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0379086;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.199795;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0941753;Timing/Memory_update/ms:54.1489;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.207186;Timing/Proximity_by_space/ms:0.227928;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.32115;Timing/Statistics_creation/ms:0.0970364;Timing/Total/ms:55.397;TimingMem/Add_new_words/ms:10.7129;TimingMem/Compressing_data/ms:2.00391;TimingMem/Descriptors_extraction/ms:15.064;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.134945;TimingMem/Keypoints_detection/ms:20.1762;TimingMem/Occupancy_grid/ms:1.06215;TimingMem/Post_decimation/ms:1.21617;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.529051;TimingMem/Signature_creation/ms:53.6132


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/:0.0833616;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916638;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.0886;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/:0.525;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.153065;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0882149;Timing/Memory_update/ms:56.5569;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211954;Timing/Proximity_by_space/ms:0.205994;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.283957;Timing/Statistics_creation/ms:0.0789165;Timing/Total/ms:57.667;TimingMem/Add_new_words/ms:5.62787;TimingMem/Compressing_data/ms:0.728846;TimingMem/Descriptors_extraction/ms:22.8591;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.12207;TimingMem/Keypoints_detection/ms:22.1679;TimingMem/Occupancy_grid/ms:0.859022;TimingMem/Post_decimation/ms:1.00613;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.434875;TimingMem/Signature_creation/ms:56.113


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/:0.0833569;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916643;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.1488;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/:0.51;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.216007;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0309944;Timing/Likelihood_computation/ms:0.287056;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.247955;Timing/Memory_update/ms:49.9971;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.835896;Timing/Proximity_by_space/ms:1.14989;Timing/Proximity_by_time/ms:0.0970364;Timing/Reactivation/ms:0.718117;Timing/Statistics_creation/ms:0.452042;Timing/Total/ms:54.0361;TimingMem/Add_new_words/ms:4.75192;TimingMem/Compressing_data/ms:0.660896;TimingMem/Descriptors_extraction/ms:15.9199;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0841618;TimingMem/Keypoints_detection/ms:19.6099;TimingMem/Occupancy_grid/ms:1.33705;TimingMem/Post_decimation/ms:0.998974;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:2.105;TimingMem/Signature_creation/ms:47.8821


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/:0.0833532;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916647;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.2091;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/:0.515;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.14782;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:52.922;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.195026;Timing/Proximity_by_space/ms:0.194073;Timing/Proximity_by_time/ms:0.0491142;Timing/Reactivation/ms:0.273943;Timing/Statistics_creation/ms:0.0760555;Timing/Total/ms:53.9761;TimingMem/Add_new_words/ms:8.19397;TimingMem/Compressing_data/ms:0.658035;TimingMem/Descriptors_extraction/ms:17.7951;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0929832;TimingMem/Keypoints_detection/ms:20.968;TimingMem/Occupancy_grid/ms:0.872135;TimingMem/Post_decimation/ms:0.94986;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.448227;TimingMem/Signature_creation/ms:52.4659


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/:0.0833502;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91665;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.2693;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/:0.49;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.152111;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0860691;Timing/Memory_update/ms:57.6012;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.195026;Timing/Proximity_by_space/ms:0.215054;Timing/Proximity_by_time/ms:0.0507832;Timing/Reactivation/ms:0.283957;Timing/Statistics_creation/ms:0.154972;Timing/Total/ms:58.7761;TimingMem/Add_new_words/ms:5.65886;TimingMem/Compressing_data/ms:0.669956;TimingMem/Descriptors_extraction/ms:25.053;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0989437;TimingMem/Keypoints_detection/ms:20.9899;TimingMem/Occupancy_grid/ms:0.941992;TimingMem/Post_decimation/ms:0.982046;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.443935;TimingMem/Signature_creation/ms:57.1511


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/:0.0833477;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916652;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.3296;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/:0.53;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.142813;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.165939;Timing/Memory_update/ms:46.7911;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.198126;Timing/Proximity_by_space/ms:0.198841;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.277996;Timing/Statistics_creation/ms:0.0960827;Timing/Total/ms:47.955;TimingMem/Add_new_words/ms:4.39501;TimingMem/Compressing_data/ms:0.650167;TimingMem/Descriptors_extraction/ms:13.2458;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0860691;TimingMem/Keypoints_detection/ms:21.4942;TimingMem/Occupancy_grid/ms:1.02782;TimingMem/Post_decimation/ms:1.05;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.468016;TimingMem/Signature_creation/ms:46.314


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/:0.0833461;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916654;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.3899;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.155926;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.095129;Timing/Memory_update/ms:63.9899;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.19908;Timing/Proximity_by_space/ms:0.227928;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.369072;Timing/Statistics_creation/ms:0.0939369;Timing/Total/ms:65.217;TimingMem/Add_new_words/ms:5.20802;TimingMem/Compressing_data/ms:0.882149;TimingMem/Descriptors_extraction/ms:20.1049;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:31.919;TimingMem/Occupancy_grid/ms:0.887871;TimingMem/Post_decimation/ms:0.984907;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.451803;TimingMem/Signature_creation/ms:63.5209


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/:0.0833448;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916655;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.4501;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/:0.53;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.154972;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0879765;Timing/Memory_update/ms:53.2639;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.22006;Timing/Proximity_by_space/ms:0.211;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.344038;Timing/Statistics_creation/ms:0.0860691;Timing/Total/ms:54.4598;TimingMem/Add_new_words/ms:5.25284;TimingMem/Compressing_data/ms:1.56403;TimingMem/Descriptors_extraction/ms:15.481;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.130177;TimingMem/Keypoints_detection/ms:25.1968;TimingMem/Occupancy_grid/ms:0.929832;TimingMem/Post_decimation/ms:1.03498;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.455856;TimingMem/Signature_creation/ms:52.7971


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/:0.0833436;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916656;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.5104;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/:0.565;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0491142;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00786781;Timing/Likelihood_computation/ms:0.281096;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.127077;Timing/Memory_update/ms:54.595;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.304937;Timing/Proximity_by_space/ms:0.315905;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.418186;Timing/Statistics_creation/ms:0.132084;Timing/Total/ms:56.2842;TimingMem/Add_new_words/ms:4.76098;TimingMem/Compressing_data/ms:0.661135;TimingMem/Descriptors_extraction/ms:15.641;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0779629;TimingMem/Keypoints_detection/ms:25.9969;TimingMem/Occupancy_grid/ms:2.64788;TimingMem/Post_decimation/ms:1.01399;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.456095;TimingMem/Signature_creation/ms:54.132


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/:0.0833426;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916657;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.5706;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/:0.495;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.156879;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0989437;Timing/Memory_update/ms:49.264;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.263929;Timing/Proximity_by_space/ms:0.211;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.294924;Timing/Statistics_creation/ms:0.101089;Timing/Total/ms:50.4789;TimingMem/Add_new_words/ms:5.14412;TimingMem/Compressing_data/ms:0.738859;TimingMem/Descriptors_extraction/ms:14.0891;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0908375;TimingMem/Keypoints_detection/ms:24.262;TimingMem/Occupancy_grid/ms:0.874996;TimingMem/Post_decimation/ms:0.910997;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.51403;TimingMem/Signature_creation/ms:48.7399


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/:0.0833418;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916658;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.6309;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/:0.495;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0288486;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:55.1229;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200033;Timing/Proximity_by_space/ms:0.190973;Timing/Proximity_by_time/ms:0.0522137;Timing/Reactivation/ms:0.27895;Timing/Statistics_creation/ms:0.0720024;Timing/Total/ms:56.1819;TimingMem/Add_new_words/ms:5.04589;TimingMem/Compressing_data/ms:1.49512;TimingMem/Descriptors_extraction/ms:20.484;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0908375;TimingMem/Keypoints_detection/ms:22.2611;TimingMem/Occupancy_grid/ms:1.19805;TimingMem/Post_decimation/ms:1.03402;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.519037;TimingMem/Signature_creation/ms:54.5981


