# Statistics

data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:0;Keypoint/Indexed_words/words:0;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:9999;Memory/Odometry_variance_lin/:9999;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.00715256;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.0348091;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0898838;Timing/Memory_update/ms:42.7539;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0400543;Timing/Proximity_by_space/ms:0.0269413;Timing/Proximity_by_time/ms:0.038147;Timing/Reactivation/ms:0.0100136;Timing/Statistics_creation/ms:0.0600815;Timing/Total/ms:43.0679;TimingMem/Add_new_words/ms:1.24407;TimingMem/Compressing_data/ms:1.05596;TimingMem/Descriptors_extraction/ms:13.6611;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.0898838;TimingMem/Keypoints_detection/ms:23.2401;TimingMem/Occupancy_grid/ms:0.397921;TimingMem/Post_decimation/ms:1.39308;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0231266;TimingMem/Signature_creation/ms:42.7198


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.53;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.025034;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:57.1501;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0231266;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0329018;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0479221;Timing/Total/ms:57.379;TimingMem/Add_new_words/ms:5.15079;TimingMem/Compressing_data/ms:1.24002;TimingMem/Descriptors_extraction/ms:22.7258;TimingMem/Joining_dictionary_update/ms:0.0112057;TimingMem/Keypoints_3D/ms:0.0967979;TimingMem/Keypoints_detection/ms:24.2331;TimingMem/Occupancy_grid/ms:0.385046;TimingMem/Post_decimation/ms:1.66607;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.396967;TimingMem/Signature_creation/ms:56.7441


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:159984;Memory/Odometry_variance_lin/:159984;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.00119209;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0479221;Timing/Memory_update/ms:41.3232;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0247955;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:41.477;TimingMem/Add_new_words/ms:2.89798;TimingMem/Compressing_data/ms:0.746012;TimingMem/Descriptors_extraction/ms:14.756;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0720024;TimingMem/Keypoints_detection/ms:20.231;TimingMem/Occupancy_grid/ms:0.380039;TimingMem/Post_decimation/ms:0.892878;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.222921;TimingMem/Signature_creation/ms:41.0931


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0200272;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0460148;Timing/Memory_update/ms:40.9272;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0269413;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:41.08;TimingMem/Add_new_words/ms:3.32999;TimingMem/Compressing_data/ms:0.699043;TimingMem/Descriptors_extraction/ms:11.2309;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.111103;TimingMem/Keypoints_detection/ms:22.6331;TimingMem/Occupancy_grid/ms:0.349045;TimingMem/Post_decimation/ms:1.25694;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.200987;TimingMem/Signature_creation/ms:40.72


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.515;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0500679;Timing/Memory_update/ms:48.121;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0162125;Timing/Proximity_by_space/ms:0.00476837;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0329018;Timing/Total/ms:48.279;TimingMem/Add_new_words/ms:3.263;TimingMem/Compressing_data/ms:0.921965;TimingMem/Descriptors_extraction/ms:18.5621;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0731945;TimingMem/Keypoints_detection/ms:21.116;TimingMem/Occupancy_grid/ms:0.427961;TimingMem/Post_decimation/ms:1.11699;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.324011;TimingMem/Signature_creation/ms:47.792


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0240803;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0529289;Timing/Memory_update/ms:44.317;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0169277;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0300407;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0391006;Timing/Total/ms:44.4911;TimingMem/Add_new_words/ms:3.74508;TimingMem/Compressing_data/ms:0.864983;TimingMem/Descriptors_extraction/ms:15.9891;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0767708;TimingMem/Keypoints_detection/ms:20.622;TimingMem/Occupancy_grid/ms:0.451088;TimingMem/Post_decimation/ms:1.07288;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.210047;TimingMem/Signature_creation/ms:44.102


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0228882;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0548363;Timing/Memory_update/ms:42.429;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0290871;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0371933;Timing/Total/ms:42.6009;TimingMem/Add_new_words/ms:3.59178;TimingMem/Compressing_data/ms:0.797033;TimingMem/Descriptors_extraction/ms:14.5571;TimingMem/Joining_dictionary_update/ms:0.0171661;TimingMem/Keypoints_3D/ms:0.119925;TimingMem/Keypoints_detection/ms:19.784;TimingMem/Occupancy_grid/ms:0.411987;TimingMem/Post_decimation/ms:1.15013;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.422955;TimingMem/Signature_creation/ms:41.9991


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0240803;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.056982;Timing/Memory_update/ms:42.032;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0169277;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0369549;Timing/Total/ms:42.2101;TimingMem/Add_new_words/ms:2.82502;TimingMem/Compressing_data/ms:0.834942;TimingMem/Descriptors_extraction/ms:11.519;TimingMem/Joining_dictionary_update/ms:0.027895;TimingMem/Keypoints_3D/ms:0.29707;TimingMem/Keypoints_detection/ms:23.3028;TimingMem/Occupancy_grid/ms:0.440121;TimingMem/Post_decimation/ms:1.019;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.271082;TimingMem/Signature_creation/ms:41.7559


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.52;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0519753;Timing/Memory_update/ms:44.3561;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0288486;Timing/Reactivation/ms:0.000953674;Timing/Statistics_creation/ms:0.0388622;Timing/Total/ms:44.524;TimingMem/Add_new_words/ms:4.60505;TimingMem/Compressing_data/ms:0.726938;TimingMem/Descriptors_extraction/ms:14.4601;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.102997;TimingMem/Keypoints_detection/ms:21.415;TimingMem/Occupancy_grid/ms:0.37694;TimingMem/Post_decimation/ms:1.27912;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.211954;TimingMem/Signature_creation/ms:44.138


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.51;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00405312;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0350475;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.136137;Timing/Memory_update/ms:40.6601;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0379086;Timing/Proximity_by_space/ms:0.0128746;Timing/Proximity_by_time/ms:0.0419617;Timing/Reactivation/ms:0.00715256;Timing/Statistics_creation/ms:0.0760555;Timing/Total/ms:41.0161;TimingMem/Add_new_words/ms:3.07894;TimingMem/Compressing_data/ms:3.34811;TimingMem/Descriptors_extraction/ms:12.6019;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.0767708;TimingMem/Keypoints_detection/ms:18.605;TimingMem/Occupancy_grid/ms:0.385046;TimingMem/Post_decimation/ms:0.900984;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.460148;TimingMem/Signature_creation/ms:40.1919


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0219345;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0510216;Timing/Memory_update/ms:37.6081;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0360012;Timing/Total/ms:37.7691;TimingMem/Add_new_words/ms:2.58994;TimingMem/Compressing_data/ms:0.775814;TimingMem/Descriptors_extraction/ms:13.5539;TimingMem/Joining_dictionary_update/ms:0.00715256;TimingMem/Keypoints_3D/ms:0.0660419;TimingMem/Keypoints_detection/ms:17.684;TimingMem/Occupancy_grid/ms:0.369072;TimingMem/Post_decimation/ms:1.19305;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.212908;TimingMem/Signature_creation/ms:37.39


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.525;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00405312;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.0259876;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.104189;Timing/Memory_update/ms:39.6161;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0479221;Timing/Proximity_by_space/ms:0.014782;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.00596046;Timing/Statistics_creation/ms:0.0448227;Timing/Total/ms:39.9032;TimingMem/Add_new_words/ms:2.86198;TimingMem/Compressing_data/ms:0.692129;TimingMem/Descriptors_extraction/ms:14.164;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0698566;TimingMem/Keypoints_detection/ms:17.9672;TimingMem/Occupancy_grid/ms:0.624895;TimingMem/Post_decimation/ms:1.10698;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.543833;TimingMem/Signature_creation/ms:39.0658


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.51;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0331402;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.084877;Timing/Memory_update/ms:44.0221;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0238419;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0429153;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0510216;Timing/Total/ms:44.27;TimingMem/Add_new_words/ms:4.60696;TimingMem/Compressing_data/ms:0.648022;TimingMem/Descriptors_extraction/ms:13.2141;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.0889301;TimingMem/Keypoints_detection/ms:21.6789;TimingMem/Occupancy_grid/ms:0.555038;TimingMem/Post_decimation/ms:1.41597;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.368834;TimingMem/Signature_creation/ms:43.6461


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00405312;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.0379086;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0920296;Timing/Memory_update/ms:47.266;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0319481;Timing/Proximity_by_space/ms:0.0100136;Timing/Proximity_by_time/ms:0.0441074;Timing/Reactivation/ms:0.00500679;Timing/Statistics_creation/ms:0.0429153;Timing/Total/ms:47.539;TimingMem/Add_new_words/ms:2.84219;TimingMem/Compressing_data/ms:0.608921;TimingMem/Descriptors_extraction/ms:18.888;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:22.059;TimingMem/Occupancy_grid/ms:0.335932;TimingMem/Post_decimation/ms:0.813007;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.438929;TimingMem/Signature_creation/ms:46.819


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0500679;Timing/Memory_update/ms:42.5811;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0162125;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0188351;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0338554;Timing/Total/ms:42.732;TimingMem/Add_new_words/ms:2.70104;TimingMem/Compressing_data/ms:0.789165;TimingMem/Descriptors_extraction/ms:15.466;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0660419;TimingMem/Keypoints_detection/ms:20.376;TimingMem/Occupancy_grid/ms:0.475883;TimingMem/Post_decimation/ms:0.937939;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.267982;TimingMem/Signature_creation/ms:42.3079


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.525;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0679493;Timing/Memory_update/ms:42.403;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.025034;Timing/Reactivation/ms:0.00119209;Timing/Statistics_creation/ms:0.0329018;Timing/Total/ms:42.5758;TimingMem/Add_new_words/ms:2.83504;TimingMem/Compressing_data/ms:0.801802;TimingMem/Descriptors_extraction/ms:15.831;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0660419;TimingMem/Keypoints_detection/ms:20.2761;TimingMem/Occupancy_grid/ms:0.355005;TimingMem/Post_decimation/ms:0.89407;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.261784;TimingMem/Signature_creation/ms:42.136


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.545;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0300407;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.115871;Timing/Memory_update/ms:50.6289;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.025034;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0350475;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0600815;Timing/Total/ms:50.9069;TimingMem/Add_new_words/ms:3.15404;TimingMem/Compressing_data/ms:2.03013;TimingMem/Descriptors_extraction/ms:13.3181;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0751019;TimingMem/Keypoints_detection/ms:28.9218;TimingMem/Occupancy_grid/ms:0.448942;TimingMem/Post_decimation/ms:0.97394;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.370979;TimingMem/Signature_creation/ms:50.2479


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.54;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0240803;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0550747;Timing/Memory_update/ms:40.1239;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0739098;Timing/Reactivation/ms:0.00286102;Timing/Statistics_creation/ms:0.041008;Timing/Total/ms:40.3469;TimingMem/Add_new_words/ms:3.03602;TimingMem/Compressing_data/ms:0.773907;TimingMem/Descriptors_extraction/ms:12.9569;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0941753;TimingMem/Keypoints_detection/ms:20.3202;TimingMem/Occupancy_grid/ms:0.547886;TimingMem/Post_decimation/ms:0.926971;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.313997;TimingMem/Signature_creation/ms:39.804


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0839233;Timing/Memory_update/ms:48.0809;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0329018;Timing/Proximity_by_space/ms:0.00810623;Timing/Proximity_by_time/ms:0.0901222;Timing/Reactivation/ms:0.00596046;Timing/Statistics_creation/ms:0.0400543;Timing/Total/ms:48.3689;TimingMem/Add_new_words/ms:2.67315;TimingMem/Compressing_data/ms:0.638008;TimingMem/Descriptors_extraction/ms:15.6298;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0681877;TimingMem/Keypoints_detection/ms:26.1121;TimingMem/Occupancy_grid/ms:0.332832;TimingMem/Post_decimation/ms:0.813007;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.366926;TimingMem/Signature_creation/ms:47.708


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.51;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0519753;Timing/Memory_update/ms:41.3201;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.025034;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0391006;Timing/Total/ms:41.4841;TimingMem/Add_new_words/ms:2.97618;TimingMem/Compressing_data/ms:0.67997;TimingMem/Descriptors_extraction/ms:14.9729;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:19.9621;TimingMem/Occupancy_grid/ms:0.339031;TimingMem/Post_decimation/ms:0.856876;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.247002;TimingMem/Signature_creation/ms:41.069


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00286102;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0240803;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0538826;Timing/Memory_update/ms:39.7382;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0190735;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0228882;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0340939;Timing/Total/ms:39.9051;TimingMem/Add_new_words/ms:2.6021;TimingMem/Compressing_data/ms:0.794172;TimingMem/Descriptors_extraction/ms:12.5382;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0648499;TimingMem/Keypoints_detection/ms:21.081;TimingMem/Occupancy_grid/ms:0.345945;TimingMem/Post_decimation/ms:0.831842;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.264883;TimingMem/Signature_creation/ms:39.4671


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0231266;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0481606;Timing/Memory_update/ms:40.1781;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.0038147;Timing/Proximity_by_time/ms:0.0228882;Timing/Reactivation/ms:0.000953674;Timing/Statistics_creation/ms:0.0338554;Timing/Total/ms:40.3311;TimingMem/Add_new_words/ms:3.00288;TimingMem/Compressing_data/ms:0.681162;TimingMem/Descriptors_extraction/ms:15.1;TimingMem/Joining_dictionary_update/ms:0.0171661;TimingMem/Keypoints_3D/ms:0.133991;TimingMem/Keypoints_detection/ms:18.6279;TimingMem/Occupancy_grid/ms:0.348806;TimingMem/Post_decimation/ms:0.962019;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.211;TimingMem/Signature_creation/ms:39.9609


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0228882;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0548363;Timing/Memory_update/ms:41.8041;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.014782;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0679493;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:42.0129;TimingMem/Add_new_words/ms:3.46494;TimingMem/Compressing_data/ms:0.683069;TimingMem/Descriptors_extraction/ms:10.7319;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.0960827;TimingMem/Keypoints_detection/ms:23.8919;TimingMem/Occupancy_grid/ms:0.373125;TimingMem/Post_decimation/ms:1.02997;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.248909;TimingMem/Signature_creation/ms:41.549


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0281334;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0519753;Timing/Memory_update/ms:43.5612;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0200272;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0658035;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0481606;Timing/Total/ms:43.7882;TimingMem/Add_new_words/ms:3.03483;TimingMem/Compressing_data/ms:0.995159;TimingMem/Descriptors_extraction/ms:15.5969;TimingMem/Joining_dictionary_update/ms:0.00715256;TimingMem/Keypoints_3D/ms:0.0669956;TimingMem/Keypoints_detection/ms:21.3511;TimingMem/Occupancy_grid/ms:0.347853;TimingMem/Post_decimation/ms:0.808001;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.246048;TimingMem/Signature_creation/ms:43.3049


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.52;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0231266;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.056982;Timing/Memory_update/ms:40.977;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0679493;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:41.1861;TimingMem/Add_new_words/ms:3.56197;TimingMem/Compressing_data/ms:0.648022;TimingMem/Descriptors_extraction/ms:12.176;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.120878;TimingMem/Keypoints_detection/ms:21.8241;TimingMem/Occupancy_grid/ms:0.339031;TimingMem/Post_decimation/ms:0.906944;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.234127;TimingMem/Signature_creation/ms:40.7391


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.515;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00119209;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0219345;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0529289;Timing/Memory_update/ms:40.617;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0269413;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0340939;Timing/Total/ms:40.777;TimingMem/Add_new_words/ms:3.18003;TimingMem/Compressing_data/ms:0.613928;TimingMem/Descriptors_extraction/ms:14.092;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.0929832;TimingMem/Keypoints_detection/ms:20.1511;TimingMem/Occupancy_grid/ms:0.350952;TimingMem/Post_decimation/ms:0.859976;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.217915;TimingMem/Signature_creation/ms:40.3941


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.485;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.027895;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:45.213;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0190735;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0901222;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.054121;Timing/Total/ms:45.495;TimingMem/Add_new_words/ms:4.07195;TimingMem/Compressing_data/ms:0.834942;TimingMem/Descriptors_extraction/ms:15.739;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0841618;TimingMem/Keypoints_detection/ms:21.3819;TimingMem/Occupancy_grid/ms:0.524998;TimingMem/Post_decimation/ms:1.27101;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.240088;TimingMem/Signature_creation/ms:44.9669


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.53;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0209808;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0469685;Timing/Memory_update/ms:42.459;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.0038147;Timing/Proximity_by_time/ms:0.0600815;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0338554;Timing/Total/ms:42.6459;TimingMem/Add_new_words/ms:3.371;TimingMem/Compressing_data/ms:0.61512;TimingMem/Descriptors_extraction/ms:10.8421;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.0989437;TimingMem/Keypoints_detection/ms:24.91;TimingMem/Occupancy_grid/ms:0.344992;TimingMem/Post_decimation/ms:1.01304;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.168085;TimingMem/Signature_creation/ms:42.285


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.52;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0219345;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0550747;Timing/Memory_update/ms:44.1949;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0641346;Timing/Reactivation/ms:0.00286102;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:44.399;TimingMem/Add_new_words/ms:3.78799;TimingMem/Compressing_data/ms:0.641108;TimingMem/Descriptors_extraction/ms:12.9671;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0970364;TimingMem/Keypoints_detection/ms:24.092;TimingMem/Occupancy_grid/ms:0.424862;TimingMem/Post_decimation/ms:0.95892;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.185966;TimingMem/Signature_creation/ms:44.0052


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.48;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00119209;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0200272;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0519753;Timing/Memory_update/ms:45.2528;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.014782;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0669956;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0331402;Timing/Total/ms:45.4509;TimingMem/Add_new_words/ms:2.61903;TimingMem/Compressing_data/ms:0.710011;TimingMem/Descriptors_extraction/ms:16.0661;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.110865;TimingMem/Keypoints_detection/ms:23.1211;TimingMem/Occupancy_grid/ms:0.349045;TimingMem/Post_decimation/ms:0.885963;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.209093;TimingMem/Signature_creation/ms:45.038


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0190735;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0450611;Timing/Memory_update/ms:40.056;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.00286102;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.00119209;Timing/Statistics_creation/ms:0.0329018;Timing/Total/ms:40.2031;TimingMem/Add_new_words/ms:2.98905;TimingMem/Compressing_data/ms:0.633001;TimingMem/Descriptors_extraction/ms:12.8829;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:20.927;TimingMem/Occupancy_grid/ms:0.342131;TimingMem/Post_decimation/ms:0.846863;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.174999;TimingMem/Signature_creation/ms:39.875


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0190735;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0510216;Timing/Memory_update/ms:60.5309;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0679493;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0329018;Timing/Total/ms:60.7278;TimingMem/Add_new_words/ms:3.50499;TimingMem/Compressing_data/ms:1.67608;TimingMem/Descriptors_extraction/ms:14.255;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0958443;TimingMem/Keypoints_detection/ms:38.255;TimingMem/Occupancy_grid/ms:0.381947;TimingMem/Post_decimation/ms:0.914097;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.205994;TimingMem/Signature_creation/ms:60.3201


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.525;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0309944;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:53.1101;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0209808;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0400543;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0591278;Timing/Total/ms:53.3562;TimingMem/Add_new_words/ms:3.35002;TimingMem/Compressing_data/ms:0.919819;TimingMem/Descriptors_extraction/ms:17.72;TimingMem/Joining_dictionary_update/ms:0.0181198;TimingMem/Keypoints_3D/ms:0.129938;TimingMem/Keypoints_detection/ms:27.369;TimingMem/Occupancy_grid/ms:0.571966;TimingMem/Post_decimation/ms:1.52206;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.315905;TimingMem/Signature_creation/ms:52.7871


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.515;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0228882;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0550747;Timing/Memory_update/ms:50.123;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.082016;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:50.3449;TimingMem/Add_new_words/ms:4.38213;TimingMem/Compressing_data/ms:0.692129;TimingMem/Descriptors_extraction/ms:16.31;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.133038;TimingMem/Keypoints_detection/ms:26.0489;TimingMem/Occupancy_grid/ms:0.355005;TimingMem/Post_decimation/ms:0.832796;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.209808;TimingMem/Signature_creation/ms:49.9072


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.46;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00119209;Timing/Hypotheses_creation/ms:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0309944;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:58.836;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0219345;Timing/Proximity_by_space/ms:0.00715256;Timing/Proximity_by_time/ms:0.102997;Timing/Reactivation/ms:0.00190735;Timing/Statistics_creation/ms:0.0538826;Timing/Total/ms:59.1421;TimingMem/Add_new_words/ms:2.58708;TimingMem/Compressing_data/ms:1.36709;TimingMem/Descriptors_extraction/ms:25.7158;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:25.7092;TimingMem/Occupancy_grid/ms:0.511885;TimingMem/Post_decimation/ms:1.08886;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.324965;TimingMem/Signature_creation/ms:58.5041


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0281334;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0829697;Timing/Memory_update/ms:66.7081;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0197887;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.0369549;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0519753;Timing/Total/ms:66.942;TimingMem/Add_new_words/ms:2.93207;TimingMem/Compressing_data/ms:2.39897;TimingMem/Descriptors_extraction/ms:15.4729;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:42.0861;TimingMem/Occupancy_grid/ms:0.545979;TimingMem/Post_decimation/ms:1.33801;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.36788;TimingMem/Signature_creation/ms:66.334


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.025034;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0529289;Timing/Memory_update/ms:65.829;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0190735;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.165939;Timing/Reactivation/ms:0.00309944;Timing/Statistics_creation/ms:0.0340939;Timing/Total/ms:66.138;TimingMem/Add_new_words/ms:4.39811;TimingMem/Compressing_data/ms:0.794888;TimingMem/Descriptors_extraction/ms:26.3259;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.111103;TimingMem/Keypoints_detection/ms:30.7109;TimingMem/Occupancy_grid/ms:0.396013;TimingMem/Post_decimation/ms:1.46198;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.370026;TimingMem/Signature_creation/ms:65.449


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.525;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0419617;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0960827;Timing/Memory_update/ms:55.954;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0259876;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0860691;Timing/Reactivation/ms:0.00286102;Timing/Statistics_creation/ms:0.0360012;Timing/Total/ms:56.252;TimingMem/Add_new_words/ms:3.07107;TimingMem/Compressing_data/ms:0.638962;TimingMem/Descriptors_extraction/ms:20.2959;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0669956;TimingMem/Keypoints_detection/ms:28.5711;TimingMem/Occupancy_grid/ms:0.380039;TimingMem/Post_decimation/ms:1.30296;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.244141;TimingMem/Signature_creation/ms:55.7029


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.5;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0300407;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0801086;Timing/Memory_update/ms:51.409;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0200272;Timing/Proximity_by_space/ms:0.00715256;Timing/Proximity_by_time/ms:0.0348091;Timing/Reactivation/ms:0.00286102;Timing/Statistics_creation/ms:0.0538826;Timing/Total/ms:51.6419;TimingMem/Add_new_words/ms:4.65798;TimingMem/Compressing_data/ms:0.855923;TimingMem/Descriptors_extraction/ms:19.345;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.110149;TimingMem/Keypoints_detection/ms:22.7129;TimingMem/Occupancy_grid/ms:0.641108;TimingMem/Post_decimation/ms:1.34206;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.383139;TimingMem/Signature_creation/ms:51.0139


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.55;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0269413;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0579357;Timing/Memory_update/ms:47.4689;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0171661;Timing/Proximity_by_space/ms:0.00405312;Timing/Proximity_by_time/ms:0.0350475;Timing/Reactivation/ms:0.00214577;Timing/Statistics_creation/ms:0.0329018;Timing/Total/ms:47.6499;TimingMem/Add_new_words/ms:4.0009;TimingMem/Compressing_data/ms:0.892162;TimingMem/Descriptors_extraction/ms:14.2889;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:25.4109;TimingMem/Occupancy_grid/ms:0.357866;TimingMem/Post_decimation/ms:1.01995;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.298977;TimingMem/Signature_creation/ms:47.1652


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.49;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0228882;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0550747;Timing/Memory_update/ms:57.493;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0190735;Timing/Proximity_by_space/ms:0.00500679;Timing/Proximity_by_time/ms:0.0281334;Timing/Reactivation/ms:0.00810623;Timing/Statistics_creation/ms:0.041008;Timing/Total/ms:57.6761;TimingMem/Add_new_words/ms:4.23098;TimingMem/Compressing_data/ms:0.828981;TimingMem/Descriptors_extraction/ms:22.8779;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0851154;TimingMem/Keypoints_detection/ms:26.7961;TimingMem/Occupancy_grid/ms:0.349998;TimingMem/Post_decimation/ms:0.933886;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.239134;TimingMem/Signature_creation/ms:57.2479


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.495;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.0290871;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.079155;Timing/Memory_update/ms:82.4449;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0238419;Timing/Proximity_by_space/ms:0.00810623;Timing/Proximity_by_time/ms:0.0391006;Timing/Reactivation/ms:0.00905991;Timing/Statistics_creation/ms:0.043869;Timing/Total/ms:82.6831;TimingMem/Add_new_words/ms:3.48616;TimingMem/Compressing_data/ms:0.766039;TimingMem/Descriptors_extraction/ms:19.634;TimingMem/Joining_dictionary_update/ms:0.014782;TimingMem/Keypoints_3D/ms:0.121117;TimingMem/Keypoints_detection/ms:54.811;TimingMem/Occupancy_grid/ms:0.39196;TimingMem/Post_decimation/ms:0.957966;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.358105;TimingMem/Signature_creation/ms:82.0789


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0360012;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0898838;Timing/Memory_update/ms:56.0322;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0238419;Timing/Proximity_by_space/ms:0.00596046;Timing/Proximity_by_time/ms:0.123978;Timing/Reactivation/ms:0.00905991;Timing/Statistics_creation/ms:0.0591278;Timing/Total/ms:56.385;TimingMem/Add_new_words/ms:4.4179;TimingMem/Compressing_data/ms:0.836849;TimingMem/Descriptors_extraction/ms:23.2861;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.10705;TimingMem/Keypoints_detection/ms:23.2129;TimingMem/Occupancy_grid/ms:0.856161;TimingMem/Post_decimation/ms:1.35207;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.511169;TimingMem/Signature_creation/ms:55.5098


data:
Keypoint/Dictionary_size/words:73;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:1;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:1;Memory/Rehearsal_merged/:1;Memory/Rehearsal_sim/:0.45;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00691414;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.103951;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.252962;Timing/Memory_update/ms:61.6951;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0679493;Timing/Proximity_by_space/ms:0.0178814;Timing/Proximity_by_time/ms:0.127077;Timing/Reactivation/ms:0.0209808;Timing/Statistics_creation/ms:0.0801086;Timing/Total/ms:62.381;TimingMem/Add_new_words/ms:4.76503;TimingMem/Compressing_data/ms:1.07789;TimingMem/Descriptors_extraction/ms:15.424;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0891685;TimingMem/Keypoints_detection/ms:35.5558;TimingMem/Occupancy_grid/ms:0.437975;TimingMem/Post_decimation/ms:1.57595;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.03784;TimingMem/Signature_creation/ms:60.6461


data:
Keypoint/Dictionary_size/words:126;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.0583307;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:2;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.43;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:1;NeighborLinkRefining/Variance/:239976;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00596046;Timing/Hypotheses_creation/ms:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.056982;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.209093;Timing/Memory_update/ms:61.233;Timing/Neighbor_link_refining/ms:0.0100136;Timing/Posterior_computation/ms:0.0240803;Timing/Proximity_by_space/ms:0.00810623;Timing/Proximity_by_time/ms:0.109911;Timing/Reactivation/ms:0.117779;Timing/Statistics_creation/ms:0.0629425;Timing/Total/ms:61.837;TimingMem/Add_new_words/ms:5.60999;TimingMem/Compressing_data/ms:1.91998;TimingMem/Descriptors_extraction/ms:19.206;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0860691;TimingMem/Keypoints_detection/ms:28.1808;TimingMem/Occupancy_grid/ms:0.581026;TimingMem/Post_decimation/ms:2.33293;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.118017;TimingMem/Signature_creation/ms:61.1069


data:
Keypoint/Dictionary_size/words:130;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.128861;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:2;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:1;NeighborLinkRefining/Variance/:219978;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00405312;Timing/Hypotheses_creation/ms:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0519753;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.211;Timing/Memory_update/ms:75.047;Timing/Neighbor_link_refining/ms:0.00882149;Timing/Posterior_computation/ms:0.0228882;Timing/Proximity_by_space/ms:0.00786781;Timing/Proximity_by_time/ms:0.0841618;Timing/Reactivation/ms:0.0460148;Timing/Statistics_creation/ms:0.0650883;Timing/Total/ms:75.5489;TimingMem/Add_new_words/ms:3.90601;TimingMem/Compressing_data/ms:0.960112;TimingMem/Descriptors_extraction/ms:25.9569;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:40.8211;TimingMem/Occupancy_grid/ms:0.515938;TimingMem/Post_decimation/ms:1.302;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0889301;TimingMem/Signature_creation/ms:74.9521


data:
Keypoint/Dictionary_size/words:123;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.221417;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:2;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.44;Memory/Short_time_memory_size/:1;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:1;NeighborLinkRefining/Variance/:239976;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00286102;Timing/Hypotheses_creation/ms:0.00309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0469685;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.183105;Timing/Memory_update/ms:69.4039;Timing/Neighbor_link_refining/ms:0.00905991;Timing/Posterior_computation/ms:0.0200272;Timing/Proximity_by_space/ms:0.00691414;Timing/Proximity_by_time/ms:0.0829697;Timing/Reactivation/ms:0.0529289;Timing/Statistics_creation/ms:0.056982;Timing/Total/ms:69.869;TimingMem/Add_new_words/ms:2.78592;TimingMem/Compressing_data/ms:1.22285;TimingMem/Descriptors_extraction/ms:19.0561;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.106096;TimingMem/Keypoints_detection/ms:43.3779;TimingMem/Occupancy_grid/ms:0.362158;TimingMem/Post_decimation/ms:1.00303;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0970364;TimingMem/Signature_creation/ms:69.2999


data:
Keypoint/Dictionary_size/words:130;Keypoint/Index_memory_usage/KB:18;Keypoint/Indexed_words/words:73;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.356456;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:2;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.395;Memory/Short_time_memory_size/:2;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.906542;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.41014e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0600815;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0810623;Timing/Memory_update/ms:49.603;Timing/Neighbor_link_refining/ms:7.65395;Timing/Posterior_computation/ms:0.0309944;Timing/Proximity_by_space/ms:0.00619888;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.0348091;Timing/Statistics_creation/ms:0.0479221;Timing/Total/ms:57.543;TimingMem/Add_new_words/ms:3.0899;TimingMem/Compressing_data/ms:0.684023;TimingMem/Descriptors_extraction/ms:12.8269;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.117064;TimingMem/Keypoints_detection/ms:26.983;TimingMem/Occupancy_grid/ms:0.427008;TimingMem/Post_decimation/ms:1.68705;TimingMem/Pre_update/ms:0.00500679;TimingMem/Rehearsal/ms:0.126839;TimingMem/Signature_creation/ms:49.4571


data:
Keypoint/Dictionary_size/words:130;Keypoint/Index_memory_usage/KB:33;Keypoint/Indexed_words/words:130;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.491494;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:2;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:48;Memory/Rehearsal_merged/:48;Memory/Rehearsal_sim/:0.576923;Memory/Short_time_memory_size/:2;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0348091;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0801086;Timing/Memory_update/ms:64.791;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0212193;Timing/Proximity_by_space/ms:0.00691414;Timing/Proximity_by_time/ms:0.102043;Timing/Reactivation/ms:0.0491142;Timing/Statistics_creation/ms:0.0619888;Timing/Total/ms:65.151;TimingMem/Add_new_words/ms:12.114;TimingMem/Compressing_data/ms:0.72813;TimingMem/Descriptors_extraction/ms:15.8241;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0879765;TimingMem/Keypoints_detection/ms:31.9719;TimingMem/Occupancy_grid/ms:0.794888;TimingMem/Post_decimation/ms:1.41501;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.280857;TimingMem/Signature_creation/ms:64.503


data:
Keypoint/Dictionary_size/words:159;Keypoint/Index_memory_usage/KB:33;Keypoint/Indexed_words/words:130;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.593472;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:3;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:48;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.632124;Memory/Short_time_memory_size/:3;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.912773;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:2.40649e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0851154;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.128031;Timing/Memory_update/ms:67.1809;Timing/Neighbor_link_refining/ms:6.73914;Timing/Posterior_computation/ms:0.0298023;Timing/Proximity_by_space/ms:0.0100136;Timing/Proximity_by_time/ms:0.015974;Timing/Reactivation/ms:0.0481606;Timing/Statistics_creation/ms:0.0507832;Timing/Total/ms:74.295;TimingMem/Add_new_words/ms:6.15597;TimingMem/Compressing_data/ms:0.816107;TimingMem/Descriptors_extraction/ms:18.8589;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.110149;TimingMem/Keypoints_detection/ms:37.065;TimingMem/Occupancy_grid/ms:0.39196;TimingMem/Post_decimation/ms:1.266;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.169039;TimingMem/Signature_creation/ms:67.0061


data:
Keypoint/Dictionary_size/words:176;Keypoint/Index_memory_usage/KB:41;Keypoint/Indexed_words/words:159;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.786318;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:4;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:50;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.476684;Memory/Short_time_memory_size/:4;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.875389;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:5.61515e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0629425;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.111103;Timing/Memory_update/ms:62.634;Timing/Neighbor_link_refining/ms:25.1629;Timing/Posterior_computation/ms:0.0231266;Timing/Proximity_by_space/ms:0.00905991;Timing/Proximity_by_time/ms:0.0171661;Timing/Reactivation/ms:0.025034;Timing/Statistics_creation/ms:0.0629425;Timing/Total/ms:88.115;TimingMem/Add_new_words/ms:5.73206;TimingMem/Compressing_data/ms:1.40691;TimingMem/Descriptors_extraction/ms:13.665;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0648499;TimingMem/Keypoints_detection/ms:37.5922;TimingMem/Occupancy_grid/ms:0.633001;TimingMem/Post_decimation/ms:1.49012;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.39196;TimingMem/Signature_creation/ms:62.2311


data:
Keypoint/Dictionary_size/words:176;Keypoint/Index_memory_usage/KB:45;Keypoint/Indexed_words/words:176;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:0.979163;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:4;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:51;Memory/Rehearsal_merged/:51;Memory/Rehearsal_sim/:0.658915;Memory/Short_time_memory_size/:4;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0391006;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0708103;Timing/Memory_update/ms:45.3961;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.027895;Timing/Proximity_by_space/ms:0.00905991;Timing/Proximity_by_time/ms:0.0889301;Timing/Reactivation/ms:0.0460148;Timing/Statistics_creation/ms:0.0400543;Timing/Total/ms:45.7232;TimingMem/Add_new_words/ms:2.10404;TimingMem/Compressing_data/ms:1.17183;TimingMem/Descriptors_extraction/ms:11.9309;TimingMem/Joining_dictionary_update/ms:0.230789;TimingMem/Keypoints_3D/ms:0.0641346;TimingMem/Keypoints_detection/ms:26.861;TimingMem/Occupancy_grid/ms:0.46587;TimingMem/Post_decimation/ms:0.898123;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.228882;TimingMem/Signature_creation/ms:45.1581


data:
Keypoint/Dictionary_size/words:197;Keypoint/Index_memory_usage/KB:45;Keypoint/Indexed_words/words:176;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:1.15413;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:5;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:51;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.472868;Memory/Short_time_memory_size/:5;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.906542;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.4964e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.0038147;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0798702;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.112057;Timing/Memory_update/ms:36.674;Timing/Neighbor_link_refining/ms:12.7468;Timing/Posterior_computation/ms:0.038147;Timing/Proximity_by_space/ms:0.0140667;Timing/Proximity_by_time/ms:0.0171661;Timing/Reactivation/ms:0.0560284;Timing/Statistics_creation/ms:0.0748634;Timing/Total/ms:49.8209;TimingMem/Add_new_words/ms:2.29907;TimingMem/Compressing_data/ms:0.912905;TimingMem/Descriptors_extraction/ms:6.10209;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0398159;TimingMem/Keypoints_detection/ms:23.1891;TimingMem/Occupancy_grid/ms:0.473022;TimingMem/Post_decimation/ms:1.261;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.108957;TimingMem/Signature_creation/ms:36.5582


data:
Keypoint/Dictionary_size/words:285;Keypoint/Index_memory_usage/KB:51;Keypoint/Indexed_words/words:197;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:1.35897;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:6;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.255;Memory/Short_time_memory_size/:6;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.875389;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:5.26061e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.104904;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.179052;Timing/Memory_update/ms:67.2781;Timing/Neighbor_link_refining/ms:11.662;Timing/Posterior_computation/ms:0.0281334;Timing/Proximity_by_space/ms:0.0119209;Timing/Proximity_by_time/ms:0.0200272;Timing/Reactivation/ms:0.0391006;Timing/Statistics_creation/ms:0.0658035;Timing/Total/ms:79.3951;TimingMem/Add_new_words/ms:4.84776;TimingMem/Compressing_data/ms:1.96815;TimingMem/Descriptors_extraction/ms:21.662;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0929832;TimingMem/Keypoints_detection/ms:35.6112;TimingMem/Occupancy_grid/ms:0.356913;TimingMem/Post_decimation/ms:1.652;TimingMem/Pre_update/ms:0.00596046;TimingMem/Rehearsal/ms:0.084877;TimingMem/Signature_creation/ms:67.1771


data:
Keypoint/Dictionary_size/words:349;Keypoint/Index_memory_usage/KB:74;Keypoint/Indexed_words/words:285;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:1.57572;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:7;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:54;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.505;Memory/Short_time_memory_size/:7;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.884735;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.5978e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00596046;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.344038;Timing/Map_optimization/ms:0.00190735;Timing/Memory_cleanup/ms:0.118017;Timing/Memory_update/ms:66.5371;Timing/Neighbor_link_refining/ms:11.385;Timing/Posterior_computation/ms:0.2141;Timing/Proximity_by_space/ms:0.0190735;Timing/Proximity_by_time/ms:0.0219345;Timing/Reactivation/ms:0.149012;Timing/Statistics_creation/ms:0.108957;Timing/Total/ms:78.9111;TimingMem/Add_new_words/ms:11.8201;TimingMem/Compressing_data/ms:1.12605;TimingMem/Descriptors_extraction/ms:22.0702;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.131845;TimingMem/Keypoints_detection/ms:28.5299;TimingMem/Occupancy_grid/ms:0.281096;TimingMem/Post_decimation/ms:1.6799;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.0948906;TimingMem/Signature_creation/ms:66.433


data:
Keypoint/Dictionary_size/words:417;Keypoint/Index_memory_usage/KB:90;Keypoint/Indexed_words/words:349;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:1.79626;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:8;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:55;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.455;Memory/Short_time_memory_size/:8;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.878505;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.35435e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.133991;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.158072;Timing/Memory_update/ms:60.3609;Timing/Neighbor_link_refining/ms:12.531;Timing/Posterior_computation/ms:0.0300407;Timing/Proximity_by_space/ms:0.0100136;Timing/Proximity_by_time/ms:0.015974;Timing/Reactivation/ms:0.0441074;Timing/Statistics_creation/ms:0.068903;Timing/Total/ms:73.3581;TimingMem/Add_new_words/ms:5.42188;TimingMem/Compressing_data/ms:1.44005;TimingMem/Descriptors_extraction/ms:25.8038;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.10705;TimingMem/Keypoints_detection/ms:24.4539;TimingMem/Occupancy_grid/ms:0.458002;TimingMem/Post_decimation/ms:1.64199;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.151873;TimingMem/Signature_creation/ms:60.2002


data:
Keypoint/Dictionary_size/words:494;Keypoint/Index_memory_usage/KB:108;Keypoint/Indexed_words/words:417;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:1;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.00538;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:9;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.38;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.906542;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.38218e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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:0.00119209;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00810623;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.4251;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.535965;Timing/Memory_update/ms:57.7528;Timing/Neighbor_link_refining/ms:15.3072;Timing/Posterior_computation/ms:0.0879765;Timing/Proximity_by_space/ms:0.0269413;Timing/Proximity_by_time/ms:0.0338554;Timing/Reactivation/ms:0.160933;Timing/Statistics_creation/ms:0.227928;Timing/Total/ms:74.578;TimingMem/Add_new_words/ms:3.50785;TimingMem/Compressing_data/ms:2.76494;TimingMem/Descriptors_extraction/ms:22.3939;TimingMem/Joining_dictionary_update/ms:0.0112057;TimingMem/Keypoints_3D/ms:0.0998974;TimingMem/Keypoints_detection/ms:25.9831;TimingMem/Occupancy_grid/ms:0.566006;TimingMem/Post_decimation/ms:1.26314;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.268936;TimingMem/Signature_creation/ms:57.472