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/:0.0833412;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916659;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.6911;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/:0.51;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0329018;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.167847;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:55.1651;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.22316;Timing/Proximity_by_space/ms:0.19908;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.289917;Timing/Statistics_creation/ms:0.0810623;Timing/Total/ms:56.3011;TimingMem/Add_new_words/ms:4.58813;TimingMem/Compressing_data/ms:0.85783;TimingMem/Descriptors_extraction/ms:14.3869;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0891685;TimingMem/Keypoints_detection/ms:28.137;TimingMem/Occupancy_grid/ms:1.38903;TimingMem/Post_decimation/ms:0.941992;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.846863;TimingMem/Signature_creation/ms:54.311


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/:0.083341;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916659;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.7514;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/:0.495;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0591278;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00882149;Timing/Likelihood_computation/ms:0.244141;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.242949;Timing/Memory_update/ms:57.7919;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.342846;Timing/Proximity_by_space/ms:0.389099;Timing/Proximity_by_time/ms:0.0970364;Timing/Reactivation/ms:0.458002;Timing/Statistics_creation/ms:0.22316;Timing/Total/ms:59.8581;TimingMem/Add_new_words/ms:7.0529;TimingMem/Compressing_data/ms:0.789165;TimingMem/Descriptors_extraction/ms:21.2178;TimingMem/Joining_dictionary_update/ms:0.0162125;TimingMem/Keypoints_3D/ms:0.380993;TimingMem/Keypoints_detection/ms:20.7911;TimingMem/Occupancy_grid/ms:1.91498;TimingMem/Post_decimation/ms:1.55592;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.70405;TimingMem/Signature_creation/ms:57.0779


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/:0.0833406;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916659;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.8116;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0960827;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0290871;Timing/Likelihood_computation/ms:0.29397;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.231028;Timing/Memory_update/ms:59.0451;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.28801;Timing/Proximity_by_space/ms:0.302076;Timing/Proximity_by_time/ms:0.084877;Timing/Reactivation/ms:0.484943;Timing/Statistics_creation/ms:0.211954;Timing/Total/ms:61.069;TimingMem/Add_new_words/ms:4.90999;TimingMem/Compressing_data/ms:1.58501;TimingMem/Descriptors_extraction/ms:16.964;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.113964;TimingMem/Keypoints_detection/ms:23.375;TimingMem/Occupancy_grid/ms:4.22406;TimingMem/Post_decimation/ms:1.0941;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:1.94621;TimingMem/Signature_creation/ms:57.0889


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/:0.0833405;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916659;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.8719;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/:0.505;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.00596046;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0631809;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0119209;Timing/Likelihood_computation/ms:0.22912;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.126123;Timing/Memory_update/ms:48.8319;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.307798;Timing/Proximity_by_space/ms:0.22316;Timing/Proximity_by_time/ms:0.0610352;Timing/Reactivation/ms:0.448942;Timing/Statistics_creation/ms:0.121832;Timing/Total/ms:50.4251;TimingMem/Add_new_words/ms:4.6401;TimingMem/Compressing_data/ms:0.666142;TimingMem/Descriptors_extraction/ms:12.5418;TimingMem/Joining_dictionary_update/ms:0.0138283;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:25.877;TimingMem/Occupancy_grid/ms:0.833035;TimingMem/Post_decimation/ms:1.02091;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.483036;TimingMem/Signature_creation/ms:48.3398


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/:0.0833402;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:44.9322;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0629425;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0150204;Timing/Likelihood_computation/ms:0.237942;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.156879;Timing/Memory_update/ms:52.4101;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.360012;Timing/Proximity_by_space/ms:0.358105;Timing/Proximity_by_time/ms:0.102997;Timing/Reactivation/ms:0.570059;Timing/Statistics_creation/ms:0.206947;Timing/Total/ms:54.4829;TimingMem/Add_new_words/ms:4.71401;TimingMem/Compressing_data/ms:0.80204;TimingMem/Descriptors_extraction/ms:15.96;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:22.68;TimingMem/Occupancy_grid/ms:1.23096;TimingMem/Post_decimation/ms:0.952005;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:1.46008;TimingMem/Signature_creation/ms:50.9329


data:
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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/:0.0833398;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.0527;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/:0.505;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.147104;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:44.246;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.190973;Timing/Proximity_by_space/ms:0.185013;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.27895;Timing/Statistics_creation/ms:0.0700951;Timing/Total/ms:45.28;TimingMem/Add_new_words/ms:4.807;TimingMem/Compressing_data/ms:0.869989;TimingMem/Descriptors_extraction/ms:12.4102;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:19.928;TimingMem/Occupancy_grid/ms:1.49488;TimingMem/Post_decimation/ms:1.03521;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.444889;TimingMem/Signature_creation/ms:43.793


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/:0.0833398;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.1129;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/:0.515;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.154018;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0860691;Timing/Memory_update/ms:51.3949;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.206947;Timing/Proximity_by_space/ms:0.205994;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.362873;Timing/Statistics_creation/ms:0.0760555;Timing/Total/ms:52.5529;TimingMem/Add_new_words/ms:4.72188;TimingMem/Compressing_data/ms:0.602961;TimingMem/Descriptors_extraction/ms:17.668;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0870228;TimingMem/Keypoints_detection/ms:23.1969;TimingMem/Occupancy_grid/ms:0.977993;TimingMem/Post_decimation/ms:0.931978;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.438929;TimingMem/Signature_creation/ms:50.8931


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/:0.0833398;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.1732;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/:0.51;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.168085;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.084877;Timing/Memory_update/ms:60.0901;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.19598;Timing/Proximity_by_space/ms:0.19598;Timing/Proximity_by_time/ms:0.0610352;Timing/Reactivation/ms:0.30899;Timing/Statistics_creation/ms:0.0731945;Timing/Total/ms:61.2121;TimingMem/Add_new_words/ms:4.68493;TimingMem/Compressing_data/ms:0.803947;TimingMem/Descriptors_extraction/ms:14.4892;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.108004;TimingMem/Keypoints_detection/ms:33.9119;TimingMem/Occupancy_grid/ms:0.952959;TimingMem/Post_decimation/ms:0.945091;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.48089;TimingMem/Signature_creation/ms:59.6001


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/:0.0833396;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.2334;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/:0.5;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.041008;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.232935;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0970364;Timing/Memory_update/ms:47.467;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.207186;Timing/Proximity_by_space/ms:0.205994;Timing/Proximity_by_time/ms:0.0519753;Timing/Reactivation/ms:0.28801;Timing/Statistics_creation/ms:0.0889301;Timing/Total/ms:48.6879;TimingMem/Add_new_words/ms:5.00607;TimingMem/Compressing_data/ms:0.635147;TimingMem/Descriptors_extraction/ms:11.9939;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.159025;TimingMem/Keypoints_detection/ms:24.5349;TimingMem/Occupancy_grid/ms:0.816822;TimingMem/Post_decimation/ms:0.984907;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.464916;TimingMem/Signature_creation/ms:46.994


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/:0.0833396;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.2937;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/:0.515;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.175953;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.09799;Timing/Memory_update/ms:55.383;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216007;Timing/Proximity_by_space/ms:0.204086;Timing/Proximity_by_time/ms:0.0560284;Timing/Reactivation/ms:0.314951;Timing/Statistics_creation/ms:0.09799;Timing/Total/ms:56.586;TimingMem/Add_new_words/ms:5.8589;TimingMem/Compressing_data/ms:0.79608;TimingMem/Descriptors_extraction/ms:20.4861;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.149965;TimingMem/Keypoints_detection/ms:21.832;TimingMem/Occupancy_grid/ms:0.900984;TimingMem/Post_decimation/ms:0.914097;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.925779;TimingMem/Signature_creation/ms:54.4441