data:
Keypoint/Dictionary_size/words:494;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.18336;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:10;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:1;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.866044;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:2.85658e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:0;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;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0200272;Timing/Memory_update/ms:36.623;Timing/Neighbor_link_refining/ms:16.16;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.0119209;Timing/Proximity_by_time/ms:0.0128746;Timing/Reactivation/ms:0.0298023;Timing/Statistics_creation/ms:0.0309944;Timing/Total/ms:52.8929;TimingMem/Compressing_data/ms:0.669003;TimingMem/Descriptors_extraction/ms:8.06785;TimingMem/Keypoints_detection/ms:24.7841;TimingMem/Occupancy_grid/ms:0.533819;TimingMem/Post_decimation/ms:1.80888;TimingMem/Pre_update/ms:0.00596046;TimingMem/Rehearsal/ms:0.068903;TimingMem/Signature_creation/ms:36.535


data:
Keypoint/Dictionary_size/words:522;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0526316;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.947368;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.20511;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;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:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.0140667;Timing/Hypotheses_creation/ms:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0629425;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.334978;Timing/Memory_update/ms:45.3889;Timing/Neighbor_link_refining/ms:0.0150204;Timing/Posterior_computation/ms:0.0369549;Timing/Proximity_by_space/ms:0.141144;Timing/Proximity_by_time/ms:0.101089;Timing/Reactivation/ms:0.0810623;Timing/Statistics_creation/ms:0.0648499;Timing/Total/ms:46.2339;TimingMem/Add_new_words/ms:2.08116;TimingMem/Compressing_data/ms:1.90687;TimingMem/Descriptors_extraction/ms:14.024;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.056982;TimingMem/Keypoints_detection/ms:24.683;TimingMem/Occupancy_grid/ms:0.452995;TimingMem/Post_decimation/ms:1.33705;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0491142;TimingMem/Signature_creation/ms:45.3179


data:
Keypoint/Dictionary_size/words:520;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0764873;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.923513;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.22685;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:219978;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:0.0379086;Timing/Hypotheses_creation/ms:0.00286102;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.154972;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.174046;Timing/Memory_update/ms:41.9559;Timing/Neighbor_link_refining/ms:0.0150204;Timing/Posterior_computation/ms:0.0312328;Timing/Proximity_by_space/ms:0.108004;Timing/Proximity_by_time/ms:0.166893;Timing/Reactivation/ms:0.0958443;Timing/Statistics_creation/ms:0.068903;Timing/Total/ms:42.7771;TimingMem/Add_new_words/ms:1.54591;TimingMem/Compressing_data/ms:1.04308;TimingMem/Descriptors_extraction/ms:8.84008;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0338554;TimingMem/Keypoints_detection/ms:28.2478;TimingMem/Occupancy_grid/ms:0.331879;TimingMem/Post_decimation/ms:1.03116;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.108004;TimingMem/Signature_creation/ms:41.8339


data:
Keypoint/Dictionary_size/words:528;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0876598;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.91234;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.2486;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:219978;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:0.00810623;Timing/Hypotheses_creation/ms:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0748634;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.125885;Timing/Memory_update/ms:37.5261;Timing/Neighbor_link_refining/ms:0.0119209;Timing/Posterior_computation/ms:0.0281334;Timing/Proximity_by_space/ms:0.0760555;Timing/Proximity_by_time/ms:0.164032;Timing/Reactivation/ms:0.127077;Timing/Statistics_creation/ms:0.043869;Timing/Total/ms:38.183;TimingMem/Add_new_words/ms:2.80786;TimingMem/Compressing_data/ms:0.812054;TimingMem/Descriptors_extraction/ms:9.50193;TimingMem/Joining_dictionary_update/ms:0.0309944;TimingMem/Keypoints_3D/ms:0.120163;TimingMem/Keypoints_detection/ms:21.569;TimingMem/Occupancy_grid/ms:0.3438;TimingMem/Post_decimation/ms:1.27316;TimingMem/Pre_update/ms:0.00691414;TimingMem/Rehearsal/ms:0.0798702;TimingMem/Signature_creation/ms:37.4231


data:
Keypoint/Dictionary_size/words:494;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.27035;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:239976;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:0.0038147;Timing/Forgetting/ms:0.00810623;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0379086;Timing/Memory_update/ms:34.281;Timing/Neighbor_link_refining/ms:0.0119209;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.0851154;Timing/Proximity_by_time/ms:0.154018;Timing/Reactivation/ms:0.0710487;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:34.6799;TimingMem/Compressing_data/ms:2.28;TimingMem/Descriptors_extraction/ms:5.66196;TimingMem/Keypoints_detection/ms:24.3239;TimingMem/Occupancy_grid/ms:0.349998;TimingMem/Post_decimation/ms:1.12891;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0650883;TimingMem/Signature_creation/ms:34.2031


data:
Keypoint/Dictionary_size/words:561;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0929725;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.907027;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.2921;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.0100136;Timing/Hypotheses_creation/ms:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0638962;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.22912;Timing/Memory_update/ms:40.801;Timing/Neighbor_link_refining/ms:0.00905991;Timing/Posterior_computation/ms:0.0209808;Timing/Proximity_by_space/ms:0.0638962;Timing/Proximity_by_time/ms:0.138044;Timing/Reactivation/ms:0.0650883;Timing/Statistics_creation/ms:0.041008;Timing/Total/ms:41.4371;TimingMem/Add_new_words/ms:3.18503;TimingMem/Compressing_data/ms:0.780106;TimingMem/Descriptors_extraction/ms:10.5138;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0691414;TimingMem/Keypoints_detection/ms:24.3661;TimingMem/Occupancy_grid/ms:0.267029;TimingMem/Post_decimation/ms:1.15991;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.0429153;TimingMem/Signature_creation/ms:40.745


data:
Keypoint/Dictionary_size/words:572;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.095517;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.904483;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.31384;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:209979;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:0.00691414;Timing/Hypotheses_creation/ms:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0638962;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.164032;Timing/Memory_update/ms:41.5051;Timing/Neighbor_link_refining/ms:0.0629425;Timing/Posterior_computation/ms:0.0171661;Timing/Proximity_by_space/ms:0.0638962;Timing/Proximity_by_time/ms:0.149012;Timing/Reactivation/ms:0.0600815;Timing/Statistics_creation/ms:0.0400543;Timing/Total/ms:42.13;TimingMem/Add_new_words/ms:4.66394;TimingMem/Compressing_data/ms:1.04094;TimingMem/Descriptors_extraction/ms:9.87506;TimingMem/Joining_dictionary_update/ms:0.0240803;TimingMem/Keypoints_3D/ms:0.130892;TimingMem/Keypoints_detection/ms:22.922;TimingMem/Occupancy_grid/ms:0.377178;TimingMem/Post_decimation/ms:1.60408;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.0748634;TimingMem/Signature_creation/ms:41.415


data:
Keypoint/Dictionary_size/words:560;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0967399;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.90326;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.33559;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.0100136;Timing/Hypotheses_creation/ms:0.00286102;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0829697;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.241041;Timing/Memory_update/ms:46.3331;Timing/Neighbor_link_refining/ms:0.00905991;Timing/Posterior_computation/ms:0.0259876;Timing/Proximity_by_space/ms:0.09799;Timing/Proximity_by_time/ms:0.159979;Timing/Reactivation/ms:0.0879765;Timing/Statistics_creation/ms:0.0779629;Timing/Total/ms:47.122;TimingMem/Add_new_words/ms:3.64494;TimingMem/Compressing_data/ms:1.12987;TimingMem/Descriptors_extraction/ms:11.2262;TimingMem/Joining_dictionary_update/ms:0.0181198;TimingMem/Keypoints_3D/ms:0.0958443;TimingMem/Keypoints_detection/ms:27.0281;TimingMem/Occupancy_grid/ms:0.571012;TimingMem/Post_decimation/ms:1.20211;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.0600815;TimingMem/Signature_creation/ms:46.2608


data:
Keypoint/Dictionary_size/words:530;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0973287;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902671;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.35734;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:209979;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:0.00715256;Timing/Hypotheses_creation/ms:0.00119209;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0429153;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0970364;Timing/Memory_update/ms:35.6889;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.0178814;Timing/Proximity_by_space/ms:0.0631809;Timing/Proximity_by_time/ms:0.11301;Timing/Reactivation/ms:0.0579357;Timing/Statistics_creation/ms:0.0338554;Timing/Total/ms:36.1269;TimingMem/Add_new_words/ms:1.42002;TimingMem/Compressing_data/ms:1.83606;TimingMem/Descriptors_extraction/ms:9.11188;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0391006;TimingMem/Keypoints_detection/ms:19.8071;TimingMem/Occupancy_grid/ms:0.608921;TimingMem/Post_decimation/ms:1.73211;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.043869;TimingMem/Signature_creation/ms:35.6371


data:
Keypoint/Dictionary_size/words:598;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0976123;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902388;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.37908;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.00715256;Timing/Hypotheses_creation/ms:0.000953674;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.068903;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.185013;Timing/Memory_update/ms:50.6711;Timing/Neighbor_link_refining/ms:0.00596046;Timing/Posterior_computation/ms:0.015974;Timing/Proximity_by_space/ms:0.0619888;Timing/Proximity_by_time/ms:0.0710487;Timing/Reactivation/ms:0.0548363;Timing/Statistics_creation/ms:0.0388622;Timing/Total/ms:51.178;TimingMem/Add_new_words/ms:3.33905;TimingMem/Compressing_data/ms:0.686884;TimingMem/Descriptors_extraction/ms:15.5151;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:28.8351;TimingMem/Occupancy_grid/ms:0.306129;TimingMem/Post_decimation/ms:1.00398;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.0350475;TimingMem/Signature_creation/ms:50.6251


data:
Keypoint/Dictionary_size/words:568;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.097749;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902251;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.40083;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:219978;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:0.00619888;Timing/Hypotheses_creation/ms:0.00214577;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0708103;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.144005;Timing/Memory_update/ms:49.3689;Timing/Neighbor_link_refining/ms:0.00715256;Timing/Posterior_computation/ms:0.0209808;Timing/Proximity_by_space/ms:0.0648499;Timing/Proximity_by_time/ms:0.11301;Timing/Reactivation/ms:0.0650883;Timing/Statistics_creation/ms:0.0398159;Timing/Total/ms:49.8998;TimingMem/Add_new_words/ms:1.92809;TimingMem/Compressing_data/ms:0.636816;TimingMem/Descriptors_extraction/ms:13.8931;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0469685;TimingMem/Keypoints_detection/ms:29.9201;TimingMem/Occupancy_grid/ms:0.360012;TimingMem/Post_decimation/ms:1.35708;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0419617;TimingMem/Signature_creation/ms:49.3159


data:
Keypoint/Dictionary_size/words:494;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.42258;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:219978;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:0.00905991;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0488758;Timing/Memory_update/ms:41.131;Timing/Neighbor_link_refining/ms:0.0100136;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.082016;Timing/Proximity_by_time/ms:0.233889;Timing/Reactivation/ms:0.0469685;Timing/Statistics_creation/ms:0.0419617;Timing/Total/ms:41.5978;TimingMem/Compressing_data/ms:3.96109;TimingMem/Descriptors_extraction/ms:11.868;TimingMem/Keypoints_detection/ms:22.4981;TimingMem/Occupancy_grid/ms:0.490904;TimingMem/Post_decimation/ms:0.96488;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0720024;TimingMem/Signature_creation/ms:41.0461


data:
Keypoint/Dictionary_size/words:533;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978149;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902185;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.44432;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.0228882;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.138998;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.335932;Timing/Memory_update/ms:36.031;Timing/Neighbor_link_refining/ms:0.0128746;Timing/Posterior_computation/ms:0.054121;Timing/Proximity_by_space/ms:0.254154;Timing/Proximity_by_time/ms:0.49305;Timing/Reactivation/ms:0.144005;Timing/Statistics_creation/ms:0.132084;Timing/Total/ms:37.607;TimingMem/Add_new_words/ms:2.77901;TimingMem/Compressing_data/ms:0.733137;TimingMem/Descriptors_extraction/ms:8.31485;TimingMem/Joining_dictionary_update/ms:0.025034;TimingMem/Keypoints_3D/ms:0.0920296;TimingMem/Keypoints_detection/ms:20.3068;TimingMem/Occupancy_grid/ms:0.751972;TimingMem/Post_decimation/ms:1.02091;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0879765;TimingMem/Signature_creation/ms:35.9342


data:
Keypoint/Dictionary_size/words:535;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978466;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902153;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.46607;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;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;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.0119209;Timing/Hypotheses_creation/ms:0.00405312;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0760555;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.180006;Timing/Memory_update/ms:38.779;Timing/Neighbor_link_refining/ms:0.0100136;Timing/Posterior_computation/ms:0.0288486;Timing/Proximity_by_space/ms:0.111103;Timing/Proximity_by_time/ms:0.426054;Timing/Reactivation/ms:0.084877;Timing/Statistics_creation/ms:0.0600815;Timing/Total/ms:39.7642;TimingMem/Add_new_words/ms:1.49298;TimingMem/Compressing_data/ms:2.36821;TimingMem/Descriptors_extraction/ms:9.85098;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.0529289;TimingMem/Keypoints_detection/ms:21.8179;TimingMem/Occupancy_grid/ms:0.595808;TimingMem/Post_decimation/ms:1.44792;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0898838;TimingMem/Signature_creation/ms:38.6789


data:
Keypoint/Dictionary_size/words:532;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978619;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902138;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.48782;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:249975;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:0.00596046;Timing/Hypotheses_creation/ms:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0400543;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.101089;Timing/Memory_update/ms:34.3161;Timing/Neighbor_link_refining/ms:0.00715256;Timing/Posterior_computation/ms:0.0169277;Timing/Proximity_by_space/ms:0.0638962;Timing/Proximity_by_time/ms:0.119925;Timing/Reactivation/ms:0.0591278;Timing/Statistics_creation/ms:0.0350475;Timing/Total/ms:34.7621;TimingMem/Add_new_words/ms:1.72305;TimingMem/Compressing_data/ms:0.66185;TimingMem/Descriptors_extraction/ms:8.61907;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0369549;TimingMem/Keypoints_detection/ms:20.633;TimingMem/Occupancy_grid/ms:0.452995;TimingMem/Post_decimation/ms:0.880003;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0481606;TimingMem/Signature_creation/ms:34.261


data:
Keypoint/Dictionary_size/words:538;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978693;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902131;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.50956;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:239976;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:0.0128746;Timing/Hypotheses_creation/ms:0.00286102;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0519753;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.205994;Timing/Memory_update/ms:39.4511;Timing/Neighbor_link_refining/ms:0.00810623;Timing/Posterior_computation/ms:0.0300407;Timing/Proximity_by_space/ms:0.0829697;Timing/Proximity_by_time/ms:0.181913;Timing/Reactivation/ms:0.084877;Timing/Statistics_creation/ms:0.0560284;Timing/Total/ms:40.1602;TimingMem/Add_new_words/ms:3.6211;TimingMem/Compressing_data/ms:0.847101;TimingMem/Descriptors_extraction/ms:8.9879;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.0720024;TimingMem/Keypoints_detection/ms:22.383;TimingMem/Occupancy_grid/ms:0.469923;TimingMem/Post_decimation/ms:1.48892;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0548363;TimingMem/Signature_creation/ms:39.3879


data:
Keypoint/Dictionary_size/words:537;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978729;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902127;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.53131;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:219978;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:0.00500679;Timing/Forgetting/ms:0.015974;Timing/Hypotheses_creation/ms:0.00309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.132084;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.282049;Timing/Memory_update/ms:37.554;Timing/Neighbor_link_refining/ms:0.0109673;Timing/Posterior_computation/ms:0.0369549;Timing/Proximity_by_space/ms:0.11301;Timing/Proximity_by_time/ms:0.30899;Timing/Reactivation/ms:0.0889301;Timing/Statistics_creation/ms:0.0860691;Timing/Total/ms:38.619;TimingMem/Add_new_words/ms:2.02012;TimingMem/Compressing_data/ms:0.60606;TimingMem/Descriptors_extraction/ms:8.58402;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0479221;TimingMem/Keypoints_detection/ms:22.9158;TimingMem/Occupancy_grid/ms:0.573158;TimingMem/Post_decimation/ms:1.61386;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.0879765;TimingMem/Signature_creation/ms:37.4539


data:
Keypoint/Dictionary_size/words:537;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978746;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902125;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.55306;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:239976;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:0.00596046;Timing/Forgetting/ms:0.0109673;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.0958443;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.303984;Timing/Memory_update/ms:34.6909;Timing/Neighbor_link_refining/ms:0.015974;Timing/Posterior_computation/ms:0.0560284;Timing/Proximity_by_space/ms:0.109911;Timing/Proximity_by_time/ms:0.519037;Timing/Reactivation/ms:0.10705;Timing/Statistics_creation/ms:0.180006;Timing/Total/ms:36.093;TimingMem/Add_new_words/ms:2.12193;TimingMem/Compressing_data/ms:1.41287;TimingMem/Descriptors_extraction/ms:5.97382;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.056982;TimingMem/Keypoints_detection/ms:22.0082;TimingMem/Occupancy_grid/ms:0.586987;TimingMem/Post_decimation/ms:0.887156;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.27585;TimingMem/Signature_creation/ms:34.3988


data:
Keypoint/Dictionary_size/words:537;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978754;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902125;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.5748;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:249975;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:0.00596046;Timing/Hypotheses_creation/ms:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0400543;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.09799;Timing/Memory_update/ms:35.6131;Timing/Neighbor_link_refining/ms:0.00691414;Timing/Posterior_computation/ms:0.0150204;Timing/Proximity_by_space/ms:0.0610352;Timing/Proximity_by_time/ms:0.0889301;Timing/Reactivation/ms:0.056982;Timing/Statistics_creation/ms:0.0369549;Timing/Total/ms:36.021;TimingMem/Add_new_words/ms:1.34206;TimingMem/Compressing_data/ms:0.870943;TimingMem/Descriptors_extraction/ms:7.32803;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.0510216;TimingMem/Keypoints_detection/ms:23.6571;TimingMem/Occupancy_grid/ms:0.422955;TimingMem/Post_decimation/ms:0.833988;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0369549;TimingMem/Signature_creation/ms:35.5692


data:
Keypoint/Dictionary_size/words:533;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978758;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902124;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.64671;Memory/Immunized_globally/:1;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:9;Memory/Signatures_removed/:1;Memory/Signatures_retrieved/:0;Memory/Small_movement/:1;Memory/Working_memory_size/:2;NeighborLinkRefining/Variance/:209979;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:0.0290871;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.12207;Timing/Map_optimization/ms:0.00190735;Timing/Memory_cleanup/ms:0.468969;Timing/Memory_update/ms:50.2582;Timing/Neighbor_link_refining/ms:0.0169277;Timing/Posterior_computation/ms:0.0638962;Timing/Proximity_by_space/ms:0.166178;Timing/Proximity_by_time/ms:0.627995;Timing/Reactivation/ms:0.164986;Timing/Statistics_creation/ms:0.163078;Timing/Total/ms:52.067;TimingMem/Add_new_words/ms:1.46198;TimingMem/Compressing_data/ms:0.830889;TimingMem/Descriptors_extraction/ms:16.252;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.041008;TimingMem/Keypoints_detection/ms:28.0569;TimingMem/Occupancy_grid/ms:0.607014;TimingMem/Post_decimation/ms:1.02997;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.142097;TimingMem/Signature_creation/ms:50.103


data:
Keypoint/Dictionary_size/words:494;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:2.94205;Memory/Immunized_globally/:0;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:11;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:2;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.632399;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:5.70723e-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:0.00286102;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0221729;Timing/Memory_update/ms:51.8398;Timing/Neighbor_link_refining/ms:9.40108;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.068903;Timing/Proximity_by_time/ms:0.0140667;Timing/Reactivation/ms:0.038147;Timing/Statistics_creation/ms:0.0319481;Timing/Total/ms:61.4181;TimingMem/Compressing_data/ms:4.32587;TimingMem/Descriptors_extraction/ms:7.46799;TimingMem/Keypoints_detection/ms:35.522;TimingMem/Occupancy_grid/ms:0.524998;TimingMem/Post_decimation/ms:1.80817;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.056982;TimingMem/Signature_creation/ms:51.7721


data:
Keypoint/Dictionary_size/words:524;Keypoint/Index_memory_usage/KB:128;Keypoint/Indexed_words/words:494;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0978761;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902124;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:3.15335;Memory/Immunized_globally/:2;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:0;Memory/Local_graph_size/:12;Memory/Odometry_variance_ang/:249975;Memory/Odometry_variance_lin/:249975;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:3;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.853583;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.5258e-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:0.00190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.038147;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0660419;Timing/Memory_update/ms:67.1809;Timing/Neighbor_link_refining/ms:20.7591;Timing/Posterior_computation/ms:0.0419617;Timing/Proximity_by_space/ms:0.0929832;Timing/Proximity_by_time/ms:0.0128746;Timing/Reactivation/ms:0.0519753;Timing/Statistics_creation/ms:0.0429153;Timing/Total/ms:88.2919;TimingMem/Add_new_words/ms:1.94097;TimingMem/Compressing_data/ms:4.69518;TimingMem/Descriptors_extraction/ms:7.05385;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.0660419;TimingMem/Keypoints_detection/ms:51.0352;TimingMem/Occupancy_grid/ms:0.397921;TimingMem/Post_decimation/ms:1.02997;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.038147;TimingMem/Signature_creation/ms:67.132


data:
Keypoint/Dictionary_size/words:524;Keypoint/Index_memory_usage/KB:136;Keypoint/Indexed_words/words:524;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:3.36702;Memory/Immunized_globally/:0;Memory/Immunized_locally/:1;Memory/Immunized_locally_max/:1;Memory/Local_graph_size/:13;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:4;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.856698;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.06091e-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:0.00405312;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0219345;Timing/Memory_update/ms:42.7091;Timing/Neighbor_link_refining/ms:13.8559;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.0889301;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.0691414;Timing/Statistics_creation/ms:0.0340939;Timing/Total/ms:56.797;TimingMem/Compressing_data/ms:0.988007;TimingMem/Descriptors_extraction/ms:8.03614;TimingMem/Keypoints_detection/ms:30.8189;TimingMem/Occupancy_grid/ms:0.637054;TimingMem/Post_decimation/ms:0.941992;TimingMem/Pre_update/ms:0.00500679;TimingMem/Rehearsal/ms:0.0898838;TimingMem/Signature_creation/ms:42.5961


data:
Keypoint/Dictionary_size/words:544;Keypoint/Index_memory_usage/KB:136;Keypoint/Indexed_words/words:524;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0895446;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.910455;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:3.58568;Memory/Immunized_globally/:4;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:1;Memory/Local_graph_size/:14;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:5;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.82866;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.77099e-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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00405312;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.0679493;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.123978;Timing/Memory_update/ms:49.983;Timing/Neighbor_link_refining/ms:11.5838;Timing/Posterior_computation/ms:0.0679493;Timing/Proximity_by_space/ms:0.104904;Timing/Proximity_by_time/ms:0.0171661;Timing/Reactivation/ms:0.118017;Timing/Statistics_creation/ms:0.082016;Timing/Total/ms:62.161;TimingMem/Add_new_words/ms:1.58501;TimingMem/Compressing_data/ms:4.76384;TimingMem/Descriptors_extraction/ms:15.769;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0441074;TimingMem/Keypoints_detection/ms:25.6031;TimingMem/Occupancy_grid/ms:0.375986;TimingMem/Post_decimation/ms:0.851154;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0472069;TimingMem/Signature_creation/ms:49.9279


data:
Keypoint/Dictionary_size/words:559;Keypoint/Index_memory_usage/KB:141;Keypoint/Indexed_words/words:544;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0792874;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.920713;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:3.79397;Memory/Immunized_globally/:5;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:1;Memory/Local_graph_size/:15;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:81;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.467391;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:6;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.785047;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.65947e-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:0.00214577;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.0889301;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.110865;Timing/Memory_update/ms:65.053;Timing/Neighbor_link_refining/ms:15.3189;Timing/Posterior_computation/ms:0.0879765;Timing/Proximity_by_space/ms:0.200033;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.1719;Timing/Statistics_creation/ms:0.0851154;Timing/Total/ms:81.1551;TimingMem/Add_new_words/ms:1.33085;TimingMem/Compressing_data/ms:0.663042;TimingMem/Descriptors_extraction/ms:14.3268;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.0491142;TimingMem/Keypoints_detection/ms:45.526;TimingMem/Occupancy_grid/ms:0.68903;TimingMem/Post_decimation/ms:0.819206;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0970364;TimingMem/Signature_creation/ms:64.9438


data:
Keypoint/Dictionary_size/words:572;Keypoint/Index_memory_usage/KB:145;Keypoint/Indexed_words/words:559;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0894666;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.910533;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:4.00607;Memory/Immunized_globally/:6;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:1;Memory/Local_graph_size/:16;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:82;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.641975;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:7;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.788162;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:4.90673e-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:0.00119209;Timing/Hypotheses_creation/ms:0.00286102;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0581741;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0488758;Timing/Memory_update/ms:49.3631;Timing/Neighbor_link_refining/ms:12.4381;Timing/Posterior_computation/ms:0.056982;Timing/Proximity_by_space/ms:0.11301;Timing/Proximity_by_time/ms:0.0138283;Timing/Reactivation/ms:0.0839233;Timing/Statistics_creation/ms:0.0450611;Timing/Total/ms:62.228;TimingMem/Add_new_words/ms:1.95599;TimingMem/Compressing_data/ms:3.92485;TimingMem/Descriptors_extraction/ms:11.235;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.211;TimingMem/Keypoints_detection/ms:28.127;TimingMem/Occupancy_grid/ms:0.674009;TimingMem/Post_decimation/ms:1.03617;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.111818;TimingMem/Signature_creation/ms:49.2401


data:
Keypoint/Dictionary_size/words:582;Keypoint/Index_memory_usage/KB:149;Keypoint/Indexed_words/words:572;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0899884;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.910012;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:4.2121;Memory/Immunized_globally/:7;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:2;Memory/Local_graph_size/:17;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:83;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.604651;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:8;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.766355;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:5.51713e-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:0.0038147;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0731945;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0650883;Timing/Memory_update/ms:57.5352;Timing/Neighbor_link_refining/ms:21.2228;Timing/Posterior_computation/ms:0.0929832;Timing/Proximity_by_space/ms:0.188112;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.114918;Timing/Statistics_creation/ms:0.0629425;Timing/Total/ms:79.4132;TimingMem/Add_new_words/ms:2.70891;TimingMem/Compressing_data/ms:2.21705;TimingMem/Descriptors_extraction/ms:14.6401;TimingMem/Joining_dictionary_update/ms:0.0169277;TimingMem/Keypoints_3D/ms:0.0729561;TimingMem/Keypoints_detection/ms:33.077;TimingMem/Occupancy_grid/ms:0.852108;TimingMem/Post_decimation/ms:1.17803;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0920296;TimingMem/Signature_creation/ms:57.431


data:
Keypoint/Dictionary_size/words:595;Keypoint/Index_memory_usage/KB:151;Keypoint/Indexed_words/words:582;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.0983557;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.901644;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:4.4169;Memory/Immunized_globally/:8;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:2;Memory/Local_graph_size/:18;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:84;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.647727;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:9;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.819315;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:5.22541e-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:0.00119209;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00286102;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00119209;Timing/Likelihood_computation/ms:0.0619888;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0379086;Timing/Memory_update/ms:94.5501;Timing/Neighbor_link_refining/ms:8.27193;Timing/Posterior_computation/ms:0.0631809;Timing/Proximity_by_space/ms:0.104904;Timing/Proximity_by_time/ms:0.0119209;Timing/Reactivation/ms:0.0817776;Timing/Statistics_creation/ms:0.0391006;Timing/Total/ms:103.228;TimingMem/Add_new_words/ms:2.34294;TimingMem/Compressing_data/ms:1.61791;TimingMem/Descriptors_extraction/ms:20.2999;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0522137;TimingMem/Keypoints_detection/ms:62.15;TimingMem/Occupancy_grid/ms:1.48606;TimingMem/Post_decimation/ms:1.73306;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.174046;TimingMem/Signature_creation/ms:94.3599


data:
Keypoint/Dictionary_size/words:607;Keypoint/Index_memory_usage/KB:155;Keypoint/Indexed_words/words:595;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.132946;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:7;Loop/Vp_hypothesis/:0.867054;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:4.63939;Memory/Immunized_globally/:7;Memory/Immunized_locally/:2;Memory/Immunized_locally_max/:2;Memory/Local_graph_size/:19;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:85;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.518868;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:10;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.890966;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:6.54723e-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:8.70514;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.00691414;Timing/Hypotheses_validation/ms:0.00119209;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.346184;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0729561;Timing/Memory_update/ms:77.976;Timing/Neighbor_link_refining/ms:7.53593;Timing/Posterior_computation/ms:0.1719;Timing/Proximity_by_space/ms:0.542879;Timing/Proximity_by_time/ms:0.041008;Timing/Reactivation/ms:0.226021;Timing/Statistics_creation/ms:0.104189;Timing/Total/ms:95.737;TimingMem/Add_new_words/ms:4.00996;TimingMem/Compressing_data/ms:3.45016;TimingMem/Descriptors_extraction/ms:8.72087;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.068903;TimingMem/Keypoints_detection/ms:47.8539;TimingMem/Occupancy_grid/ms:2.96879;TimingMem/Post_decimation/ms:2.14601;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.141144;TimingMem/Signature_creation/ms:77.8189


data:
Keypoint/Dictionary_size/words:624;Keypoint/Index_memory_usage/KB:158;Keypoint/Indexed_words/words:607;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:48;Loop/Highest_hypothesis_value/:0.13166;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:5;Loop/Vp_hypothesis/:0.86834;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:4.85434;Memory/Immunized_globally/:8;Memory/Immunized_locally/:2;Memory/Immunized_locally_max/:2;Memory/Local_graph_size/:20;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:86;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.537736;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:11;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.900312;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:6.77451e-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:6.73604;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.084877;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.117064;Timing/Memory_update/ms:60.863;Timing/Neighbor_link_refining/ms:12.8469;Timing/Posterior_computation/ms:0.104904;Timing/Proximity_by_space/ms:0.409126;Timing/Proximity_by_time/ms:0.0231266;Timing/Reactivation/ms:0.120878;Timing/Statistics_creation/ms:0.123978;Timing/Total/ms:81.4381;TimingMem/Add_new_words/ms:2.17104;TimingMem/Compressing_data/ms:1.07408;TimingMem/Descriptors_extraction/ms:12.022;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.0598431;TimingMem/Keypoints_detection/ms:35.2478;TimingMem/Occupancy_grid/ms:1.06692;TimingMem/Post_decimation/ms:1.42789;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.136852;TimingMem/Signature_creation/ms:60.714


data:
Keypoint/Dictionary_size/words:624;Keypoint/Index_memory_usage/KB:162;Keypoint/Indexed_words/words:624;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:5.06925;Memory/Immunized_globally/:0;Memory/Immunized_locally/:3;Memory/Immunized_locally_max/:3;Memory/Local_graph_size/:21;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:12;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.890966;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:6.33801e-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:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.027895;Timing/Memory_update/ms:76.678;Timing/Neighbor_link_refining/ms:25.3491;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.240803;Timing/Proximity_by_time/ms:0.0197887;Timing/Reactivation/ms:0.115871;Timing/Statistics_creation/ms:0.0469685;Timing/Total/ms:102.484;TimingMem/Compressing_data/ms:1.72782;TimingMem/Descriptors_extraction/ms:8.48794;TimingMem/Keypoints_detection/ms:56.345;TimingMem/Occupancy_grid/ms:2.55203;TimingMem/Post_decimation/ms:1.66011;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0731945;TimingMem/Signature_creation/ms:76.5889


data:
Keypoint/Dictionary_size/words:652;Keypoint/Index_memory_usage/KB:162;Keypoint/Indexed_words/words:624;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.136758;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:3;Loop/Vp_hypothesis/:0.863242;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:5.18506;Memory/Immunized_globally/:7;Memory/Immunized_locally/:3;Memory/Immunized_locally_max/:3;Memory/Local_graph_size/:22;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:13;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.707165;NeighborLinkRefining/Pts/:313;NeighborLinkRefining/Variance/:2.35038e-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:4.2069;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0789165;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0681877;Timing/Memory_update/ms:52.6199;Timing/Neighbor_link_refining/ms:17.149;Timing/Posterior_computation/ms:0.09799;Timing/Proximity_by_space/ms:0.544071;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.123024;Timing/Statistics_creation/ms:0.0929832;Timing/Total/ms:75.006;TimingMem/Add_new_words/ms:1.96695;TimingMem/Compressing_data/ms:3.30281;TimingMem/Descriptors_extraction/ms:6.45304;TimingMem/Joining_dictionary_update/ms:0.0209808;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:26.505;TimingMem/Occupancy_grid/ms:1.99509;TimingMem/Post_decimation/ms:1.36495;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0550747;TimingMem/Signature_creation/ms:52.5551


data:
Keypoint/Dictionary_size/words:680;Keypoint/Index_memory_usage/KB:169;Keypoint/Indexed_words/words:652;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.10853;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.89147;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:5.37921;Memory/Immunized_globally/:7;Memory/Immunized_locally/:3;Memory/Immunized_locally_max/:3;Memory/Local_graph_size/:23;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.382716;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:14;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.806854;NeighborLinkRefining/Pts/:314;NeighborLinkRefining/Variance/:6.26406e-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:0.000953674;Timing/Forgetting/ms:0.00214577;Timing/Hypotheses_creation/ms:0.0128746;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.226021;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.180006;Timing/Memory_update/ms:71.687;Timing/Neighbor_link_refining/ms:19.5951;Timing/Posterior_computation/ms:0.241041;Timing/Proximity_by_space/ms:0.379086;Timing/Proximity_by_time/ms:0.0360012;Timing/Reactivation/ms:0.335932;Timing/Statistics_creation/ms:0.1719;Timing/Total/ms:92.876;TimingMem/Add_new_words/ms:1.4801;TimingMem/Compressing_data/ms:1.98507;TimingMem/Descriptors_extraction/ms:13.0098;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.0388622;TimingMem/Keypoints_detection/ms:38.7211;TimingMem/Occupancy_grid/ms:1.98698;TimingMem/Post_decimation/ms:1.02091;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.159979;TimingMem/Signature_creation/ms:71.511


data:
Keypoint/Dictionary_size/words:711;Keypoint/Index_memory_usage/KB:177;Keypoint/Indexed_words/words:680;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.108505;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.891495;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:5.54815;Memory/Immunized_globally/:7;Memory/Immunized_locally/:3;Memory/Immunized_locally_max/:3;Memory/Local_graph_size/:24;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.353535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:15;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.760125;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:3.7773e-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:0.0038147;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00810623;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.165939;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.156164;Timing/Memory_update/ms:68.3112;Timing/Neighbor_link_refining/ms:19.763;Timing/Posterior_computation/ms:0.144958;Timing/Proximity_by_space/ms:0.66185;Timing/Proximity_by_time/ms:0.0219345;Timing/Reactivation/ms:0.215054;Timing/Statistics_creation/ms:0.141859;Timing/Total/ms:89.5982;TimingMem/Add_new_words/ms:2.59495;TimingMem/Compressing_data/ms:1.3411;TimingMem/Descriptors_extraction/ms:11.2062;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0588894;TimingMem/Keypoints_detection/ms:37.7989;TimingMem/Occupancy_grid/ms:3.94607;TimingMem/Post_decimation/ms:1.52206;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.977039;TimingMem/Signature_creation/ms:67.2991


data:
Keypoint/Dictionary_size/words:728;Keypoint/Index_memory_usage/KB:185;Keypoint/Indexed_words/words:711;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0942346;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.905765;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:5.76156;Memory/Immunized_globally/:8;Memory/Immunized_locally/:4;Memory/Immunized_locally_max/:4;Memory/Local_graph_size/:25;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:91;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.545455;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:16;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.676012;NeighborLinkRefining/Pts/:314;NeighborLinkRefining/Variance/:0.000121511;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:0.00405312;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.000953674;Timing/Likelihood_computation/ms:0.0610352;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0369549;Timing/Memory_update/ms:62.7632;Timing/Neighbor_link_refining/ms:12.0418;Timing/Posterior_computation/ms:0.0779629;Timing/Proximity_by_space/ms:0.139952;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.103951;Timing/Statistics_creation/ms:0.0391006;Timing/Total/ms:75.2831;TimingMem/Add_new_words/ms:2.58112;TimingMem/Compressing_data/ms:1.0581;TimingMem/Descriptors_extraction/ms:14.2088;TimingMem/Joining_dictionary_update/ms:0.0128746;TimingMem/Keypoints_3D/ms:0.0729561;TimingMem/Keypoints_detection/ms:34.023;TimingMem/Occupancy_grid/ms:1.73092;TimingMem/Post_decimation/ms:1.37496;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0870228;TimingMem/Signature_creation/ms:62.664


data:
Keypoint/Dictionary_size/words:747;Keypoint/Index_memory_usage/KB:189;Keypoint/Indexed_words/words:728;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:83;Loop/Highest_hypothesis_value/:0.0841295;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:83;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91587;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:5.91049;Memory/Immunized_globally/:7;Memory/Immunized_locally/:4;Memory/Immunized_locally_max/:4;Memory/Local_graph_size/:26;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:92;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.518987;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:17;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.691589;NeighborLinkRefining/Pts/:314;NeighborLinkRefining/Variance/:6.53621e-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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00715256;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0929832;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0488758;Timing/Memory_update/ms:61.095;Timing/Neighbor_link_refining/ms:15.6641;Timing/Posterior_computation/ms:0.0948906;Timing/Proximity_by_space/ms:0.162125;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.123024;Timing/Statistics_creation/ms:0.0519753;Timing/Total/ms:77.3571;TimingMem/Add_new_words/ms:2.30408;TimingMem/Compressing_data/ms:0.611067;TimingMem/Descriptors_extraction/ms:9.45401;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0500679;TimingMem/Keypoints_detection/ms:39.7091;TimingMem/Occupancy_grid/ms:1.28889;TimingMem/Post_decimation/ms:1.09887;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.193834;TimingMem/Signature_creation/ms:60.8778


data:
Keypoint/Dictionary_size/words:762;Keypoint/Index_memory_usage/KB:194;Keypoint/Indexed_words/words:747;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:82;Loop/Highest_hypothesis_value/:0.0779787;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:82;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.922021;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:6.10756;Memory/Immunized_globally/:9;Memory/Immunized_locally/:4;Memory/Immunized_locally_max/:4;Memory/Local_graph_size/:27;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:93;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.556962;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:18;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.76947;NeighborLinkRefining/Pts/:316;NeighborLinkRefining/Variance/:6.09929e-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:0.00119209;Timing/Hypotheses_creation/ms:0.00691414;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.105143;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0460148;Timing/Memory_update/ms:53.5691;Timing/Neighbor_link_refining/ms:22.002;Timing/Posterior_computation/ms:0.118017;Timing/Proximity_by_space/ms:0.236988;Timing/Proximity_by_time/ms:0.0238419;Timing/Reactivation/ms:0.140905;Timing/Statistics_creation/ms:0.0619888;Timing/Total/ms:76.3159;TimingMem/Add_new_words/ms:2.42996;TimingMem/Compressing_data/ms:0.868797;TimingMem/Descriptors_extraction/ms:10.3681;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0538826;TimingMem/Keypoints_detection/ms:29.4371;TimingMem/Occupancy_grid/ms:1.80006;TimingMem/Post_decimation/ms:1.25217;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.119209;TimingMem/Signature_creation/ms:53.4298


data:
Keypoint/Dictionary_size/words:789;Keypoint/Index_memory_usage/KB:198;Keypoint/Indexed_words/words:762;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.097663;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.902337;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:6.32083;Memory/Immunized_globally/:11;Memory/Immunized_locally/:4;Memory/Immunized_locally_max/:4;Memory/Local_graph_size/:28;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.246575;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:19;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.719626;NeighborLinkRefining/Pts/:316;NeighborLinkRefining/Variance/:7.26246e-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:0.00190735;Timing/Forgetting/ms:0.00214577;Timing/Hypotheses_creation/ms:0.00500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.056982;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0770092;Timing/Memory_update/ms:50.3409;Timing/Neighbor_link_refining/ms:5.52392;Timing/Posterior_computation/ms:0.0832081;Timing/Proximity_by_space/ms:0.167847;Timing/Proximity_by_time/ms:0.0138283;Timing/Reactivation/ms:0.106096;Timing/Statistics_creation/ms:0.0479221;Timing/Total/ms:56.427;TimingMem/Add_new_words/ms:1.62101;TimingMem/Compressing_data/ms:1.2219;TimingMem/Descriptors_extraction/ms:8.07905;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.0669956;TimingMem/Keypoints_detection/ms:29.319;TimingMem/Occupancy_grid/ms:1.56498;TimingMem/Post_decimation/ms:0.977039;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0720024;TimingMem/Signature_creation/ms:50.2591