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/:0.0833396;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91666;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.354;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/:0.49;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.128031;Timing/Memory_update/ms:57.585;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.194073;Timing/Proximity_by_space/ms:0.19002;Timing/Proximity_by_time/ms:0.0491142;Timing/Reactivation/ms:0.287056;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:58.6891;TimingMem/Add_new_words/ms:4.74596;TimingMem/Compressing_data/ms:0.675917;TimingMem/Descriptors_extraction/ms:18.9369;TimingMem/Joining_dictionary_update/ms:0.00715256;TimingMem/Keypoints_3D/ms:0.0779629;TimingMem/Keypoints_detection/ms:27.235;TimingMem/Occupancy_grid/ms:0.861168;TimingMem/Post_decimation/ms:1.18899;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.426054;TimingMem/Signature_creation/ms:57.152


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.4142;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/:0.485;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0479221;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00810623;Timing/Likelihood_computation/ms:0.981092;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0967979;Timing/Memory_update/ms:61.6479;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.219107;Timing/Proximity_by_space/ms:0.210047;Timing/Proximity_by_time/ms:0.108957;Timing/Reactivation/ms:0.348806;Timing/Statistics_creation/ms:0.100136;Timing/Total/ms:63.7689;TimingMem/Add_new_words/ms:6.54578;TimingMem/Compressing_data/ms:0.840902;TimingMem/Descriptors_extraction/ms:21.193;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0839233;TimingMem/Keypoints_detection/ms:26.0532;TimingMem/Occupancy_grid/ms:1.17397;TimingMem/Post_decimation/ms:1.48821;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.42193;TimingMem/Signature_creation/ms:60.2171


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.4745;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/:0.5;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.160933;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0460148;Timing/Likelihood_computation/ms:0.554085;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.135183;Timing/Memory_update/ms:46.005;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.386;Timing/Proximity_by_space/ms:0.22316;Timing/Proximity_by_time/ms:0.256062;Timing/Reactivation/ms:0.682831;Timing/Statistics_creation/ms:0.125885;Timing/Total/ms:48.5761;TimingMem/Add_new_words/ms:4.58288;TimingMem/Compressing_data/ms:0.610113;TimingMem/Descriptors_extraction/ms:12.017;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:19.768;TimingMem/Occupancy_grid/ms:0.956059;TimingMem/Post_decimation/ms:0.907898;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:2.93398;TimingMem/Signature_creation/ms:43.052


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.5347;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/:0.535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;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:0.149012;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.10705;Timing/Memory_update/ms:44.7931;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.195026;Timing/Proximity_by_space/ms:0.190973;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.281811;Timing/Statistics_creation/ms:0.082016;Timing/Total/ms:45.8891;TimingMem/Add_new_words/ms:4.41909;TimingMem/Compressing_data/ms:0.660181;TimingMem/Descriptors_extraction/ms:14.21;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0851154;TimingMem/Keypoints_detection/ms:20.22;TimingMem/Occupancy_grid/ms:0.85187;TimingMem/Post_decimation/ms:0.976801;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.455856;TimingMem/Signature_creation/ms:44.3311


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.595;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/:0.515;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.156879;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:50.813;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.194073;Timing/Proximity_by_space/ms:0.250101;Timing/Proximity_by_time/ms:0.0619888;Timing/Reactivation/ms:0.274897;Timing/Statistics_creation/ms:0.0779629;Timing/Total/ms:51.949;TimingMem/Add_new_words/ms:5.30219;TimingMem/Compressing_data/ms:0.720024;TimingMem/Descriptors_extraction/ms:20.6499;TimingMem/Joining_dictionary_update/ms:0.00977516;TimingMem/Keypoints_3D/ms:0.0932217;TimingMem/Keypoints_detection/ms:18.47;TimingMem/Occupancy_grid/ms:0.890017;TimingMem/Post_decimation/ms:1.45388;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.481844;TimingMem/Signature_creation/ms:50.3252


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.6552;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.00190735;Timing/Hypotheses_creation/ms:0.0500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0100136;Timing/Likelihood_computation/ms:0.249863;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.245094;Timing/Memory_update/ms:63.334;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.231028;Timing/Proximity_by_space/ms:0.483036;Timing/Proximity_by_time/ms:0.0760555;Timing/Reactivation/ms:0.41604;Timing/Statistics_creation/ms:0.221968;Timing/Total/ms:65.32;TimingMem/Add_new_words/ms:8.05497;TimingMem/Compressing_data/ms:0.725031;TimingMem/Descriptors_extraction/ms:17.0429;TimingMem/Joining_dictionary_update/ms:0.0178814;TimingMem/Keypoints_3D/ms:0.152111;TimingMem/Keypoints_detection/ms:25.707;TimingMem/Occupancy_grid/ms:1.63102;TimingMem/Post_decimation/ms:1.66702;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.936985;TimingMem/Signature_creation/ms:62.3879


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.7155;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/:0.52;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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;Timing/Hypotheses_creation/ms:0.056982;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0140667;Timing/Likelihood_computation/ms:0.258923;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.167131;Timing/Memory_update/ms:55.707;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.246048;Timing/Proximity_by_space/ms:0.22006;Timing/Proximity_by_time/ms:0.0691414;Timing/Reactivation/ms:0.479937;Timing/Statistics_creation/ms:0.169039;Timing/Total/ms:57.3912;TimingMem/Add_new_words/ms:4.82392;TimingMem/Compressing_data/ms:1.23882;TimingMem/Descriptors_extraction/ms:13.5331;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.119925;TimingMem/Keypoints_detection/ms:27.036;TimingMem/Occupancy_grid/ms:2.37417;TimingMem/Post_decimation/ms:1.19519;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.957012;TimingMem/Signature_creation/ms:54.7318


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.7758;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/:0.525;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0290871;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:47.6809;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.187874;Timing/Proximity_by_space/ms:0.230074;Timing/Proximity_by_time/ms:0.0481606;Timing/Reactivation/ms:0.28491;Timing/Statistics_creation/ms:0.0710487;Timing/Total/ms:48.769;TimingMem/Add_new_words/ms:4.26817;TimingMem/Compressing_data/ms:0.590086;TimingMem/Descriptors_extraction/ms:13.685;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0720024;TimingMem/Keypoints_detection/ms:24.1079;TimingMem/Occupancy_grid/ms:0.841856;TimingMem/Post_decimation/ms:0.923872;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.654936;TimingMem/Signature_creation/ms:47.0178


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.836;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/:0.52;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0867844;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0228882;Timing/Likelihood_computation/ms:0.404835;Timing/Map_optimization/ms:0.00214577;Timing/Memory_cleanup/ms:0.561953;Timing/Memory_update/ms:52.3651;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.259161;Timing/Proximity_by_space/ms:0.442982;Timing/Proximity_by_time/ms:0.0801086;Timing/Reactivation/ms:0.498056;Timing/Statistics_creation/ms:0.360966;Timing/Total/ms:55.088;TimingMem/Add_new_words/ms:4.37498;TimingMem/Compressing_data/ms:1.3721;TimingMem/Descriptors_extraction/ms:18.888;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:21.276;TimingMem/Occupancy_grid/ms:1.60289;TimingMem/Post_decimation/ms:1.01995;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.612974;TimingMem/Signature_creation/ms:51.7421