data:
Keypoint/Dictionary_size/words:828;Keypoint/Index_memory_usage/KB:205;Keypoint/Indexed_words/words:789;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:85;Loop/Highest_hypothesis_value/:0.0819;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:85;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.9181;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:6.52926;Memory/Immunized_globally/:8;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:5;Memory/Local_graph_size/:29;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.209877;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:20;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.682243;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:7.23499e-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:0.0140667;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.19908;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0789165;Timing/Memory_update/ms:65.0258;Timing/Neighbor_link_refining/ms:20.6921;Timing/Posterior_computation/ms:0.214815;Timing/Proximity_by_space/ms:0.407934;Timing/Proximity_by_time/ms:0.0309944;Timing/Reactivation/ms:0.353098;Timing/Statistics_creation/ms:0.114202;Timing/Total/ms:87.1379;TimingMem/Add_new_words/ms:1.49417;TimingMem/Compressing_data/ms:1.78504;TimingMem/Descriptors_extraction/ms:7.23815;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0400543;TimingMem/Keypoints_detection/ms:42.7978;TimingMem/Occupancy_grid/ms:1.7519;TimingMem/Post_decimation/ms:1.01399;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.112057;TimingMem/Signature_creation/ms:64.8961


data:
Keypoint/Dictionary_size/words:843;Keypoint/Index_memory_usage/KB:215;Keypoint/Indexed_words/words:828;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.079239;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.920761;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:6.73785;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:5;Memory/Local_graph_size/:30;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:96;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.493827;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:21;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.766355;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:8.60799e-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;Timing/Hypotheses_creation/ms:0.00691414;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0970364;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0600815;Timing/Memory_update/ms:63.026;Timing/Neighbor_link_refining/ms:23.761;Timing/Posterior_computation/ms:0.113964;Timing/Proximity_by_space/ms:0.211;Timing/Proximity_by_time/ms:0.0190735;Timing/Reactivation/ms:0.164032;Timing/Statistics_creation/ms:0.068903;Timing/Total/ms:87.532;TimingMem/Add_new_words/ms:1.73903;TimingMem/Compressing_data/ms:1.25408;TimingMem/Descriptors_extraction/ms:7.81798;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.054121;TimingMem/Keypoints_detection/ms:41.3649;TimingMem/Occupancy_grid/ms:1.55592;TimingMem/Post_decimation/ms:1.20497;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.102043;TimingMem/Signature_creation/ms:62.912


data:
Keypoint/Dictionary_size/words:857;Keypoint/Index_memory_usage/KB:219;Keypoint/Indexed_words/words:843;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.0767877;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.923212;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:6.89508;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:5;Memory/Local_graph_size/:31;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.217391;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:22;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.635514;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:4.87211e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00190735;Timing/Hypotheses_creation/ms:0.0150204;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00882149;Timing/Likelihood_computation/ms:0.133991;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0898838;Timing/Memory_update/ms:56.4482;Timing/Neighbor_link_refining/ms:17.7138;Timing/Posterior_computation/ms:0.204086;Timing/Proximity_by_space/ms:0.484943;Timing/Proximity_by_time/ms:0.0281334;Timing/Reactivation/ms:0.398159;Timing/Statistics_creation/ms:0.102997;Timing/Total/ms:75.6321;TimingMem/Add_new_words/ms:1.03807;TimingMem/Compressing_data/ms:0.937939;TimingMem/Descriptors_extraction/ms:11.6649;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0669956;TimingMem/Keypoints_detection/ms:34.7462;TimingMem/Occupancy_grid/ms:1.45698;TimingMem/Post_decimation/ms:0.920057;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.154018;TimingMem/Signature_creation/ms:56.2699


data:
Keypoint/Dictionary_size/words:871;Keypoint/Index_memory_usage/KB:223;Keypoint/Indexed_words/words:857;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.0708615;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.929138;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:7.09862;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:5;Memory/Local_graph_size/:32;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.418182;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:23;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.713396;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:7.78063e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00905991;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.0538826;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0288486;Timing/Memory_update/ms:41.189;Timing/Neighbor_link_refining/ms:8.48794;Timing/Posterior_computation/ms:0.119925;Timing/Proximity_by_space/ms:0.213146;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.152826;Timing/Statistics_creation/ms:0.0450611;Timing/Total/ms:50.3159;TimingMem/Add_new_words/ms:2.12216;TimingMem/Compressing_data/ms:0.755072;TimingMem/Descriptors_extraction/ms:5.08904;TimingMem/Joining_dictionary_update/ms:0.0138283;TimingMem/Keypoints_3D/ms:0.054121;TimingMem/Keypoints_detection/ms:24.622;TimingMem/Occupancy_grid/ms:1.25313;TimingMem/Post_decimation/ms:1.41978;TimingMem/Pre_update/ms:0.0038147;TimingMem/Rehearsal/ms:0.259161;TimingMem/Signature_creation/ms:40.905


data:
Keypoint/Dictionary_size/words:895;Keypoint/Index_memory_usage/KB:226;Keypoint/Indexed_words/words:871;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0656536;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.934346;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:7.31391;Memory/Immunized_globally/:13;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:6;Memory/Local_graph_size/:33;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.306452;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:24;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.781931;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:5.85492e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.0109673;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.0929832;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.12207;Timing/Memory_update/ms:51.3642;Timing/Neighbor_link_refining/ms:24.6189;Timing/Posterior_computation/ms:0.136137;Timing/Proximity_by_space/ms:0.403881;Timing/Proximity_by_time/ms:0.0190735;Timing/Reactivation/ms:0.22006;Timing/Statistics_creation/ms:0.133038;Timing/Total/ms:77.1291;TimingMem/Add_new_words/ms:1.68204;TimingMem/Compressing_data/ms:2.74801;TimingMem/Descriptors_extraction/ms:7.49779;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0419617;TimingMem/Keypoints_detection/ms:26.7801;TimingMem/Occupancy_grid/ms:2.31504;TimingMem/Post_decimation/ms:1.50585;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0841618;TimingMem/Signature_creation/ms:51.2669


data:
Keypoint/Dictionary_size/words:904;Keypoint/Index_memory_usage/KB:233;Keypoint/Indexed_words/words:895;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:89;Loop/Highest_hypothesis_value/:0.0956107;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.904389;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:7.51353;Memory/Immunized_globally/:9;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:6;Memory/Local_graph_size/:34;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:100;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.516129;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:25;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.794393;NeighborLinkRefining/Pts/:315;NeighborLinkRefining/Variance/:5.42492e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00882149;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.0700951;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.041008;Timing/Memory_update/ms:53.863;Timing/Neighbor_link_refining/ms:12.8179;Timing/Posterior_computation/ms:0.123024;Timing/Proximity_by_space/ms:0.368834;Timing/Proximity_by_time/ms:0.0200272;Timing/Reactivation/ms:0.152111;Timing/Statistics_creation/ms:0.0648499;Timing/Total/ms:67.5359;TimingMem/Add_new_words/ms:1.06287;TimingMem/Compressing_data/ms:0.970125;TimingMem/Descriptors_extraction/ms:7.66802;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0340939;TimingMem/Keypoints_detection/ms:34.9109;TimingMem/Occupancy_grid/ms:1.55997;TimingMem/Post_decimation/ms:0.78702;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.166893;TimingMem/Signature_creation/ms:53.678


data:
Keypoint/Dictionary_size/words:921;Keypoint/Index_memory_usage/KB:235;Keypoint/Indexed_words/words:904;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:91;Loop/Highest_hypothesis_value/:0.114247;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:91;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:5;Loop/Vp_hypothesis/:0.885753;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:7.71729;Memory/Immunized_globally/:8;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:6;Memory/Local_graph_size/:35;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:101;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.459016;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:26;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.800623;NeighborLinkRefining/Pts/:314;NeighborLinkRefining/Variance/:5.57072e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:2.70891;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00596046;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0631809;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0371933;Timing/Memory_update/ms:68.037;Timing/Neighbor_link_refining/ms:17.4861;Timing/Posterior_computation/ms:0.0870228;Timing/Proximity_by_space/ms:0.348091;Timing/Proximity_by_time/ms:0.0128746;Timing/Reactivation/ms:0.110149;Timing/Statistics_creation/ms:0.0858307;Timing/Total/ms:88.9862;TimingMem/Add_new_words/ms:1.64413;TimingMem/Compressing_data/ms:1.34301;TimingMem/Descriptors_extraction/ms:8.89015;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.043869;TimingMem/Keypoints_detection/ms:48.471;TimingMem/Occupancy_grid/ms:1.40786;TimingMem/Post_decimation/ms:1.16801;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.207901;TimingMem/Signature_creation/ms:67.8041


data:
Keypoint/Dictionary_size/words:940;Keypoint/Index_memory_usage/KB:240;Keypoint/Indexed_words/words:921;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:90;Loop/Highest_hypothesis_value/:0.0872289;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:90;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.912771;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:7.93646;Memory/Immunized_globally/:10;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:6;Memory/Local_graph_size/:36;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.4375;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:27;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.738318;NeighborLinkRefining/Pts/:319;NeighborLinkRefining/Variance/:9.01109e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00715256;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0600815;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0309944;Timing/Memory_update/ms:65.7611;Timing/Neighbor_link_refining/ms:12.037;Timing/Posterior_computation/ms:0.0929832;Timing/Proximity_by_space/ms:0.246048;Timing/Proximity_by_time/ms:0.0119209;Timing/Reactivation/ms:0.119925;Timing/Statistics_creation/ms:0.0460148;Timing/Total/ms:78.4161;TimingMem/Add_new_words/ms:3.06392;TimingMem/Compressing_data/ms:1.13893;TimingMem/Descriptors_extraction/ms:12.0609;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.0419617;TimingMem/Keypoints_detection/ms:37.3302;TimingMem/Occupancy_grid/ms:2.30408;TimingMem/Post_decimation/ms:2.44713;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0720024;TimingMem/Signature_creation/ms:65.676


data:
Keypoint/Dictionary_size/words:956;Keypoint/Index_memory_usage/KB:244;Keypoint/Indexed_words/words:940;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:93;Loop/Highest_hypothesis_value/:0.0901047;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:93;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.909895;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:8.18067;Memory/Immunized_globally/:8;Memory/Immunized_locally/:7;Memory/Immunized_locally_max/:7;Memory/Local_graph_size/:37;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:103;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.478873;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:28;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.797508;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:6.83e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00810623;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0910759;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0350475;Timing/Memory_update/ms:69.1071;Timing/Neighbor_link_refining/ms:19.0411;Timing/Posterior_computation/ms:0.118017;Timing/Proximity_by_space/ms:0.233173;Timing/Proximity_by_time/ms:0.0128746;Timing/Reactivation/ms:0.118971;Timing/Statistics_creation/ms:0.0498295;Timing/Total/ms:88.8181;TimingMem/Add_new_words/ms:1.65987;TimingMem/Compressing_data/ms:3.02577;TimingMem/Descriptors_extraction/ms:17.925;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0369549;TimingMem/Keypoints_detection/ms:36.5429;TimingMem/Occupancy_grid/ms:1.06502;TimingMem/Post_decimation/ms:1.28722;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.288963;TimingMem/Signature_creation/ms:68.7871


data:
Keypoint/Dictionary_size/words:970;Keypoint/Index_memory_usage/KB:249;Keypoint/Indexed_words/words:956;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:93;Loop/Highest_hypothesis_value/:0.0849336;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:93;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.915066;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:8.51659;Memory/Immunized_globally/:9;Memory/Immunized_locally/:7;Memory/Immunized_locally_max/:7;Memory/Local_graph_size/:38;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:104;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.549296;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:29;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.741433;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:9.46545e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00905991;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.0889301;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0481606;Timing/Memory_update/ms:46.1838;Timing/Neighbor_link_refining/ms:19.7039;Timing/Posterior_computation/ms:0.108004;Timing/Proximity_by_space/ms:0.359058;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.12517;Timing/Statistics_creation/ms:0.0758171;Timing/Total/ms:66.721;TimingMem/Add_new_words/ms:2.12502;TimingMem/Compressing_data/ms:4.05812;TimingMem/Descriptors_extraction/ms:6.49381;TimingMem/Joining_dictionary_update/ms:0.0128746;TimingMem/Keypoints_3D/ms:0.0610352;TimingMem/Keypoints_detection/ms:20.5052;TimingMem/Occupancy_grid/ms:1.616;TimingMem/Post_decimation/ms:1.48797;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.226021;TimingMem/Signature_creation/ms:45.938


data:
Keypoint/Dictionary_size/words:989;Keypoint/Index_memory_usage/KB:252;Keypoint/Indexed_words/words:970;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:94;Loop/Highest_hypothesis_value/:0.0965682;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.903432;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:8.87519;Memory/Immunized_globally/:9;Memory/Immunized_locally/:7;Memory/Immunized_locally_max/:7;Memory/Local_graph_size/:39;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.397436;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:30;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.691589;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000184763;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.0109673;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.128984;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0538826;Timing/Memory_update/ms:57.652;Timing/Neighbor_link_refining/ms:25.8691;Timing/Posterior_computation/ms:0.153065;Timing/Proximity_by_space/ms:0.403166;Timing/Proximity_by_time/ms:0.0228882;Timing/Reactivation/ms:0.196934;Timing/Statistics_creation/ms:0.0829697;Timing/Total/ms:84.579;TimingMem/Add_new_words/ms:1.6439;TimingMem/Compressing_data/ms:0.585794;TimingMem/Descriptors_extraction/ms:8.42404;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0340939;TimingMem/Keypoints_detection/ms:36.166;TimingMem/Occupancy_grid/ms:1.17111;TimingMem/Post_decimation/ms:0.869036;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.168085;TimingMem/Signature_creation/ms:57.4651


data:
Keypoint/Dictionary_size/words:1007;Keypoint/Index_memory_usage/KB:257;Keypoint/Indexed_words/words:989;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:95;Loop/Highest_hypothesis_value/:0.106828;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.893172;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:9.24699;Memory/Immunized_globally/:9;Memory/Immunized_locally/:7;Memory/Immunized_locally_max/:7;Memory/Local_graph_size/:40;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:106;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.53012;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:31;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.70405;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:0.000138401;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.015974;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.161886;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0741482;Timing/Memory_update/ms:65.47;Timing/Neighbor_link_refining/ms:18.131;Timing/Posterior_computation/ms:0.138998;Timing/Proximity_by_space/ms:0.377893;Timing/Proximity_by_time/ms:0.0240803;Timing/Reactivation/ms:0.20504;Timing/Statistics_creation/ms:0.0970364;Timing/Total/ms:84.702;TimingMem/Add_new_words/ms:2.15006;TimingMem/Compressing_data/ms:1.00684;TimingMem/Descriptors_extraction/ms:14.991;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.0779629;TimingMem/Keypoints_detection/ms:38.244;TimingMem/Occupancy_grid/ms:2.02799;TimingMem/Post_decimation/ms:0.89097;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.0801086;TimingMem/Signature_creation/ms:65.3729


data:
Keypoint/Dictionary_size/words:1025;Keypoint/Index_memory_usage/KB:262;Keypoint/Indexed_words/words:1007;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:94;Loop/Highest_hypothesis_value/:0.109298;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.890702;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:9.60252;Memory/Immunized_globally/:11;Memory/Immunized_locally/:8;Memory/Immunized_locally_max/:8;Memory/Local_graph_size/:41;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.445783;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:32;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.694704;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000143141;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00882149;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.135183;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0331402;Timing/Memory_update/ms:69.0439;Timing/Neighbor_link_refining/ms:10.2491;Timing/Posterior_computation/ms:0.103951;Timing/Proximity_by_space/ms:0.233889;Timing/Proximity_by_time/ms:0.0128746;Timing/Reactivation/ms:0.123024;Timing/Statistics_creation/ms:0.0550747;Timing/Total/ms:80.003;TimingMem/Add_new_words/ms:1.45507;TimingMem/Compressing_data/ms:5.15699;TimingMem/Descriptors_extraction/ms:10.262;TimingMem/Joining_dictionary_update/ms:0.00786781;TimingMem/Keypoints_3D/ms:0.0391006;TimingMem/Keypoints_detection/ms:42.0659;TimingMem/Occupancy_grid/ms:1.29008;TimingMem/Post_decimation/ms:1.17111;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.106812;TimingMem/Signature_creation/ms:68.918


data:
Keypoint/Dictionary_size/words:1061;Keypoint/Index_memory_usage/KB:267;Keypoint/Indexed_words/words:1025;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:95;Loop/Highest_hypothesis_value/:0.102385;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;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/:0.897615;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:9.95128;Memory/Immunized_globally/:11;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:8;Memory/Local_graph_size/:42;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.419355;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:33;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.679128;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000151398;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:0.0109673;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.10705;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0431538;Timing/Memory_update/ms:54.8201;Timing/Neighbor_link_refining/ms:14.76;Timing/Posterior_computation/ms:0.117064;Timing/Proximity_by_space/ms:0.247955;Timing/Proximity_by_time/ms:0.0128746;Timing/Reactivation/ms:0.131845;Timing/Statistics_creation/ms:0.0598431;Timing/Total/ms:70.3151;TimingMem/Add_new_words/ms:2.038;TimingMem/Compressing_data/ms:1.19996;TimingMem/Descriptors_extraction/ms:5.65195;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0472069;TimingMem/Keypoints_detection/ms:32.218;TimingMem/Occupancy_grid/ms:2.0051;TimingMem/Post_decimation/ms:1.02711;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.345945;TimingMem/Signature_creation/ms:54.446


data:
Keypoint/Dictionary_size/words:1095;Keypoint/Index_memory_usage/KB:276;Keypoint/Indexed_words/words:1061;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:100;Loop/Highest_hypothesis_value/:0.100763;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:100;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.899237;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:10.3212;Memory/Immunized_globally/:7;Memory/Immunized_locally/:7;Memory/Immunized_locally_max/:8;Memory/Local_graph_size/:43;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;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/:34;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.725857;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000150018;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:0.0190735;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.113964;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0531673;Timing/Memory_update/ms:52.8529;Timing/Neighbor_link_refining/ms:5.56421;Timing/Posterior_computation/ms:0.238895;Timing/Proximity_by_space/ms:0.317097;Timing/Proximity_by_time/ms:0.0169277;Timing/Reactivation/ms:0.255108;Timing/Statistics_creation/ms:0.0758171;Timing/Total/ms:59.514;TimingMem/Add_new_words/ms:2.11501;TimingMem/Compressing_data/ms:0.833035;TimingMem/Descriptors_extraction/ms:10.0222;TimingMem/Joining_dictionary_update/ms:0.00882149;TimingMem/Keypoints_3D/ms:0.0510216;TimingMem/Keypoints_detection/ms:30.1909;TimingMem/Occupancy_grid/ms:1.53804;TimingMem/Post_decimation/ms:1.25813;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.127077;TimingMem/Signature_creation/ms:52.716


data:
Keypoint/Dictionary_size/words:1114;Keypoint/Index_memory_usage/KB:285;Keypoint/Indexed_words/words:1095;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:100;Loop/Highest_hypothesis_value/:0.123865;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:100;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:8;Loop/Vp_hypothesis/:0.876135;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:10.6834;Memory/Immunized_globally/:8;Memory/Immunized_locally/:2;Memory/Immunized_locally_max/:8;Memory/Local_graph_size/:44;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.238095;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:35;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.741433;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000120438;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:2.40016;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.00905991;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.0710487;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0259876;Timing/Memory_update/ms:61.337;Timing/Neighbor_link_refining/ms:15.265;Timing/Posterior_computation/ms:0.108957;Timing/Proximity_by_space/ms:0.202894;Timing/Proximity_by_time/ms:0.0119209;Timing/Reactivation/ms:0.108957;Timing/Statistics_creation/ms:0.0550747;Timing/Total/ms:79.5989;TimingMem/Add_new_words/ms:1.45102;TimingMem/Compressing_data/ms:0.838995;TimingMem/Descriptors_extraction/ms:9.72009;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.0441074;TimingMem/Keypoints_detection/ms:28.6949;TimingMem/Occupancy_grid/ms:1.48106;TimingMem/Post_decimation/ms:1.24192;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.159025;TimingMem/Signature_creation/ms:61.157


data:
Keypoint/Dictionary_size/words:1141;Keypoint/Index_memory_usage/KB:290;Keypoint/Indexed_words/words:1114;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:100;Loop/Highest_hypothesis_value/:0.135242;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:0;Loop/Optimization_error/:0;Loop/Optimization_iterations/:0;Loop/Optimization_max_error/m:0;Loop/Reactivate_id/:100;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:4;Loop/Vp_hypothesis/:0.864758;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:11.0509;Memory/Immunized_globally/:9;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:9;Memory/Local_graph_size/:45;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;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/:36;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.728972;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:0.000110218;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:2.69604;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.00882149;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0789165;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0290871;Timing/Memory_update/ms:44.3978;Timing/Neighbor_link_refining/ms:20.7441;Timing/Posterior_computation/ms:0.106096;Timing/Proximity_by_space/ms:0.268936;Timing/Proximity_by_time/ms:0.013113;Timing/Reactivation/ms:0.109911;Timing/Statistics_creation/ms:0.0600815;Timing/Total/ms:68.517;TimingMem/Add_new_words/ms:1.19805;TimingMem/Compressing_data/ms:0.568867;TimingMem/Descriptors_extraction/ms:9.21416;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0319481;TimingMem/Keypoints_detection/ms:26.8381;TimingMem/Occupancy_grid/ms:0.960112;TimingMem/Post_decimation/ms:0.775099;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0638962;TimingMem/Signature_creation/ms:44.322


data:
Keypoint/Dictionary_size/words:1171;Keypoint/Index_memory_usage/KB:297;Keypoint/Indexed_words/words:1141;Loop/Accepted_hypothesis_id/:100;Loop/Highest_hypothesis_id/:100;Loop/Highest_hypothesis_value/:0.124734;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:8969.63;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:0.606177;Loop/Reactivate_id/:100;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:5;Loop/Visual_matches/:6;Loop/Vp_hypothesis/:0.875266;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:11.4151;Memory/Immunized_globally/:10;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:9;Memory/Local_graph_size/:46;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;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/:37;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.732087;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.00010835;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:7.99513;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00119209;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0100136;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.0958443;Timing/Map_optimization/ms:4.04906;Timing/Memory_cleanup/ms:0.0610352;Timing/Memory_update/ms:64.497;Timing/Neighbor_link_refining/ms:20.9439;Timing/Posterior_computation/ms:0.108957;Timing/Proximity_by_space/ms:0.239849;Timing/Proximity_by_time/ms:0.0171661;Timing/Reactivation/ms:0.120878;Timing/Statistics_creation/ms:0.117064;Timing/Total/ms:98.258;TimingMem/Add_new_words/ms:1.53399;TimingMem/Compressing_data/ms:0.738859;TimingMem/Descriptors_extraction/ms:22.0881;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0350475;TimingMem/Keypoints_detection/ms:30.679;TimingMem/Occupancy_grid/ms:1.05906;TimingMem/Post_decimation/ms:0.827074;TimingMem/Pre_update/ms:0.0038147;TimingMem/Rehearsal/ms:0.0870228;TimingMem/Signature_creation/ms:64.394


data:
Keypoint/Dictionary_size/words:1213;Keypoint/Index_memory_usage/KB:305;Keypoint/Indexed_words/words:1171;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:101;Loop/Highest_hypothesis_value/:0.118651;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/:101;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:5;Loop/Vp_hypothesis/:0.881349;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:11.7813;Memory/Immunized_globally/:10;Memory/Immunized_locally/:9;Memory/Immunized_locally_max/:9;Memory/Local_graph_size/:47;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.239583;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:38;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.750779;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:9.50901e-05;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:4;Proximity/Space_scan_paths_checked/:0;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:3.29113;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0121593;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.105858;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0710487;Timing/Memory_update/ms:63.5841;Timing/Neighbor_link_refining/ms:29.125;Timing/Posterior_computation/ms:0.200033;Timing/Proximity_by_space/ms:0.415802;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.180006;Timing/Statistics_creation/ms:0.0801086;Timing/Total/ms:97.0831;TimingMem/Add_new_words/ms:3.19314;TimingMem/Compressing_data/ms:1.07312;TimingMem/Descriptors_extraction/ms:13.9599;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0851154;TimingMem/Keypoints_detection/ms:36.694;TimingMem/Occupancy_grid/ms:1.63794;TimingMem/Post_decimation/ms:1.13082;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0970364;TimingMem/Signature_creation/ms:63.4739


data:
Keypoint/Dictionary_size/words:1260;Keypoint/Index_memory_usage/KB:316;Keypoint/Indexed_words/words:1213;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.102731;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/:0.897269;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:12.1473;Memory/Immunized_globally/:10;Memory/Immunized_locally/:9;Memory/Immunized_locally_max/:9;Memory/Local_graph_size/:48;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.32;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:39;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.722741;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000112301;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:4;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:0.00214577;Timing/Hypotheses_creation/ms:0.0181198;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.359058;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.149012;Timing/Memory_update/ms:67.841;Timing/Neighbor_link_refining/ms:13.2089;Timing/Posterior_computation/ms:0.192881;Timing/Proximity_by_space/ms:0.562191;Timing/Proximity_by_time/ms:0.0300407;Timing/Reactivation/ms:0.283957;Timing/Statistics_creation/ms:0.125885;Timing/Total/ms:82.7808;TimingMem/Add_new_words/ms:6.69003;TimingMem/Compressing_data/ms:3.47185;TimingMem/Descriptors_extraction/ms:19.124;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0739098;TimingMem/Keypoints_detection/ms:30.936;TimingMem/Occupancy_grid/ms:1.08814;TimingMem/Post_decimation/ms:1.34492;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.079155;TimingMem/Signature_creation/ms:67.749


data:
Keypoint/Dictionary_size/words:1323;Keypoint/Index_memory_usage/KB:328;Keypoint/Indexed_words/words:1260;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.0946155;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/:0.905385;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:12.5197;Memory/Immunized_globally/:13;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:10;Memory/Local_graph_size/:49;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.348684;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:40;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.750779;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000117267;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.00500679;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0128746;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.208139;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.121832;Timing/Memory_update/ms:62.114;Timing/Neighbor_link_refining/ms:19.135;Timing/Posterior_computation/ms:0.19598;Timing/Proximity_by_space/ms:0.595093;Timing/Proximity_by_time/ms:0.0240803;Timing/Reactivation/ms:0.287056;Timing/Statistics_creation/ms:0.137091;Timing/Total/ms:82.8381;TimingMem/Add_new_words/ms:4.53401;TimingMem/Compressing_data/ms:0.827074;TimingMem/Descriptors_extraction/ms:18.2519;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0801086;TimingMem/Keypoints_detection/ms:30.1149;TimingMem/Occupancy_grid/ms:1.436;TimingMem/Post_decimation/ms:1.30606;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.0941753;TimingMem/Signature_creation/ms:62.0029


data:
Keypoint/Dictionary_size/words:1373;Keypoint/Index_memory_usage/KB:344;Keypoint/Indexed_words/words:1323;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:90;Loop/Highest_hypothesis_value/:0.0793285;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/:90;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.920672;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:12.8911;Memory/Immunized_globally/:13;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:10;Memory/Local_graph_size/:50;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.381579;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:41;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.725857;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000131661;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.0658035;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00715256;Timing/Likelihood_computation/ms:0.22316;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0638962;Timing/Memory_update/ms:64.326;Timing/Neighbor_link_refining/ms:25.491;Timing/Posterior_computation/ms:0.174999;Timing/Proximity_by_space/ms:0.316858;Timing/Proximity_by_time/ms:0.0188351;Timing/Reactivation/ms:0.224829;Timing/Statistics_creation/ms:0.0851154;Timing/Total/ms:90.9989;TimingMem/Add_new_words/ms:4.11487;TimingMem/Compressing_data/ms:2.26212;TimingMem/Descriptors_extraction/ms:21.728;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.0789165;TimingMem/Keypoints_detection/ms:27.2031;TimingMem/Occupancy_grid/ms:1.83797;TimingMem/Post_decimation/ms:1.36304;TimingMem/Pre_update/ms:0.0038147;TimingMem/Rehearsal/ms:0.123978;TimingMem/Signature_creation/ms:64.1861


data:
Keypoint/Dictionary_size/words:1425;Keypoint/Index_memory_usage/KB:357;Keypoint/Indexed_words/words:1373;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0705369;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/:0.929463;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:13.2587;Memory/Immunized_globally/:7;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:10;Memory/Local_graph_size/:51;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.419355;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:42;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.766355;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.00010301;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.0140667;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00190735;Timing/Likelihood_computation/ms:0.138044;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0739098;Timing/Memory_update/ms:73.734;Timing/Neighbor_link_refining/ms:12.955;Timing/Posterior_computation/ms:0.192881;Timing/Proximity_by_space/ms:0.356913;Timing/Proximity_by_time/ms:0.0190735;Timing/Reactivation/ms:0.13113;Timing/Statistics_creation/ms:0.149965;Timing/Total/ms:87.769;TimingMem/Add_new_words/ms:4.93717;TimingMem/Compressing_data/ms:0.95892;TimingMem/Descriptors_extraction/ms:19.5222;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.084877;TimingMem/Keypoints_detection/ms:39.9988;TimingMem/Occupancy_grid/ms:1.19209;TimingMem/Post_decimation/ms:1.70994;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.133038;TimingMem/Signature_creation/ms:73.5829


data:
Keypoint/Dictionary_size/words:1477;Keypoint/Index_memory_usage/KB:371;Keypoint/Indexed_words/words:1425;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:108;Loop/Highest_hypothesis_value/:0.070563;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/:108;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.929437;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:13.6271;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:10;Memory/Local_graph_size/:52;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.380645;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:43;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.76324;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.5521e-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:0.000953674;Timing/Hypotheses_creation/ms:0.0140667;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.125885;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0479221;Timing/Memory_update/ms:63.2372;Timing/Neighbor_link_refining/ms:21.451;Timing/Posterior_computation/ms:0.280142;Timing/Proximity_by_space/ms:0.19908;Timing/Proximity_by_time/ms:0.0119209;Timing/Reactivation/ms:0.133038;Timing/Statistics_creation/ms:0.0519753;Timing/Total/ms:85.556;TimingMem/Add_new_words/ms:4.20594;TimingMem/Compressing_data/ms:1.23405;TimingMem/Descriptors_extraction/ms:17.75;TimingMem/Joining_dictionary_update/ms:0.0171661;TimingMem/Keypoints_3D/ms:0.100851;TimingMem/Keypoints_detection/ms:28.7631;TimingMem/Occupancy_grid/ms:2.16198;TimingMem/Post_decimation/ms:1.5409;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.114918;TimingMem/Signature_creation/ms:63.1111


data:
Keypoint/Dictionary_size/words:1530;Keypoint/Index_memory_usage/KB:384;Keypoint/Indexed_words/words:1477;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:90;Loop/Highest_hypothesis_value/:0.0709985;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/:90;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.929002;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:13.9352;Memory/Immunized_globally/:13;Memory/Immunized_locally/:11;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:53;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.41573;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:44;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.778816;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:8.7738e-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:0.00119209;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0140667;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.175953;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:89.808;Timing/Neighbor_link_refining/ms:23.834;Timing/Posterior_computation/ms:0.28801;Timing/Proximity_by_space/ms:0.315189;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.194788;Timing/Statistics_creation/ms:0.11301;Timing/Total/ms:114.851;TimingMem/Add_new_words/ms:6.97708;TimingMem/Compressing_data/ms:1.0829;TimingMem/Descriptors_extraction/ms:30.658;TimingMem/Joining_dictionary_update/ms:0.0228882;TimingMem/Keypoints_3D/ms:0.129938;TimingMem/Keypoints_detection/ms:43.349;TimingMem/Occupancy_grid/ms:1.49894;TimingMem/Post_decimation/ms:1.17993;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.126123;TimingMem/Signature_creation/ms:89.668


data:
Keypoint/Dictionary_size/words:1594;Keypoint/Index_memory_usage/KB:398;Keypoint/Indexed_words/words:1530;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0777664;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/:0.922234;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:14.2253;Memory/Immunized_globally/:9;Memory/Immunized_locally/:11;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:54;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:45;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.794393;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.65484e-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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0269413;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00786781;Timing/Likelihood_computation/ms:0.393152;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0810623;Timing/Memory_update/ms:71.203;Timing/Neighbor_link_refining/ms:32.629;Timing/Posterior_computation/ms:0.447989;Timing/Proximity_by_space/ms:0.261068;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.231028;Timing/Statistics_creation/ms:0.11301;Timing/Total/ms:105.422;TimingMem/Add_new_words/ms:5.94497;TimingMem/Compressing_data/ms:1.14107;TimingMem/Descriptors_extraction/ms:21.1749;TimingMem/Joining_dictionary_update/ms:0.0500679;TimingMem/Keypoints_3D/ms:0.144958;TimingMem/Keypoints_detection/ms:34.193;TimingMem/Occupancy_grid/ms:1.60503;TimingMem/Post_decimation/ms:0.991106;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.129938;TimingMem/Signature_creation/ms:71.0549


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:415;Keypoint/Indexed_words/words:1594;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:104;Loop/Highest_hypothesis_value/:0.0701912;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/:104;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.929809;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:14.4974;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.385;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.813084;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.91787e-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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.025034;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0109673;Timing/Likelihood_computation/ms:0.497103;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.146866;Timing/Memory_update/ms:65.5282;Timing/Neighbor_link_refining/ms:18.1849;Timing/Posterior_computation/ms:0.339985;Timing/Proximity_by_space/ms:0.435114;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.300884;Timing/Statistics_creation/ms:0.165939;Timing/Total/ms:85.6838;TimingMem/Add_new_words/ms:5.19514;TimingMem/Compressing_data/ms:0.739813;TimingMem/Descriptors_extraction/ms:19.9039;TimingMem/Joining_dictionary_update/ms:0.0288486;TimingMem/Keypoints_3D/ms:0.126123;TimingMem/Keypoints_detection/ms:31.945;TimingMem/Occupancy_grid/ms:0.893831;TimingMem/Post_decimation/ms:1.66798;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.136852;TimingMem/Signature_creation/ms:65.377


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0674726;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.932527;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:14.7695;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.544503;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0209808;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00691414;Timing/Likelihood_computation/ms:0.370026;Timing/Map_optimization/ms:0.00190735;Timing/Memory_cleanup/ms:0.257015;Timing/Memory_update/ms:53.6828;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.130892;Timing/Proximity_by_space/ms:0.629187;Timing/Proximity_by_time/ms:0.187159;Timing/Reactivation/ms:0.380039;Timing/Statistics_creation/ms:0.290871;Timing/Total/ms:55.9578;TimingMem/Add_new_words/ms:3.52693;TimingMem/Compressing_data/ms:0.79298;TimingMem/Descriptors_extraction/ms:12.064;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.0829697;TimingMem/Keypoints_detection/ms:30.0682;TimingMem/Occupancy_grid/ms:0.815153;TimingMem/Post_decimation/ms:0.820875;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:1.70302;TimingMem/Signature_creation/ms:51.959


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0665028;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.933497;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:15.0416;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.517588;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0169277;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.111103;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0610352;Timing/Memory_update/ms:84.831;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0779629;Timing/Proximity_by_space/ms:0.198841;Timing/Proximity_by_time/ms:0.0400543;Timing/Reactivation/ms:0.174999;Timing/Statistics_creation/ms:0.0550747;Timing/Total/ms:85.5711;TimingMem/Add_new_words/ms:7.46012;TimingMem/Compressing_data/ms:3.51691;TimingMem/Descriptors_extraction/ms:20.3638;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.152111;TimingMem/Keypoints_detection/ms:44.347;TimingMem/Occupancy_grid/ms:1.62411;TimingMem/Post_decimation/ms:2.50077;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.56386;TimingMem/Signature_creation/ms:84.2581


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0661579;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.933842;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:15.3137;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.528796;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.013113;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.135899;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.082016;Timing/Memory_update/ms:65.8588;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0801086;Timing/Proximity_by_space/ms:0.238895;Timing/Proximity_by_time/ms:0.0441074;Timing/Reactivation/ms:0.486135;Timing/Statistics_creation/ms:0.0929832;Timing/Total/ms:67.0369;TimingMem/Add_new_words/ms:7.653;TimingMem/Compressing_data/ms:1.14179;TimingMem/Descriptors_extraction/ms:13.5889;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0841618;TimingMem/Keypoints_detection/ms:30.683;TimingMem/Occupancy_grid/ms:1.57881;TimingMem/Post_decimation/ms:2.14887;TimingMem/Pre_update/ms:0.00286102;TimingMem/Rehearsal/ms:0.616074;TimingMem/Signature_creation/ms:65.2311


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0660354;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.933965;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:15.5857;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.546392;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00786781;Timing/Likelihood_computation/ms:0.31209;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.118017;Timing/Memory_update/ms:60.7569;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.151873;Timing/Proximity_by_space/ms:0.324011;Timing/Proximity_by_time/ms:0.219107;Timing/Reactivation/ms:0.298023;Timing/Statistics_creation/ms:0.209093;Timing/Total/ms:62.434;TimingMem/Add_new_words/ms:4.72999;TimingMem/Compressing_data/ms:1.04403;TimingMem/Descriptors_extraction/ms:17.2508;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0660419;TimingMem/Keypoints_detection/ms:25.604;TimingMem/Occupancy_grid/ms:2.2912;TimingMem/Post_decimation/ms:1.44196;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.5111;TimingMem/Signature_creation/ms:59.2301


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0659926;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.934007;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:15.8578;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.539267;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0128746;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00214577;Timing/Likelihood_computation/ms:0.126123;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0619888;Timing/Memory_update/ms:54.1201;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0720024;Timing/Proximity_by_space/ms:0.201941;Timing/Proximity_by_time/ms:0.0429153;Timing/Reactivation/ms:0.169039;Timing/Statistics_creation/ms:0.056982;Timing/Total/ms:54.8661;TimingMem/Add_new_words/ms:3.49903;TimingMem/Compressing_data/ms:0.683069;TimingMem/Descriptors_extraction/ms:20.642;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0970364;TimingMem/Keypoints_detection/ms:22.311;TimingMem/Occupancy_grid/ms:1.00398;TimingMem/Post_decimation/ms:0.914097;TimingMem/Pre_update/ms:0.00500679;TimingMem/Rehearsal/ms:0.640869;TimingMem/Signature_creation/ms:53.4611


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0659775;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.934023;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:16.1299;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;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/:46;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:0.0181198;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.148058;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0870228;Timing/Memory_update/ms:60.009;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0958443;Timing/Proximity_by_space/ms:0.321865;Timing/Proximity_by_time/ms:0.0948906;Timing/Reactivation/ms:0.226974;Timing/Statistics_creation/ms:0.0841618;Timing/Total/ms:61.09;TimingMem/Add_new_words/ms:6.63304;TimingMem/Compressing_data/ms:0.813961;TimingMem/Descriptors_extraction/ms:23.9069;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0970364;TimingMem/Keypoints_detection/ms:21.663;TimingMem/Occupancy_grid/ms:1.20902;TimingMem/Post_decimation/ms:1.33395;TimingMem/Pre_update/ms:0.0998974;TimingMem/Rehearsal/ms:0.595093;TimingMem/Signature_creation/ms:59.3021


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0659722;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.934028;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:16.402;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.544503;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0269413;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00619888;Timing/Likelihood_computation/ms:0.377893;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0998974;Timing/Memory_update/ms:58.8438;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.138044;Timing/Proximity_by_space/ms:0.293016;Timing/Proximity_by_time/ms:0.276089;Timing/Reactivation/ms:0.303984;Timing/Statistics_creation/ms:0.0970364;Timing/Total/ms:60.4658;TimingMem/Add_new_words/ms:4.91691;TimingMem/Compressing_data/ms:1.47796;TimingMem/Descriptors_extraction/ms:22.1529;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0731945;TimingMem/Keypoints_detection/ms:22.181;TimingMem/Occupancy_grid/ms:0.935078;TimingMem/Post_decimation/ms:0.941992;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:1.89996;TimingMem/Signature_creation/ms:56.9251