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.8963;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/:0.51;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.00596046;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.148058;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:51.4719;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.18692;Timing/Proximity_by_space/ms:0.192165;Timing/Proximity_by_time/ms:0.0491142;Timing/Reactivation/ms:0.31805;Timing/Statistics_creation/ms:0.0739098;Timing/Total/ms:52.5579;TimingMem/Add_new_words/ms:4.94194;TimingMem/Compressing_data/ms:0.70405;TimingMem/Descriptors_extraction/ms:11.0991;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0858307;TimingMem/Keypoints_detection/ms:29.4271;TimingMem/Occupancy_grid/ms:0.903845;TimingMem/Post_decimation/ms:0.993013;TimingMem/Pre_update/ms:0.00500679;TimingMem/Rehearsal/ms:0.4282;TimingMem/Signature_creation/ms:51.029


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:45.9565;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.185966;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0920296;Timing/Memory_update/ms:48.8119;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.231981;Timing/Proximity_by_space/ms:0.20504;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.309944;Timing/Statistics_creation/ms:0.082016;Timing/Total/ms:50.0109;TimingMem/Add_new_words/ms:8.64506;TimingMem/Compressing_data/ms:0.644922;TimingMem/Descriptors_extraction/ms:9.93395;TimingMem/Joining_dictionary_update/ms:0.0238419;TimingMem/Keypoints_3D/ms:0.106096;TimingMem/Keypoints_detection/ms:22.7761;TimingMem/Occupancy_grid/ms:0.90909;TimingMem/Post_decimation/ms:0.944138;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.589848;TimingMem/Signature_creation/ms:48.207


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.0168;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/:0.485;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.0331402;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:52.6099;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.211954;Timing/Proximity_by_space/ms:0.189066;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.287056;Timing/Statistics_creation/ms:0.0698566;Timing/Total/ms:53.6869;TimingMem/Add_new_words/ms:4.99606;TimingMem/Compressing_data/ms:0.645876;TimingMem/Descriptors_extraction/ms:18.887;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0889301;TimingMem/Keypoints_detection/ms:22.9621;TimingMem/Occupancy_grid/ms:0.883102;TimingMem/Post_decimation/ms:0.916004;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.466108;TimingMem/Signature_creation/ms:52.1381


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.077;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0669956;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0181198;Timing/Likelihood_computation/ms:0.334978;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.105143;Timing/Memory_update/ms:50.9119;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.268936;Timing/Proximity_by_space/ms:0.225782;Timing/Proximity_by_time/ms:0.173092;Timing/Reactivation/ms:0.414848;Timing/Statistics_creation/ms:0.115871;Timing/Total/ms:52.6381;TimingMem/Add_new_words/ms:5.02515;TimingMem/Compressing_data/ms:0.794888;TimingMem/Descriptors_extraction/ms:13.391;TimingMem/Joining_dictionary_update/ms:0.0259876;TimingMem/Keypoints_3D/ms:0.191927;TimingMem/Keypoints_detection/ms:21.0772;TimingMem/Occupancy_grid/ms:1.89304;TimingMem/Post_decimation/ms:1.12796;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:1.64199;TimingMem/Signature_creation/ms:49.2599


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.1373;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.00286102;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.147104;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0860691;Timing/Memory_update/ms:60.2748;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.189781;Timing/Proximity_by_space/ms:0.19002;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.296116;Timing/Statistics_creation/ms:0.125885;Timing/Total/ms:61.3949;TimingMem/Add_new_words/ms:4.23479;TimingMem/Compressing_data/ms:0.766039;TimingMem/Descriptors_extraction/ms:16.6662;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.129938;TimingMem/Keypoints_detection/ms:32.517;TimingMem/Occupancy_grid/ms:0.878096;TimingMem/Post_decimation/ms:0.90003;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.460863;TimingMem/Signature_creation/ms:59.804


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.1976;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0288486;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0839233;Timing/Memory_update/ms:53.921;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200987;Timing/Proximity_by_space/ms:0.187874;Timing/Proximity_by_time/ms:0.0422001;Timing/Reactivation/ms:0.33617;Timing/Statistics_creation/ms:0.0751019;Timing/Total/ms:55.032;TimingMem/Add_new_words/ms:4.42004;TimingMem/Compressing_data/ms:0.636101;TimingMem/Descriptors_extraction/ms:22.001;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.079155;TimingMem/Keypoints_detection/ms:21.6959;TimingMem/Occupancy_grid/ms:1.01495;TimingMem/Post_decimation/ms:0.962019;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.437975;TimingMem/Signature_creation/ms:53.4771


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.2578;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.152111;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0939369;Timing/Memory_update/ms:51.373;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.200987;Timing/Proximity_by_space/ms:0.201941;Timing/Proximity_by_time/ms:0.0329018;Timing/Reactivation/ms:0.29707;Timing/Statistics_creation/ms:0.0760555;Timing/Total/ms:52.464;TimingMem/Add_new_words/ms:5.39994;TimingMem/Compressing_data/ms:0.718117;TimingMem/Descriptors_extraction/ms:13.4289;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:0.139952;TimingMem/Keypoints_detection/ms:26.3488;TimingMem/Occupancy_grid/ms:0.886917;TimingMem/Post_decimation/ms:1.07694;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.502825;TimingMem/Signature_creation/ms:50.863


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/:0.0833395;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:48;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.916661;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.3181;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:124;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:2;Proximity/Space_scan_paths_checked/:0;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:0.00405312;Timing/Likelihood_computation/ms:0.191927;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0908375;Timing/Memory_update/ms:55.8391;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.221968;Timing/Proximity_by_space/ms:0.203133;Timing/Proximity_by_time/ms:0.0710487;Timing/Reactivation/ms:0.37694;Timing/Statistics_creation/ms:0.102043;Timing/Total/ms:57.138;TimingMem/Add_new_words/ms:5.795;TimingMem/Compressing_data/ms:0.746012;TimingMem/Descriptors_extraction/ms:15.8269;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.100136;TimingMem/Keypoints_detection/ms:28.1081;TimingMem/Occupancy_grid/ms:1.00803;TimingMem/Post_decimation/ms:1.25909;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.458002;TimingMem/Signature_creation/ms:55.367


data:
Keypoint/Dictionary_size/words:6337;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/:0.0935753;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/:0.906425;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.3181;Memory/Immunized_globally/:7;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/:0.39;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:0.000953674;Timing/Forgetting/ms:0.172853;Timing/Hypotheses_creation/ms:0.0321865;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.216961;Timing/Map_optimization/ms:10.7031;Timing/Memory_cleanup/ms:0.302076;Timing/Memory_update/ms:63.94;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.277996;Timing/Proximity_by_space/ms:14.154;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.351906;Timing/Statistics_creation/ms:0.128984;Timing/Total/ms:90.1511;TimingMem/Add_new_words/ms:7.74121;TimingMem/Compressing_data/ms:1.30391;TimingMem/Descriptors_extraction/ms:16.5021;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.124931;TimingMem/Keypoints_detection/ms:31.945;TimingMem/Occupancy_grid/ms:1.21188;TimingMem/Post_decimation/ms:1.5099;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.215054;TimingMem/Signature_creation/ms:63.7159


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/:0.0888929;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/:0.911107;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.3783;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/:0.475;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;Timing/Hypotheses_creation/ms:0.0290871;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.149012;Timing/Map_optimization/ms:9.79686;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:51.4231;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.198841;Timing/Proximity_by_space/ms:14.5161;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.283957;Timing/Statistics_creation/ms:0.136137;Timing/Total/ms:76.6721;TimingMem/Add_new_words/ms:10.0021;TimingMem/Compressing_data/ms:0.747919;TimingMem/Descriptors_extraction/ms:14.8199;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.158072;TimingMem/Keypoints_detection/ms:19.9101;TimingMem/Occupancy_grid/ms:0.914097;TimingMem/Post_decimation/ms:1.76597;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.413895;TimingMem/Signature_creation/ms:51.0011