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.065971;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.934029;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:16.6741;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.528796;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0150204;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.127077;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0751019;Timing/Memory_update/ms:54.924;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.082016;Timing/Proximity_by_space/ms:0.259876;Timing/Proximity_by_time/ms:0.0469685;Timing/Reactivation/ms:0.200987;Timing/Statistics_creation/ms:0.0808239;Timing/Total/ms:55.8171;TimingMem/Add_new_words/ms:8.82006;TimingMem/Compressing_data/ms:0.9799;TimingMem/Descriptors_extraction/ms:15.2709;TimingMem/Joining_dictionary_update/ms:0.0150204;TimingMem/Keypoints_3D/ms:0.119925;TimingMem/Keypoints_detection/ms:23.3719;TimingMem/Occupancy_grid/ms:0.896931;TimingMem/Post_decimation/ms:0.962019;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.648022;TimingMem/Signature_creation/ms:54.265


data:
Keypoint/Dictionary_size/words:1657;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:111;Loop/Highest_hypothesis_value/:0.0659702;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/:111;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.93403;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:16.9461;Memory/Immunized_globally/:8;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:55;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:122;Memory/Rehearsal_merged/:122;Memory/Rehearsal_sim/:0.549738;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:46;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:0.0128746;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.163078;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0638962;Timing/Memory_update/ms:55.8171;Timing/Neighbor_link_refining/ms:0;Timing/Posterior_computation/ms:0.0779629;Timing/Proximity_by_space/ms:0.228882;Timing/Proximity_by_time/ms:0.0579357;Timing/Reactivation/ms:0.20504;Timing/Statistics_creation/ms:0.0641346;Timing/Total/ms:56.694;TimingMem/Add_new_words/ms:4.36592;TimingMem/Compressing_data/ms:0.695944;TimingMem/Descriptors_extraction/ms:17.6151;TimingMem/Joining_dictionary_update/ms:0.0920296;TimingMem/Keypoints_3D/ms:0.082016;TimingMem/Keypoints_detection/ms:24.8129;TimingMem/Occupancy_grid/ms:2.51293;TimingMem/Post_decimation/ms:1.15609;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.669003;TimingMem/Signature_creation/ms:55.1391


data:
Keypoint/Dictionary_size/words:1717;Keypoint/Index_memory_usage/KB:431;Keypoint/Indexed_words/words:1657;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.0711089;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/:0.928891;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:17.1756;Memory/Immunized_globally/:13;Memory/Immunized_locally/:11;Memory/Immunized_locally_max/:11;Memory/Local_graph_size/:56;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.435;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:47;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.825545;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.34077e-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:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0169277;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.231981;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0991821;Timing/Memory_update/ms:62.4681;Timing/Neighbor_link_refining/ms:7.18498;Timing/Posterior_computation/ms:0.405073;Timing/Proximity_by_space/ms:0.354052;Timing/Proximity_by_time/ms:0.0240803;Timing/Reactivation/ms:0.283003;Timing/Statistics_creation/ms:0.113964;Timing/Total/ms:71.1892;TimingMem/Add_new_words/ms:6.51407;TimingMem/Compressing_data/ms:2.57492;TimingMem/Descriptors_extraction/ms:13.5489;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.113964;TimingMem/Keypoints_detection/ms:32.1901;TimingMem/Occupancy_grid/ms:1.71399;TimingMem/Post_decimation/ms:1.35803;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.12517;TimingMem/Signature_creation/ms:62.3319


data:
Keypoint/Dictionary_size/words:1786;Keypoint/Index_memory_usage/KB:447;Keypoint/Indexed_words/words:1717;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0813658;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/:0.918634;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:17.5476;Memory/Immunized_globally/:9;Memory/Immunized_locally/:12;Memory/Immunized_locally_max/:12;Memory/Local_graph_size/:57;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.385;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:48;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.766355;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.00012024;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:0.000953674;Timing/Hypotheses_creation/ms:0.0469685;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0119209;Timing/Likelihood_computation/ms:0.342131;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.302076;Timing/Memory_update/ms:85.238;Timing/Neighbor_link_refining/ms:15.79;Timing/Posterior_computation/ms:0.936031;Timing/Proximity_by_space/ms:0.524998;Timing/Proximity_by_time/ms:0.0288486;Timing/Reactivation/ms:0.329971;Timing/Statistics_creation/ms:0.335932;Timing/Total/ms:103.897;TimingMem/Add_new_words/ms:8.389;TimingMem/Compressing_data/ms:0.746965;TimingMem/Descriptors_extraction/ms:24.6952;TimingMem/Joining_dictionary_update/ms:0.00905991;TimingMem/Keypoints_3D/ms:0.100851;TimingMem/Keypoints_detection/ms:42.9189;TimingMem/Occupancy_grid/ms:1.16515;TimingMem/Post_decimation/ms:2.89798;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.120878;TimingMem/Signature_creation/ms:85.1011


data:
Keypoint/Dictionary_size/words:1859;Keypoint/Index_memory_usage/KB:465;Keypoint/Indexed_words/words:1786;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0717751;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/:0.928225;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:17.9138;Memory/Immunized_globally/:9;Memory/Immunized_locally/:12;Memory/Immunized_locally_max/:12;Memory/Local_graph_size/:58;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.405;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:49;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.753894;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000115075;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:0.0178814;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.280142;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.212908;Timing/Memory_update/ms:74.5192;Timing/Neighbor_link_refining/ms:4.60696;Timing/Posterior_computation/ms:0.277042;Timing/Proximity_by_space/ms:0.391006;Timing/Proximity_by_time/ms:0.0188351;Timing/Reactivation/ms:0.281096;Timing/Statistics_creation/ms:0.197172;Timing/Total/ms:80.811;TimingMem/Add_new_words/ms:11.354;TimingMem/Compressing_data/ms:0.762939;TimingMem/Descriptors_extraction/ms:26.1669;TimingMem/Joining_dictionary_update/ms:0.0121593;TimingMem/Keypoints_3D/ms:0.118971;TimingMem/Keypoints_detection/ms:30.6211;TimingMem/Occupancy_grid/ms:0.779867;TimingMem/Post_decimation/ms:0.972033;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.211;TimingMem/Signature_creation/ms:74.29


data:
Keypoint/Dictionary_size/words:1933;Keypoint/Index_memory_usage/KB:484;Keypoint/Indexed_words/words:1859;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:50;Loop/Highest_hypothesis_value/:0.0747957;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/:0.925204;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:18.2817;Memory/Immunized_globally/:9;Memory/Immunized_locally/:12;Memory/Immunized_locally_max/:12;Memory/Local_graph_size/:59;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.39;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:50;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.766355;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000113233;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:0.0150204;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.231981;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.114918;Timing/Memory_update/ms:100.569;Timing/Neighbor_link_refining/ms:25.8999;Timing/Posterior_computation/ms:0.237942;Timing/Proximity_by_space/ms:0.282049;Timing/Proximity_by_time/ms:0.0171661;Timing/Reactivation/ms:0.173092;Timing/Statistics_creation/ms:0.106096;Timing/Total/ms:127.651;TimingMem/Add_new_words/ms:7.24196;TimingMem/Compressing_data/ms:1.05596;TimingMem/Descriptors_extraction/ms:24.107;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0729561;TimingMem/Keypoints_detection/ms:60.8418;TimingMem/Occupancy_grid/ms:1.52206;TimingMem/Post_decimation/ms:1.52111;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.139952;TimingMem/Signature_creation/ms:100.417


data:
Keypoint/Dictionary_size/words:2008;Keypoint/Index_memory_usage/KB:503;Keypoint/Indexed_words/words:1933;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:95;Loop/Highest_hypothesis_value/:0.0709376;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/:0.929062;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:18.6579;Memory/Immunized_globally/:13;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:12;Memory/Local_graph_size/:60;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.35;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:51;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.757009;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:8.70023e-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:0.0128746;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.179052;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0660419;Timing/Memory_update/ms:116.173;Timing/Neighbor_link_refining/ms:24.7688;Timing/Posterior_computation/ms:0.209093;Timing/Proximity_by_space/ms:0.157118;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.146866;Timing/Statistics_creation/ms:0.0739098;Timing/Total/ms:141.804;TimingMem/Add_new_words/ms:10.4399;TimingMem/Compressing_data/ms:1.62888;TimingMem/Descriptors_extraction/ms:33.9122;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.133038;TimingMem/Keypoints_detection/ms:59.2439;TimingMem/Occupancy_grid/ms:1.30391;TimingMem/Post_decimation/ms:1.70922;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.260115;TimingMem/Signature_creation/ms:115.891


data:
Keypoint/Dictionary_size/words:2076;Keypoint/Index_memory_usage/KB:523;Keypoint/Indexed_words/words:2008;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:1;Loop/Highest_hypothesis_value/:0.0648576;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/:0.935142;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:19.0362;Memory/Immunized_globally/:7;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:13;Memory/Local_graph_size/:61;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.365;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:52;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.753894;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000112236;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:0.0441074;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0128746;Timing/Likelihood_computation/ms:2.13003;Timing/Map_optimization/ms:0.00214577;Timing/Memory_cleanup/ms:0.159025;Timing/Memory_update/ms:70.0319;Timing/Neighbor_link_refining/ms:19.2821;Timing/Posterior_computation/ms:0.3829;Timing/Proximity_by_space/ms:0.282764;Timing/Proximity_by_time/ms:0.0319481;Timing/Reactivation/ms:0.303984;Timing/Statistics_creation/ms:0.19598;Timing/Total/ms:92.8609;TimingMem/Add_new_words/ms:5.19085;TimingMem/Compressing_data/ms:0.953197;TimingMem/Descriptors_extraction/ms:26.3999;TimingMem/Joining_dictionary_update/ms:0.0221729;TimingMem/Keypoints_3D/ms:0.123978;TimingMem/Keypoints_detection/ms:32.1991;TimingMem/Occupancy_grid/ms:0.767946;TimingMem/Post_decimation/ms:0.999928;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.117064;TimingMem/Signature_creation/ms:69.905


data:
Keypoint/Dictionary_size/words:2144;Keypoint/Index_memory_usage/KB:541;Keypoint/Indexed_words/words:2076;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.0939053;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/:0.906095;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:19.4182;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:13;Memory/Local_graph_size/:62;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/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:53;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.757009;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.05469e-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;Timing/Hypotheses_creation/ms:0.0350475;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0109673;Timing/Likelihood_computation/ms:0.361919;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.168085;Timing/Memory_update/ms:102.177;Timing/Neighbor_link_refining/ms:24.1191;Timing/Posterior_computation/ms:0.281096;Timing/Proximity_by_space/ms:0.226974;Timing/Proximity_by_time/ms:0.027895;Timing/Reactivation/ms:0.271082;Timing/Statistics_creation/ms:0.244856;Timing/Total/ms:127.926;TimingMem/Add_new_words/ms:8.62217;TimingMem/Compressing_data/ms:1.39499;TimingMem/Descriptors_extraction/ms:17.1299;TimingMem/Joining_dictionary_update/ms:0.0228882;TimingMem/Keypoints_3D/ms:0.166178;TimingMem/Keypoints_detection/ms:69.6261;TimingMem/Occupancy_grid/ms:0.725985;TimingMem/Post_decimation/ms:1.01495;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.145912;TimingMem/Signature_creation/ms:102.016


data:
Keypoint/Dictionary_size/words:2227;Keypoint/Index_memory_usage/KB:558;Keypoint/Indexed_words/words:2144;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:81;Loop/Highest_hypothesis_value/:0.062353;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/:0.937647;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:19.798;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:13;Memory/Local_graph_size/:63;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.365;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:54;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.753894;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000101652;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:0.0209808;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.252962;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.210047;Timing/Memory_update/ms:79.5548;Timing/Neighbor_link_refining/ms:18.4672;Timing/Posterior_computation/ms:0.29707;Timing/Proximity_by_space/ms:0.236034;Timing/Proximity_by_time/ms:0.0219345;Timing/Reactivation/ms:0.236034;Timing/Statistics_creation/ms:0.196934;Timing/Total/ms:99.5018;TimingMem/Add_new_words/ms:7.70903;TimingMem/Compressing_data/ms:0.713825;TimingMem/Descriptors_extraction/ms:23.9131;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.102043;TimingMem/Keypoints_detection/ms:39.983;TimingMem/Occupancy_grid/ms:1.07121;TimingMem/Post_decimation/ms:1.18685;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.335932;TimingMem/Signature_creation/ms:79.196


data:
Keypoint/Dictionary_size/words:2296;Keypoint/Index_memory_usage/KB:580;Keypoint/Indexed_words/words:2227;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:92;Loop/Highest_hypothesis_value/:0.0612438;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/:0.938756;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:20.1615;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:13;Memory/Local_graph_size/:64;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;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/:55;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.76324;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000110393;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:0.00119209;Timing/Hypotheses_creation/ms:0.0209808;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.272036;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.114918;Timing/Memory_update/ms:65.7539;Timing/Neighbor_link_refining/ms:12.2781;Timing/Posterior_computation/ms:0.242949;Timing/Proximity_by_space/ms:0.215054;Timing/Proximity_by_time/ms:0.0269413;Timing/Reactivation/ms:0.266075;Timing/Statistics_creation/ms:0.128984;Timing/Total/ms:79.3259;TimingMem/Add_new_words/ms:5.11098;TimingMem/Compressing_data/ms:1.04594;TimingMem/Descriptors_extraction/ms:23.5951;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0720024;TimingMem/Keypoints_detection/ms:29.552;TimingMem/Occupancy_grid/ms:0.983;TimingMem/Post_decimation/ms:2.455;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.158072;TimingMem/Signature_creation/ms:65.5839


data:
Keypoint/Dictionary_size/words:2371;Keypoint/Index_memory_usage/KB:598;Keypoint/Indexed_words/words:2296;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:90;Loop/Highest_hypothesis_value/:0.075449;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/:90;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.924551;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:20.5333;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:14;Memory/Local_graph_size/:65;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.38;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:56;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.760125;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000104735;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:0.0200272;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.265121;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.130892;Timing/Memory_update/ms:70.4651;Timing/Neighbor_link_refining/ms:29.3229;Timing/Posterior_computation/ms:0.229836;Timing/Proximity_by_space/ms:0.190973;Timing/Proximity_by_time/ms:0.025034;Timing/Reactivation/ms:0.230074;Timing/Statistics_creation/ms:0.137091;Timing/Total/ms:101.024;TimingMem/Add_new_words/ms:7.42912;TimingMem/Compressing_data/ms:1.09005;TimingMem/Descriptors_extraction/ms:27.045;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.113964;TimingMem/Keypoints_detection/ms:29.274;TimingMem/Occupancy_grid/ms:1.20401;TimingMem/Post_decimation/ms:1.62697;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.130892;TimingMem/Signature_creation/ms:70.312


data:
Keypoint/Dictionary_size/words:2437;Keypoint/Index_memory_usage/KB:618;Keypoint/Indexed_words/words:2371;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:79;Loop/Highest_hypothesis_value/:0.0803114;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/:0.919689;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:20.9052;Memory/Immunized_globally/:13;Memory/Immunized_locally/:5;Memory/Immunized_locally_max/:14;Memory/Local_graph_size/:66;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.35;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:57;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.741433;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.19204e-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;Timing/Hypotheses_creation/ms:0.0231266;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.240088;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.120878;Timing/Memory_update/ms:88.4559;Timing/Neighbor_link_refining/ms:22.943;Timing/Posterior_computation/ms:0.206947;Timing/Proximity_by_space/ms:1.49989;Timing/Proximity_by_time/ms:0.0219345;Timing/Reactivation/ms:0.212193;Timing/Statistics_creation/ms:0.146151;Timing/Total/ms:113.875;TimingMem/Add_new_words/ms:6.72793;TimingMem/Compressing_data/ms:1.30391;TimingMem/Descriptors_extraction/ms:20.92;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.179052;TimingMem/Keypoints_detection/ms:54.776;TimingMem/Occupancy_grid/ms:1.07312;TimingMem/Post_decimation/ms:1.1301;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.139952;TimingMem/Signature_creation/ms:88.3009


data:
Keypoint/Dictionary_size/words:2509;Keypoint/Index_memory_usage/KB:635;Keypoint/Indexed_words/words:2437;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:121;Loop/Highest_hypothesis_value/:0.0774242;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/:121;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.922576;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.1983;Memory/Immunized_globally/:10;Memory/Immunized_locally/:0;Memory/Immunized_locally_max/:14;Memory/Local_graph_size/:67;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.395;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:58;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.806854;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.15198e-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:0.015974;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0.180006;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0767708;Timing/Memory_update/ms:89.735;Timing/Neighbor_link_refining/ms:5.67889;Timing/Posterior_computation/ms:0.150919;Timing/Proximity_by_space/ms:0.159979;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.144005;Timing/Statistics_creation/ms:0.0782013;Timing/Total/ms:96.2398;TimingMem/Add_new_words/ms:12.4972;TimingMem/Compressing_data/ms:1.08981;TimingMem/Descriptors_extraction/ms:38.6729;TimingMem/Joining_dictionary_update/ms:0.025034;TimingMem/Keypoints_3D/ms:0.211954;TimingMem/Keypoints_detection/ms:30.8001;TimingMem/Occupancy_grid/ms:1.25194;TimingMem/Post_decimation/ms:2.49004;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.201941;TimingMem/Signature_creation/ms:89.5212


data:
Keypoint/Dictionary_size/words:2579;Keypoint/Index_memory_usage/KB:654;Keypoint/Indexed_words/words:2509;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:85;Loop/Highest_hypothesis_value/:0.0808006;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/:85;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.919199;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.3797;Memory/Immunized_globally/:13;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:14;Memory/Local_graph_size/:68;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:143;Memory/Rehearsal_merged/:0;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/:59;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.872274;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:3.84224e-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:0.00500679;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0281334;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00905991;Timing/Likelihood_computation/ms:0.404119;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.192881;Timing/Memory_update/ms:88.8259;Timing/Neighbor_link_refining/ms:17.132;Timing/Posterior_computation/ms:0.229836;Timing/Proximity_by_space/ms:0.236988;Timing/Proximity_by_time/ms:0.0338554;Timing/Reactivation/ms:0.344992;Timing/Statistics_creation/ms:0.231028;Timing/Total/ms:107.671;TimingMem/Add_new_words/ms:5.11909;TimingMem/Compressing_data/ms:2.07114;TimingMem/Descriptors_extraction/ms:34.946;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.108004;TimingMem/Keypoints_detection/ms:42.4809;TimingMem/Occupancy_grid/ms:0.855923;TimingMem/Post_decimation/ms:0.957966;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.1719;TimingMem/Signature_creation/ms:88.639


data:
Keypoint/Dictionary_size/words:2661;Keypoint/Index_memory_usage/KB:672;Keypoint/Indexed_words/words:2579;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:83;Loop/Highest_hypothesis_value/:0.08156;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/:83;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.91844;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.4734;Memory/Immunized_globally/:13;Memory/Immunized_locally/:6;Memory/Immunized_locally_max/:15;Memory/Local_graph_size/:69;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.295;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:60;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.856698;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:2.33052e-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:0.00119209;Timing/Hypotheses_creation/ms:0.0259876;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.273943;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.108004;Timing/Memory_update/ms:79.8109;Timing/Neighbor_link_refining/ms:25.6701;Timing/Posterior_computation/ms:0.221968;Timing/Proximity_by_space/ms:0.216007;Timing/Proximity_by_time/ms:0.0240803;Timing/Reactivation/ms:0.291824;Timing/Statistics_creation/ms:0.136852;Timing/Total/ms:106.789;TimingMem/Add_new_words/ms:7.33685;TimingMem/Compressing_data/ms:1.32012;TimingMem/Descriptors_extraction/ms:20.4022;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:0.110865;TimingMem/Keypoints_detection/ms:45.5349;TimingMem/Occupancy_grid/ms:0.848055;TimingMem/Post_decimation/ms:1.30701;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.133038;TimingMem/Signature_creation/ms:79.663


data:
Keypoint/Dictionary_size/words:2694;Keypoint/Index_memory_usage/KB:693;Keypoint/Indexed_words/words:2661;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:89;Loop/Highest_hypothesis_value/:0.0719646;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/:0.928035;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.56;Memory/Immunized_globally/:13;Memory/Immunized_locally/:7;Memory/Immunized_locally_max/:15;Memory/Local_graph_size/:70;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.382653;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:61;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.875389;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:2.41032e-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:0.0400543;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00715256;Timing/Likelihood_computation/ms:0.327826;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0860691;Timing/Memory_update/ms:100.128;Timing/Neighbor_link_refining/ms:10.5371;Timing/Posterior_computation/ms:0.221968;Timing/Proximity_by_space/ms:0.151873;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.247002;Timing/Statistics_creation/ms:0.102043;Timing/Total/ms:111.876;TimingMem/Add_new_words/ms:3.124;TimingMem/Compressing_data/ms:0.78392;TimingMem/Descriptors_extraction/ms:26.2201;TimingMem/Joining_dictionary_update/ms:0.0181198;TimingMem/Keypoints_3D/ms:0.0679493;TimingMem/Keypoints_detection/ms:66.7191;TimingMem/Occupancy_grid/ms:0.69499;TimingMem/Post_decimation/ms:0.990868;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0879765;TimingMem/Signature_creation/ms:100.031