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/:0.0866891;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/:0.913311;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.4386;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:0.00119209;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.136852;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0209808;Timing/Likelihood_computation/ms:0.680923;Timing/Map_optimization/ms:9.77206;Timing/Memory_cleanup/ms:0.0889301;Timing/Memory_update/ms:53.1318;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.53215;Timing/Proximity_by_space/ms:12.0831;Timing/Proximity_by_time/ms:0.31209;Timing/Reactivation/ms:0.421047;Timing/Statistics_creation/ms:0.159025;Timing/Total/ms:77.3408;TimingMem/Add_new_words/ms:5.15509;TimingMem/Compressing_data/ms:0.730038;TimingMem/Descriptors_extraction/ms:10.8738;TimingMem/Joining_dictionary_update/ms:0.0240803;TimingMem/Keypoints_3D/ms:0.169039;TimingMem/Keypoints_detection/ms:26.484;TimingMem/Occupancy_grid/ms:3.09086;TimingMem/Post_decimation/ms:0.993967;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:1.32799;TimingMem/Signature_creation/ms:51.7769


data:
Keypoint/Dictionary_size/words:6326;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/:0.109517;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/:0.890483;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:46.4386;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:0.000953674;Timing/Forgetting/ms:0.267029;Timing/Hypotheses_creation/ms:0.0331402;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.253916;Timing/Map_optimization/ms:15.084;Timing/Memory_cleanup/ms:0.512838;Timing/Memory_update/ms:58.3282;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.206947;Timing/Proximity_by_space/ms:16.679;Timing/Proximity_by_time/ms:0.0300407;Timing/Reactivation/ms:0.322819;Timing/Statistics_creation/ms:0.291109;Timing/Total/ms:91.754;TimingMem/Add_new_words/ms:4.70996;TimingMem/Compressing_data/ms:0.751019;TimingMem/Descriptors_extraction/ms:14.107;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:33.8988;TimingMem/Occupancy_grid/ms:0.905991;TimingMem/Post_decimation/ms:0.949144;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.183105;TimingMem/Signature_creation/ms:58.1369


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/:0.0985436;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/:0.901456;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.4988;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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0321865;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.164986;Timing/Map_optimization/ms:14.626;Timing/Memory_cleanup/ms:0.277996;Timing/Memory_update/ms:53.221;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.222921;Timing/Proximity_by_space/ms:18.6391;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.287056;Timing/Statistics_creation/ms:0.341892;Timing/Total/ms:87.867;TimingMem/Add_new_words/ms:5.66101;TimingMem/Compressing_data/ms:0.743151;TimingMem/Descriptors_extraction/ms:15.9369;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.102043;TimingMem/Keypoints_detection/ms:23.9511;TimingMem/Occupancy_grid/ms:0.937939;TimingMem/Post_decimation/ms:1.11294;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.482082;TimingMem/Signature_creation/ms:52.7329


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/:0.0931546;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/:0.906845;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.5591;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/:0.465;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:0.00214577;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:0.230074;Timing/Map_optimization/ms:11.409;Timing/Memory_cleanup/ms:0.159979;Timing/Memory_update/ms:48.882;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.202894;Timing/Proximity_by_space/ms:13.195;Timing/Proximity_by_time/ms:0.0450611;Timing/Reactivation/ms:0.29397;Timing/Statistics_creation/ms:0.158072;Timing/Total/ms:74.6131;TimingMem/Add_new_words/ms:5.07307;TimingMem/Compressing_data/ms:0.67997;TimingMem/Descriptors_extraction/ms:17.005;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0939369;TimingMem/Keypoints_detection/ms:19.8541;TimingMem/Occupancy_grid/ms:0.902891;TimingMem/Post_decimation/ms:1.05286;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.586987;TimingMem/Signature_creation/ms:48.285


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/:0.0901922;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/:0.909808;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.6194;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:0.000953674;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:11.3471;Timing/Memory_cleanup/ms:0.0879765;Timing/Memory_update/ms:48.3031;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.19908;Timing/Proximity_by_space/ms:21.101;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.298023;Timing/Statistics_creation/ms:0.128031;Timing/Total/ms:81.6991;TimingMem/Add_new_words/ms:4.57716;TimingMem/Compressing_data/ms:0.60606;TimingMem/Descriptors_extraction/ms:14.328;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:23.246;TimingMem/Occupancy_grid/ms:0.911951;TimingMem/Post_decimation/ms:0.968933;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.464916;TimingMem/Signature_creation/ms:47.828


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/:0.0883818;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/:0.911618;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.6796;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:0.000953674;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:0.154972;Timing/Map_optimization/ms:9.58991;Timing/Memory_cleanup/ms:0.0841618;Timing/Memory_update/ms:52.784;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.228882;Timing/Proximity_by_space/ms:14.0951;Timing/Proximity_by_time/ms:0.0531673;Timing/Reactivation/ms:0.340939;Timing/Statistics_creation/ms:0.123978;Timing/Total/ms:77.4941;TimingMem/Add_new_words/ms:4.95696;TimingMem/Compressing_data/ms:0.895977;TimingMem/Descriptors_extraction/ms:21.7559;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.115156;TimingMem/Keypoints_detection/ms:18.991;TimingMem/Occupancy_grid/ms:0.902891;TimingMem/Post_decimation/ms:1.13702;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.482082;TimingMem/Signature_creation/ms:52.295


data:
Keypoint/Dictionary_size/words:6334;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/:0.100232;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/:0.899768;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.6796;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/:0.44;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/: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:0.00119209;Timing/Forgetting/ms:0.14782;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.211954;Timing/Map_optimization/ms:9.74607;Timing/Memory_cleanup/ms:0.284195;Timing/Memory_update/ms:45.408;Timing/Neighbor_link_refining/ms:0.0100136;Timing/Posterior_computation/ms:0.216007;Timing/Proximity_by_space/ms:14.0638;Timing/Proximity_by_time/ms:0.041008;Timing/Reactivation/ms:0.349998;Timing/Statistics_creation/ms:0.140905;Timing/Total/ms:70.507;TimingMem/Add_new_words/ms:5.42998;TimingMem/Compressing_data/ms:0.692129;TimingMem/Descriptors_extraction/ms:14.8702;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.101805;TimingMem/Keypoints_detection/ms:19.1429;TimingMem/Occupancy_grid/ms:0.929832;TimingMem/Post_decimation/ms:1.0581;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.231981;TimingMem/Signature_creation/ms:45.1682


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/:0.0939346;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/:0.906065;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.7399;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:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0338554;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.159025;Timing/Map_optimization/ms:13.6158;Timing/Memory_cleanup/ms:0.12517;Timing/Memory_update/ms:51.7812;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216961;Timing/Proximity_by_space/ms:14.2531;Timing/Proximity_by_time/ms:0.056982;Timing/Reactivation/ms:0.307083;Timing/Statistics_creation/ms:0.185013;Timing/Total/ms:80.7402;TimingMem/Add_new_words/ms:6.45185;TimingMem/Compressing_data/ms:0.802994;TimingMem/Descriptors_extraction/ms:17.4601;TimingMem/Joining_dictionary_update/ms:0.0240803;TimingMem/Keypoints_3D/ms:0.309944;TimingMem/Keypoints_detection/ms:21.0969;TimingMem/Occupancy_grid/ms:0.900984;TimingMem/Post_decimation/ms:1.02401;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.495911;TimingMem/Signature_creation/ms:51.2781


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/:0.0906062;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/:0.909394;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.8001;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:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.166893;Timing/Map_optimization/ms:12.903;Timing/Memory_cleanup/ms:0.101089;Timing/Memory_update/ms:43.0069;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.2141;Timing/Proximity_by_space/ms:19.0728;Timing/Proximity_by_time/ms:0.0591278;Timing/Reactivation/ms:0.317812;Timing/Statistics_creation/ms:0.139952;Timing/Total/ms:76.0231;TimingMem/Add_new_words/ms:4.85516;TimingMem/Compressing_data/ms:0.849009;TimingMem/Descriptors_extraction/ms:10.2339;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0810623;TimingMem/Keypoints_detection/ms:21.3051;TimingMem/Occupancy_grid/ms:0.87285;TimingMem/Post_decimation/ms:1.01304;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.544071;TimingMem/Signature_creation/ms:42.454


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/:0.0886273;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/:0.911373;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.8604;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:0.00214577;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.154972;Timing/Map_optimization/ms:13.4511;Timing/Memory_cleanup/ms:0.105858;Timing/Memory_update/ms:53.1771;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.208139;Timing/Proximity_by_space/ms:14.76;Timing/Proximity_by_time/ms:0.0538826;Timing/Reactivation/ms:0.305891;Timing/Statistics_creation/ms:0.149965;Timing/Total/ms:82.4032;TimingMem/Add_new_words/ms:4.57597;TimingMem/Compressing_data/ms:0.661135;TimingMem/Descriptors_extraction/ms:12.466;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0751019;TimingMem/Keypoints_detection/ms:29.8731;TimingMem/Occupancy_grid/ms:0.980854;TimingMem/Post_decimation/ms:1.01805;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.51403;TimingMem/Signature_creation/ms:52.649


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/:0.0873293;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/:0.912671;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.9206;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:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0851154;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0238419;Timing/Likelihood_computation/ms:0.32711;Timing/Map_optimization/ms:11.1561;Timing/Memory_cleanup/ms:0.0908375;Timing/Memory_update/ms:51.4271;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.27895;Timing/Proximity_by_space/ms:17.6389;Timing/Proximity_by_time/ms:0.104904;Timing/Reactivation/ms:0.512123;Timing/Statistics_creation/ms:0.126123;Timing/Total/ms:81.773;TimingMem/Add_new_words/ms:10.6871;TimingMem/Compressing_data/ms:1.20687;TimingMem/Descriptors_extraction/ms:11.399;TimingMem/Joining_dictionary_update/ms:0.0228882;TimingMem/Keypoints_3D/ms:0.164986;TimingMem/Keypoints_detection/ms:19.459;TimingMem/Occupancy_grid/ms:1.158;TimingMem/Post_decimation/ms:2.42305;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.781059;TimingMem/Signature_creation/ms:50.6361


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/:0.0864087;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/:0.913591;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:46.9809;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:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0298023;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.271082;Timing/Map_optimization/ms:13.67;Timing/Memory_cleanup/ms:0.123978;Timing/Memory_update/ms:47.081;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.209093;Timing/Proximity_by_space/ms:22.357;Timing/Proximity_by_time/ms:0.0679493;Timing/Reactivation/ms:0.313997;Timing/Statistics_creation/ms:0.166893;Timing/Total/ms:84.2979;TimingMem/Add_new_words/ms:4.48918;TimingMem/Compressing_data/ms:0.727892;TimingMem/Descriptors_extraction/ms:19.3398;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0782013;TimingMem/Keypoints_detection/ms:17.6651;TimingMem/Occupancy_grid/ms:0.837088;TimingMem/Post_decimation/ms:0.906944;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.485897;TimingMem/Signature_creation/ms:46.5891


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/:0.0857248;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/:0.914275;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.0412;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/:0.465;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:0.00190735;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:0.157833;Timing/Map_optimization/ms:9.90081;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:54.6551;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.206947;Timing/Proximity_by_space/ms:13.6051;Timing/Proximity_by_time/ms:0.054121;Timing/Reactivation/ms:0.301123;Timing/Statistics_creation/ms:0.12207;Timing/Total/ms:79.1252;TimingMem/Add_new_words/ms:4.71997;TimingMem/Compressing_data/ms:1.31679;TimingMem/Descriptors_extraction/ms:14.6689;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.102043;TimingMem/Keypoints_detection/ms:24.991;TimingMem/Occupancy_grid/ms:3.22318;TimingMem/Post_decimation/ms:1.69516;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.463963;TimingMem/Signature_creation/ms:54.183


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/:0.0852009;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/:0.914799;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.1014;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:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.152111;Timing/Map_optimization/ms:15.7971;Timing/Memory_cleanup/ms:0.143051;Timing/Memory_update/ms:48.5699;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.203848;Timing/Proximity_by_space/ms:24.303;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.292063;Timing/Statistics_creation/ms:0.196934;Timing/Total/ms:89.745;TimingMem/Add_new_words/ms:4.35495;TimingMem/Compressing_data/ms:0.638008;TimingMem/Descriptors_extraction/ms:14.2689;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:24.339;TimingMem/Occupancy_grid/ms:0.844955;TimingMem/Post_decimation/ms:1.00398;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.448227;TimingMem/Signature_creation/ms:48.1148


data:
Keypoint/Dictionary_size/words:6342;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/:0.091508;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/:0.908492;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.1014;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/:0.42;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/: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:0;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.144958;Timing/Hypotheses_creation/ms:0.0290871;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.194073;Timing/Map_optimization/ms:9.94802;Timing/Memory_cleanup/ms:0.29397;Timing/Memory_update/ms:58.497;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.196934;Timing/Proximity_by_space/ms:16.3741;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.289917;Timing/Statistics_creation/ms:0.120878;Timing/Total/ms:85.9818;TimingMem/Add_new_words/ms:5.0571;TimingMem/Compressing_data/ms:0.777006;TimingMem/Descriptors_extraction/ms:15.7771;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0910759;TimingMem/Keypoints_detection/ms:32.177;TimingMem/Occupancy_grid/ms:0.831127;TimingMem/Post_decimation/ms:1.18685;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.187874;TimingMem/Signature_creation/ms:58.2981


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/:0.0887187;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/:0.911281;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.1617;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.160933;Timing/Map_optimization/ms:10.4601;Timing/Memory_cleanup/ms:0.298023;Timing/Memory_update/ms:55.728;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.208139;Timing/Proximity_by_space/ms:13.6449;Timing/Proximity_by_time/ms:0.0319481;Timing/Reactivation/ms:0.300884;Timing/Statistics_creation/ms:0.360012;Timing/Total/ms:81.2299;TimingMem/Add_new_words/ms:4.67992;TimingMem/Compressing_data/ms:0.725985;TimingMem/Descriptors_extraction/ms:22.218;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0889301;TimingMem/Keypoints_detection/ms:22.356;TimingMem/Occupancy_grid/ms:0.833988;TimingMem/Post_decimation/ms:1.04713;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.517845;TimingMem/Signature_creation/ms:55.2032


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/:0.0871653;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/:0.912835;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.2219;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:0.00286102;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.043869;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.203133;Timing/Map_optimization/ms:12.265;Timing/Memory_cleanup/ms:0.272989;Timing/Memory_update/ms:57.277;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.29397;Timing/Proximity_by_space/ms:16.7351;Timing/Proximity_by_time/ms:0.0629425;Timing/Reactivation/ms:0.420094;Timing/Statistics_creation/ms:0.149965;Timing/Total/ms:87.7299;TimingMem/Add_new_words/ms:6.83999;TimingMem/Compressing_data/ms:0.664949;TimingMem/Descriptors_extraction/ms:22.481;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.167131;TimingMem/Keypoints_detection/ms:21.0669;TimingMem/Occupancy_grid/ms:1.16301;TimingMem/Post_decimation/ms:1.46794;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.535965;TimingMem/Signature_creation/ms:56.7319


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/:0.0861828;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/:0.913817;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.2822;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/:0.47;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:0.00596046;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0422001;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:11.2469;Timing/Memory_cleanup/ms:0.084877;Timing/Memory_update/ms:45.6719;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.262976;Timing/Proximity_by_space/ms:18.6119;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.320911;Timing/Statistics_creation/ms:0.129223;Timing/Total/ms:76.581;TimingMem/Add_new_words/ms:4.82607;TimingMem/Compressing_data/ms:0.629902;TimingMem/Descriptors_extraction/ms:15.703;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0851154;TimingMem/Keypoints_detection/ms:19.3791;TimingMem/Occupancy_grid/ms:1.00994;TimingMem/Post_decimation/ms:0.930071;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.429153;TimingMem/Signature_creation/ms:45.2368


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/:0.085507;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/:0.914493;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.3424;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:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.145912;Timing/Map_optimization/ms:12.027;Timing/Memory_cleanup/ms:0.173092;Timing/Memory_update/ms:43.2031;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.201941;Timing/Proximity_by_space/ms:21.3201;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.293016;Timing/Statistics_creation/ms:0.136852;Timing/Total/ms:77.5881;TimingMem/Add_new_words/ms:5.16009;TimingMem/Compressing_data/ms:0.607967;TimingMem/Descriptors_extraction/ms:11.328;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0839233;TimingMem/Keypoints_detection/ms:20.1211;TimingMem/Occupancy_grid/ms:0.863075;TimingMem/Post_decimation/ms:0.952005;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.446081;TimingMem/Signature_creation/ms:42.748


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/:0.0850117;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/:0.914988;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.4027;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0581741;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.285149;Timing/Map_optimization/ms:11.0219;Timing/Memory_cleanup/ms:0.0920296;Timing/Memory_update/ms:51.3499;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.332832;Timing/Proximity_by_space/ms:23.0491;Timing/Proximity_by_time/ms:0.0500679;Timing/Reactivation/ms:0.511885;Timing/Statistics_creation/ms:0.150204;Timing/Total/ms:86.9081;TimingMem/Add_new_words/ms:6.39319;TimingMem/Compressing_data/ms:0.658035;TimingMem/Descriptors_extraction/ms:13.535;TimingMem/Joining_dictionary_update/ms:0.00977516;TimingMem/Keypoints_3D/ms:0.11611;TimingMem/Keypoints_detection/ms:21.4801;TimingMem/Occupancy_grid/ms:1.01089;TimingMem/Post_decimation/ms:1.00994;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.76001;TimingMem/Signature_creation/ms:49.5779


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/:0.0846358;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/:0.915364;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.463;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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0422001;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.196934;Timing/Map_optimization/ms:11.121;Timing/Memory_cleanup/ms:0.0929832;Timing/Memory_update/ms:44.955;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.280857;Timing/Proximity_by_space/ms:16.119;Timing/Proximity_by_time/ms:0.0650883;Timing/Reactivation/ms:0.404835;Timing/Statistics_creation/ms:0.137091;Timing/Total/ms:73.421;TimingMem/Add_new_words/ms:4.97293;TimingMem/Compressing_data/ms:0.697851;TimingMem/Descriptors_extraction/ms:12.8589;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0910759;TimingMem/Keypoints_detection/ms:20.6041;TimingMem/Occupancy_grid/ms:0.959158;TimingMem/Post_decimation/ms:1.20306;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.576019;TimingMem/Signature_creation/ms:44.3718


data:
Keypoint/Dictionary_size/words:6333;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/:0.111739;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/:7;Loop/Vp_hypothesis/:0.888261;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.463;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/:0.435;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:7.58791;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.156879;Timing/Hypotheses_creation/ms:0.0588894;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.0140667;Timing/Likelihood_computation/ms:0.231981;Timing/Map_optimization/ms:11.6391;Timing/Memory_cleanup/ms:0.309944;Timing/Memory_update/ms:44.595;Timing/Neighbor_link_refining/ms:0.00882149;Timing/Posterior_computation/ms:0.272036;Timing/Proximity_by_space/ms:29.093;Timing/Proximity_by_time/ms:0.041008;Timing/Reactivation/ms:0.385046;Timing/Statistics_creation/ms:0.138044;Timing/Total/ms:94.379;TimingMem/Add_new_words/ms:4.65798;TimingMem/Compressing_data/ms:1.28198;TimingMem/Descriptors_extraction/ms:13.2859;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:19.5961;TimingMem/Occupancy_grid/ms:0.885963;TimingMem/Post_decimation/ms:1.10602;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.350237;TimingMem/Signature_creation/ms:44.2359


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/:0.100169;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/:0.899831;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.5232;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:0.000953674;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:0.00715256;Timing/Likelihood_computation/ms:0.185966;Timing/Map_optimization/ms:9.8381;Timing/Memory_cleanup/ms:0.0920296;Timing/Memory_update/ms:58.1601;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.244141;Timing/Proximity_by_space/ms:20.3171;Timing/Proximity_by_time/ms:0.0739098;Timing/Reactivation/ms:0.449896;Timing/Statistics_creation/ms:0.132799;Timing/Total/ms:89.5469;TimingMem/Add_new_words/ms:4.915;TimingMem/Compressing_data/ms:2.33507;TimingMem/Descriptors_extraction/ms:21.3668;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0901222;TimingMem/Keypoints_detection/ms:23.808;TimingMem/Occupancy_grid/ms:0.95892;TimingMem/Post_decimation/ms:1.03188;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.514984;TimingMem/Signature_creation/ms:57.6351


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/:0.0943615;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/:0.905639;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.5835;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/:0.48;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:0.00190735;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:0.149012;Timing/Map_optimization/ms:10.396;Timing/Memory_cleanup/ms:0.259161;Timing/Memory_update/ms:51.8851;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.215054;Timing/Proximity_by_space/ms:12.4331;Timing/Proximity_by_time/ms:0.0507832;Timing/Reactivation/ms:0.282049;Timing/Statistics_creation/ms:0.28491;Timing/Total/ms:75.9921;TimingMem/Add_new_words/ms:6.58011;TimingMem/Compressing_data/ms:0.779867;TimingMem/Descriptors_extraction/ms:15.1429;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0891685;TimingMem/Keypoints_detection/ms:23.3519;TimingMem/Occupancy_grid/ms:0.90909;TimingMem/Post_decimation/ms:1.0581;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.437021;TimingMem/Signature_creation/ms:51.4419


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/:0.091115;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/:0.908885;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.6437;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:0.00309944;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:0.164986;Timing/Map_optimization/ms:9.7611;Timing/Memory_cleanup/ms:0.0860691;Timing/Memory_update/ms:54.0631;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.202894;Timing/Proximity_by_space/ms:13.9918;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.357151;Timing/Statistics_creation/ms:0.144958;Timing/Total/ms:78.856;TimingMem/Add_new_words/ms:6.387;TimingMem/Compressing_data/ms:0.697851;TimingMem/Descriptors_extraction/ms:19.2249;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0970364;TimingMem/Keypoints_detection/ms:22.1822;TimingMem/Occupancy_grid/ms:0.982046;TimingMem/Post_decimation/ms:1.23215;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.447035;TimingMem/Signature_creation/ms:53.6089


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/:0.0891005;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/:0.910899;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.704;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:0.00405312;Timing/Likelihood_computation/ms:0.155926;Timing/Map_optimization/ms:13.804;Timing/Memory_cleanup/ms:0.12517;Timing/Memory_update/ms:44.7321;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.206947;Timing/Proximity_by_space/ms:24.961;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.301123;Timing/Statistics_creation/ms:0.183821;Timing/Total/ms:84.5561;TimingMem/Add_new_words/ms:4.61388;TimingMem/Compressing_data/ms:1.12009;TimingMem/Descriptors_extraction/ms:12.8419;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:20.211;TimingMem/Occupancy_grid/ms:1.35207;TimingMem/Post_decimation/ms:1.12414;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.453949;TimingMem/Signature_creation/ms:44.2719


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/:0.0877303;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/:0.91227;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.7642;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:0.00119209;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0839233;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0140667;Timing/Likelihood_computation/ms:0.185013;Timing/Map_optimization/ms:10.0658;Timing/Memory_cleanup/ms:0.169992;Timing/Memory_update/ms:56.143;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.30303;Timing/Proximity_by_space/ms:13.654;Timing/Proximity_by_time/ms:0.0588894;Timing/Reactivation/ms:0.531912;Timing/Statistics_creation/ms:0.160217;Timing/Total/ms:81.372;TimingMem/Add_new_words/ms:4.72713;TimingMem/Compressing_data/ms:1.27196;TimingMem/Descriptors_extraction/ms:18.4319;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:25.9111;TimingMem/Occupancy_grid/ms:0.910997;TimingMem/Post_decimation/ms:0.968933;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.540972;TimingMem/Signature_creation/ms:55.5942


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/:0.0867391;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/:0.913261;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.8245;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:0.00286102;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:0.183821;Timing/Map_optimization/ms:9.59611;Timing/Memory_cleanup/ms:0.0870228;Timing/Memory_update/ms:54.7249;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.22006;Timing/Proximity_by_space/ms:13.8891;Timing/Proximity_by_time/ms:0.0581741;Timing/Reactivation/ms:0.362873;Timing/Statistics_creation/ms:0.126839;Timing/Total/ms:79.289;TimingMem/Add_new_words/ms:4.58217;TimingMem/Compressing_data/ms:0.633955;TimingMem/Descriptors_extraction/ms:17.729;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:24.9181;TimingMem/Occupancy_grid/ms:1.14417;TimingMem/Post_decimation/ms:0.954866;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.941038;TimingMem/Signature_creation/ms:53.7751


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/:0.0859895;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/:0.91401;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.8848;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/:0.535;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:0.0329018;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.174046;Timing/Map_optimization/ms:10.4351;Timing/Memory_cleanup/ms:0.0870228;Timing/Memory_update/ms:48.913;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216007;Timing/Proximity_by_space/ms:12.8579;Timing/Proximity_by_time/ms:0.056982;Timing/Reactivation/ms:0.311136;Timing/Statistics_creation/ms:0.142813;Timing/Total/ms:73.231;TimingMem/Add_new_words/ms:4.46486;TimingMem/Compressing_data/ms:0.677109;TimingMem/Descriptors_extraction/ms:13.3178;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:22.187;TimingMem/Occupancy_grid/ms:1.85394;TimingMem/Post_decimation/ms:1.05;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.19996;TimingMem/Signature_creation/ms:47.704


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/:0.0854129;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/:0.914587;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:47.945;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;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:0.164986;Timing/Map_optimization/ms:9.86409;Timing/Memory_cleanup/ms:0.0901222;Timing/Memory_update/ms:46.2492;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.277996;Timing/Proximity_by_space/ms:15.6429;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.333071;Timing/Statistics_creation/ms:0.130892;Timing/Total/ms:72.8371;TimingMem/Add_new_words/ms:4.65298;TimingMem/Compressing_data/ms:0.61512;TimingMem/Descriptors_extraction/ms:11.6861;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0860691;TimingMem/Keypoints_detection/ms:23.7448;TimingMem/Occupancy_grid/ms:0.988007;TimingMem/Post_decimation/ms:0.977993;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.471115;TimingMem/Signature_creation/ms:45.7699


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/:0.0849609;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/:0.915039;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.0053;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/:0.495;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:0.000953674;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0379086;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.239134;Timing/Map_optimization/ms:9.61804;Timing/Memory_cleanup/ms:0.11301;Timing/Memory_update/ms:48.867;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.216007;Timing/Proximity_by_space/ms:12.31;Timing/Proximity_by_time/ms:0.0829697;Timing/Reactivation/ms:0.31805;Timing/Statistics_creation/ms:0.151873;Timing/Total/ms:71.96;TimingMem/Add_new_words/ms:4.86207;TimingMem/Compressing_data/ms:0.997066;TimingMem/Descriptors_extraction/ms:16.6929;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0991821;TimingMem/Keypoints_detection/ms:19.9239;TimingMem/Occupancy_grid/ms:1.32608;TimingMem/Post_decimation/ms:1.12987;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:1.122;TimingMem/Signature_creation/ms:47.7359


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/:0.0846062;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/:0.915394;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.0655;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/:0.45;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:0.00190735;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:0.164032;Timing/Map_optimization/ms:15.4681;Timing/Memory_cleanup/ms:0.108004;Timing/Memory_update/ms:46.4449;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.231028;Timing/Proximity_by_space/ms:16.1428;Timing/Proximity_by_time/ms:0.0388622;Timing/Reactivation/ms:0.32711;Timing/Statistics_creation/ms:0.138998;Timing/Total/ms:79.1011;TimingMem/Add_new_words/ms:4.91405;TimingMem/Compressing_data/ms:0.686884;TimingMem/Descriptors_extraction/ms:11.101;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0782013;TimingMem/Keypoints_detection/ms:24.7438;TimingMem/Occupancy_grid/ms:0.864029;TimingMem/Post_decimation/ms:0.976086;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.709057;TimingMem/Signature_creation/ms:45.7289


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/:0.0843249;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/:0.915675;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.1258;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/:0.48;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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0839233;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.149965;Timing/Map_optimization/ms:13.618;Timing/Memory_cleanup/ms:0.12517;Timing/Memory_update/ms:48.444;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.19598;Timing/Proximity_by_space/ms:22.3718;Timing/Proximity_by_time/ms:0.0510216;Timing/Reactivation/ms:0.351191;Timing/Statistics_creation/ms:0.183821;Timing/Total/ms:85.583;TimingMem/Add_new_words/ms:4.62794;TimingMem/Compressing_data/ms:0.641108;TimingMem/Descriptors_extraction/ms:15.3711;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:22.8109;TimingMem/Occupancy_grid/ms:0.916958;TimingMem/Post_decimation/ms:0.953913;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.442028;TimingMem/Signature_creation/ms:47.9939


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/:0.0841039;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/:0.915896;Memory/Database_memory_used/MB:1;Memory/Distance_travelled/m:48.186;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/:0.485;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:0.0319481;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.159025;Timing/Map_optimization/ms:9.65309;Timing/Memory_cleanup/ms:0.0991821;Timing/Memory_update/ms:56.7548;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.2141;Timing/Proximity_by_space/ms:14.986;Timing/Proximity_by_time/ms:0.0491142;Timing/Reactivation/ms:0.402927;Timing/Statistics_creation/ms:0.131845;Timing/Total/ms:82.489;TimingMem/Add_new_words/ms:11.1918;TimingMem/Compressing_data/ms:1.05691;TimingMem/Descriptors_extraction/ms:16.269;TimingMem/Joining_dictionary_update/ms:0.0231266;TimingMem/Keypoints_3D/ms:0.154018;TimingMem/Keypoints_detection/ms:18.8849;TimingMem/Occupancy_grid/ms:2.67196;TimingMem/Post_decimation/ms:2.10595;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.492096;TimingMem/Signature_creation/ms:56.252