data:
Keypoint/Dictionary_size/words:2720;Keypoint/Index_memory_usage/KB:702;Keypoint/Indexed_words/words:2694;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:110;Loop/Highest_hypothesis_value/:0.0753326;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/:110;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.924667;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.5938;Memory/Immunized_globally/:13;Memory/Immunized_locally/:8;Memory/Immunized_locally_max/:15;Memory/Local_graph_size/:71;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:146;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.503448;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:62;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.88162;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:7.0754e-06;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:0.00119209;Timing/Hypotheses_creation/ms:0.0290871;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.19598;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.127792;Timing/Memory_update/ms:79.1099;Timing/Neighbor_link_refining/ms:23.622;Timing/Posterior_computation/ms:0.257015;Timing/Proximity_by_space/ms:0.287056;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.277996;Timing/Statistics_creation/ms:0.179052;Timing/Total/ms:104.113;TimingMem/Add_new_words/ms:4.86112;TimingMem/Compressing_data/ms:1.52993;TimingMem/Descriptors_extraction/ms:24.0831;TimingMem/Joining_dictionary_update/ms:0.0109673;TimingMem/Keypoints_3D/ms:0.0789165;TimingMem/Keypoints_detection/ms:42.326;TimingMem/Occupancy_grid/ms:1.31202;TimingMem/Post_decimation/ms:1.55187;TimingMem/Pre_update/ms:0.00596046;TimingMem/Rehearsal/ms:0.169039;TimingMem/Signature_creation/ms:78.9042


data:
Keypoint/Dictionary_size/words:2739;Keypoint/Index_memory_usage/KB:709;Keypoint/Indexed_words/words:2720;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:110;Loop/Highest_hypothesis_value/:0.0717863;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/:110;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.928214;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.6472;Memory/Immunized_globally/:13;Memory/Immunized_locally/:9;Memory/Immunized_locally_max/:15;Memory/Local_graph_size/:72;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.448;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:63;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.856698;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.06436e-06;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:0.0219345;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:0.0560284;Timing/Memory_update/ms:69.3998;Timing/Neighbor_link_refining/ms:13.9132;Timing/Posterior_computation/ms:0.240088;Timing/Proximity_by_space/ms:0.211;Timing/Proximity_by_time/ms:0.0228882;Timing/Reactivation/ms:0.211;Timing/Statistics_creation/ms:0.0789165;Timing/Total/ms:84.332;TimingMem/Add_new_words/ms:4.32491;TimingMem/Compressing_data/ms:4.20499;TimingMem/Descriptors_extraction/ms:10.5219;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0422001;TimingMem/Keypoints_detection/ms:42.717;TimingMem/Occupancy_grid/ms:1.40095;TimingMem/Post_decimation/ms:2.19917;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.155926;TimingMem/Signature_creation/ms:69.226


data:
Keypoint/Dictionary_size/words:2762;Keypoint/Index_memory_usage/KB:714;Keypoint/Indexed_words/words:2739;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:83;Loop/Highest_hypothesis_value/:0.0911441;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/:83;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.908856;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.7026;Memory/Immunized_globally/:13;Memory/Immunized_locally/:10;Memory/Immunized_locally_max/:16;Memory/Local_graph_size/:73;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.346535;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:64;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.894081;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:1.4126e-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:0.0200272;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00596046;Timing/Likelihood_computation/ms:0.152826;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.108004;Timing/Memory_update/ms:56.4871;Timing/Neighbor_link_refining/ms:16.5;Timing/Posterior_computation/ms:0.177145;Timing/Proximity_by_space/ms:0.177145;Timing/Proximity_by_time/ms:0.0178814;Timing/Reactivation/ms:0.26989;Timing/Statistics_creation/ms:0.114918;Timing/Total/ms:74.034;TimingMem/Add_new_words/ms:4.73094;TimingMem/Compressing_data/ms:0.996113;TimingMem/Descriptors_extraction/ms:19.0811;TimingMem/Joining_dictionary_update/ms:0.0240803;TimingMem/Keypoints_3D/ms:0.0898838;TimingMem/Keypoints_detection/ms:27.333;TimingMem/Occupancy_grid/ms:0.716925;TimingMem/Post_decimation/ms:0.983953;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.110149;TimingMem/Signature_creation/ms:56.3619


data:
Keypoint/Dictionary_size/words:2762;Keypoint/Index_memory_usage/KB:720;Keypoint/Indexed_words/words:2762;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;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/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.757;Memory/Immunized_globally/:0;Memory/Immunized_locally/:11;Memory/Immunized_locally_max/:16;Memory/Local_graph_size/:74;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:65;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.897196;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:9.625e-06;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:0.0100136;Timing/Forgetting/ms:0.00190735;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0.00119209;Timing/Memory_cleanup/ms:0.0998974;Timing/Memory_update/ms:41.3351;Timing/Neighbor_link_refining/ms:28.548;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.433922;Timing/Proximity_by_time/ms:0.0379086;Timing/Reactivation/ms:0.357151;Timing/Statistics_creation/ms:0.164986;Timing/Total/ms:70.986;TimingMem/Compressing_data/ms:0.608921;TimingMem/Descriptors_extraction/ms:10.69;TimingMem/Keypoints_detection/ms:23.6979;TimingMem/Occupancy_grid/ms:2.51412;TimingMem/Post_decimation/ms:1.78909;TimingMem/Pre_update/ms:0.000953674;TimingMem/Rehearsal/ms:0.0591278;TimingMem/Signature_creation/ms:41.2629


data:
Keypoint/Dictionary_size/words:2788;Keypoint/Index_memory_usage/KB:720;Keypoint/Indexed_words/words:2762;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:83;Loop/Highest_hypothesis_value/:0.101106;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/:83;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.898894;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.8258;Memory/Immunized_globally/:13;Memory/Immunized_locally/:12;Memory/Immunized_locally_max/:16;Memory/Local_graph_size/:75;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:66;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.869159;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:1.61062e-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:0.0219345;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.128031;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.041008;Timing/Memory_update/ms:62.726;Timing/Neighbor_link_refining/ms:23.191;Timing/Posterior_computation/ms:0.211;Timing/Proximity_by_space/ms:0.240803;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.215054;Timing/Statistics_creation/ms:0.0758171;Timing/Total/ms:86.8781;TimingMem/Add_new_words/ms:1.65486;TimingMem/Compressing_data/ms:0.520945;TimingMem/Descriptors_extraction/ms:9.50313;TimingMem/Joining_dictionary_update/ms:0.0112057;TimingMem/Keypoints_3D/ms:0.043869;TimingMem/Keypoints_detection/ms:46.3109;TimingMem/Occupancy_grid/ms:0.762224;TimingMem/Post_decimation/ms:0.782967;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.164032;TimingMem/Signature_creation/ms:62.536


data:
Keypoint/Dictionary_size/words:2788;Keypoint/Index_memory_usage/KB:726;Keypoint/Indexed_words/words:2788;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:0;Loop/Highest_hypothesis_value/:0;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/:0;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.8857;Memory/Immunized_globally/:0;Memory/Immunized_locally/:13;Memory/Immunized_locally_max/:16;Memory/Local_graph_size/:76;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:67;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.897196;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:1.40422e-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:0.00190735;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00309944;Timing/Likelihood_computation/ms:0;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0190735;Timing/Memory_update/ms:62.4831;Timing/Neighbor_link_refining/ms:16.505;Timing/Posterior_computation/ms:0;Timing/Proximity_by_space/ms:0.179052;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.127792;Timing/Statistics_creation/ms:0.0300407;Timing/Total/ms:79.3641;TimingMem/Compressing_data/ms:0.991106;TimingMem/Descriptors_extraction/ms:14.1218;TimingMem/Keypoints_detection/ms:37.3571;TimingMem/Occupancy_grid/ms:1.84703;TimingMem/Post_decimation/ms:0.848055;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0598431;TimingMem/Signature_creation/ms:62.4111


data:
Keypoint/Dictionary_size/words:2861;Keypoint/Index_memory_usage/KB:726;Keypoint/Indexed_words/words:2788;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:90;Loop/Highest_hypothesis_value/:0.10683;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/:90;Loop/RejectedHypothesis/:0;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.89317;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:21.949;Memory/Immunized_globally/:13;Memory/Immunized_locally/:14;Memory/Immunized_locally_max/:17;Memory/Local_graph_size/:77;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:68;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.806854;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:1.10314e-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:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0300407;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.241995;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0751019;Timing/Memory_update/ms:81.214;Timing/Neighbor_link_refining/ms:17.2911;Timing/Posterior_computation/ms:0.272989;Timing/Proximity_by_space/ms:0.310183;Timing/Proximity_by_time/ms:0.0269413;Timing/Reactivation/ms:0.288963;Timing/Statistics_creation/ms:0.108957;Timing/Total/ms:99.8671;TimingMem/Add_new_words/ms:10.8478;TimingMem/Compressing_data/ms:1.24311;TimingMem/Descriptors_extraction/ms:18.5771;TimingMem/Joining_dictionary_update/ms:0.0259876;TimingMem/Keypoints_3D/ms:0.152111;TimingMem/Keypoints_detection/ms:39.6829;TimingMem/Occupancy_grid/ms:1.49393;TimingMem/Post_decimation/ms:1.36304;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.0669956;TimingMem/Signature_creation/ms:81.1329


data:
Keypoint/Dictionary_size/words:2944;Keypoint/Index_memory_usage/KB:745;Keypoint/Indexed_words/words:2861;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:91;Loop/Highest_hypothesis_value/:0.120906;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/:91;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:3;Loop/Visual_matches/:6;Loop/Vp_hypothesis/:0.879094;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:22.0083;Memory/Immunized_globally/:13;Memory/Immunized_locally/:15;Memory/Immunized_locally_max/:17;Memory/Local_graph_size/:78;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.27;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:69;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.781931;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:2.46295e-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/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:13.5379;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:0.000953674;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.244856;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0839233;Timing/Memory_update/ms:118.642;Timing/Neighbor_link_refining/ms:23.2768;Timing/Posterior_computation/ms:0.250101;Timing/Proximity_by_space/ms:31.5502;Timing/Proximity_by_time/ms:0.026226;Timing/Reactivation/ms:2.50602;Timing/Statistics_creation/ms:0.0920296;Timing/Total/ms:190.25;TimingMem/Add_new_words/ms:4.83298;TimingMem/Compressing_data/ms:0.844955;TimingMem/Descriptors_extraction/ms:64.219;TimingMem/Joining_dictionary_update/ms:0.013113;TimingMem/Keypoints_3D/ms:0.196934;TimingMem/Keypoints_detection/ms:35.1439;TimingMem/Occupancy_grid/ms:2.80905;TimingMem/Post_decimation/ms:0.936031;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.129938;TimingMem/Signature_creation/ms:118.499


data:
Keypoint/Dictionary_size/words:3009;Keypoint/Index_memory_usage/KB:767;Keypoint/Indexed_words/words:2944;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:92;Loop/Highest_hypothesis_value/:0.105603;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:109652;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.77096;Loop/Reactivate_id/:92;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.894397;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:22.0632;Memory/Immunized_globally/:13;Memory/Immunized_locally/:16;Memory/Immunized_locally_max/:17;Memory/Local_graph_size/:79;Memory/Odometry_variance_ang/:179982;Memory/Odometry_variance_lin/:179982;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.44;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:70;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.82866;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:1.06521e-05;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:0.0219345;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.159979;Timing/Map_optimization/ms:7.47609;Timing/Memory_cleanup/ms:0.11611;Timing/Memory_update/ms:94.6078;Timing/Neighbor_link_refining/ms:13.2082;Timing/Posterior_computation/ms:0.159979;Timing/Proximity_by_space/ms:16.566;Timing/Proximity_by_time/ms:0.0169277;Timing/Reactivation/ms:0.175953;Timing/Statistics_creation/ms:0.141859;Timing/Total/ms:132.655;TimingMem/Add_new_words/ms:9.43422;TimingMem/Compressing_data/ms:2.95591;TimingMem/Descriptors_extraction/ms:37.1449;TimingMem/Joining_dictionary_update/ms:0.015974;TimingMem/Keypoints_3D/ms:0.123024;TimingMem/Keypoints_detection/ms:31.1501;TimingMem/Occupancy_grid/ms:1.90902;TimingMem/Post_decimation/ms:2.94399;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.128984;TimingMem/Signature_creation/ms:94.4672


data:
Keypoint/Dictionary_size/words:3058;Keypoint/Index_memory_usage/KB:784;Keypoint/Indexed_words/words:3009;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:99;Loop/Highest_hypothesis_value/:0.0891591;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89938;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.40067;Loop/Reactivate_id/:99;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.910841;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:22.118;Memory/Immunized_globally/:13;Memory/Immunized_locally/:17;Memory/Immunized_locally_max/:17;Memory/Local_graph_size/:80;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.39;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:71;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.788162;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:1.49199e-05;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:0.000953674;Timing/Hypotheses_creation/ms:0.0281334;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.229836;Timing/Map_optimization/ms:11.518;Timing/Memory_cleanup/ms:0.18096;Timing/Memory_update/ms:58.486;Timing/Neighbor_link_refining/ms:23.334;Timing/Posterior_computation/ms:0.267029;Timing/Proximity_by_space/ms:21.3559;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.250816;Timing/Statistics_creation/ms:0.205994;Timing/Total/ms:115.885;TimingMem/Add_new_words/ms:3.01409;TimingMem/Compressing_data/ms:0.657082;TimingMem/Descriptors_extraction/ms:10.443;TimingMem/Joining_dictionary_update/ms:0.00691414;TimingMem/Keypoints_3D/ms:0.0560284;TimingMem/Keypoints_detection/ms:34.214;TimingMem/Occupancy_grid/ms:1.32394;TimingMem/Post_decimation/ms:0.901937;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.224113;TimingMem/Signature_creation/ms:58.243


data:
Keypoint/Dictionary_size/words:3104;Keypoint/Index_memory_usage/KB:797;Keypoint/Indexed_words/words:3058;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:101;Loop/Highest_hypothesis_value/:0.10307;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89418.1;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.38916;Loop/Reactivate_id/:101;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.89693;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:22.1517;Memory/Immunized_globally/:13;Memory/Immunized_locally/:18;Memory/Immunized_locally_max/:18;Memory/Local_graph_size/:81;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.341772;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:72;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.775701;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:1.35783e-05;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:0.00214577;Timing/Hypotheses_creation/ms:0.0338554;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00810623;Timing/Likelihood_computation/ms:0.248909;Timing/Map_optimization/ms:10.0319;Timing/Memory_cleanup/ms:0.152826;Timing/Memory_update/ms:67.3211;Timing/Neighbor_link_refining/ms:21.6808;Timing/Posterior_computation/ms:0.213146;Timing/Proximity_by_space/ms:17.065;Timing/Proximity_by_time/ms:0.0231266;Timing/Reactivation/ms:0.277996;Timing/Statistics_creation/ms:0.240088;Timing/Total/ms:117.298;TimingMem/Add_new_words/ms:7.43294;TimingMem/Compressing_data/ms:1.72305;TimingMem/Descriptors_extraction/ms:14.3239;TimingMem/Joining_dictionary_update/ms:0.0119209;TimingMem/Keypoints_3D/ms:0.0779629;TimingMem/Keypoints_detection/ms:33.277;TimingMem/Occupancy_grid/ms:2.23303;TimingMem/Post_decimation/ms:1.302;TimingMem/Pre_update/ms:0.00119209;TimingMem/Rehearsal/ms:0.118971;TimingMem/Signature_creation/ms:67.1909


data:
Keypoint/Dictionary_size/words:3141;Keypoint/Index_memory_usage/KB:809;Keypoint/Indexed_words/words:3104;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:105;Loop/Highest_hypothesis_value/:0.102534;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89825;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.39816;Loop/Reactivate_id/:105;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.897466;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:22.3321;Memory/Immunized_globally/:13;Memory/Immunized_locally/:18;Memory/Immunized_locally_max/:18;Memory/Local_graph_size/:82;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.394366;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:73;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.825545;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:5.99623e-05;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:0.025034;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0038147;Timing/Likelihood_computation/ms:0.226021;Timing/Map_optimization/ms:10.8759;Timing/Memory_cleanup/ms:0.0851154;Timing/Memory_update/ms:69.068;Timing/Neighbor_link_refining/ms:30.525;Timing/Posterior_computation/ms:0.226974;Timing/Proximity_by_space/ms:21.3001;Timing/Proximity_by_time/ms:0.0240803;Timing/Reactivation/ms:0.253916;Timing/Statistics_creation/ms:0.170946;Timing/Total/ms:132.788;TimingMem/Add_new_words/ms:7.7889;TimingMem/Compressing_data/ms:2.72584;TimingMem/Descriptors_extraction/ms:18.2939;TimingMem/Joining_dictionary_update/ms:0.0309944;TimingMem/Keypoints_3D/ms:0.144958;TimingMem/Keypoints_detection/ms:29.6192;TimingMem/Occupancy_grid/ms:1.84393;TimingMem/Post_decimation/ms:1.405;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.114918;TimingMem/Signature_creation/ms:68.9411


data:
Keypoint/Dictionary_size/words:3190;Keypoint/Index_memory_usage/KB:818;Keypoint/Indexed_words/words:3141;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:101;Loop/Highest_hypothesis_value/:0.115761;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89681.8;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.395;Loop/Reactivate_id/:101;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:11;Loop/Vp_hypothesis/:0.884239;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:22.7131;Memory/Immunized_globally/:13;Memory/Immunized_locally/:18;Memory/Immunized_locally_max/:18;Memory/Local_graph_size/:83;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.3;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:74;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.750779;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:0.000102509;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:7.21407;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.00119209;Timing/Hypotheses_creation/ms:0.0829697;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.0209808;Timing/Likelihood_computation/ms:0.566006;Timing/Map_optimization/ms:16.3212;Timing/Memory_cleanup/ms:0.0808239;Timing/Memory_update/ms:84.8811;Timing/Neighbor_link_refining/ms:23.8569;Timing/Posterior_computation/ms:0.944138;Timing/Proximity_by_space/ms:23.7439;Timing/Proximity_by_time/ms:0.0319481;Timing/Reactivation/ms:0.49305;Timing/Statistics_creation/ms:0.139952;Timing/Total/ms:158.378;TimingMem/Add_new_words/ms:3.46494;TimingMem/Compressing_data/ms:1.22404;TimingMem/Descriptors_extraction/ms:11.8239;TimingMem/Joining_dictionary_update/ms:0.00810623;TimingMem/Keypoints_3D/ms:0.0510216;TimingMem/Keypoints_detection/ms:56.6101;TimingMem/Occupancy_grid/ms:3.09086;TimingMem/Post_decimation/ms:1.45102;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.127077;TimingMem/Signature_creation/ms:84.739


data:
Keypoint/Dictionary_size/words:3250;Keypoint/Index_memory_usage/KB:831;Keypoint/Indexed_words/words:3190;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.104367;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89220.9;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.38474;Loop/Reactivate_id/:102;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.895633;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:23.0645;Memory/Immunized_globally/:13;Memory/Immunized_locally/:18;Memory/Immunized_locally_max/:18;Memory/Local_graph_size/:84;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.341935;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:75;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.676012;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:0.000155257;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:0.00119209;Timing/Hypotheses_creation/ms:0.0269413;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.251055;Timing/Map_optimization/ms:8.78787;Timing/Memory_cleanup/ms:0.0939369;Timing/Memory_update/ms:63.513;Timing/Neighbor_link_refining/ms:35.723;Timing/Posterior_computation/ms:0.263929;Timing/Proximity_by_space/ms:26.783;Timing/Proximity_by_time/ms:0.0259876;Timing/Reactivation/ms:0.27585;Timing/Statistics_creation/ms:0.185013;Timing/Total/ms:135.934;TimingMem/Add_new_words/ms:8.17609;TimingMem/Compressing_data/ms:4.70996;TimingMem/Descriptors_extraction/ms:8.96096;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0760555;TimingMem/Keypoints_detection/ms:29.5329;TimingMem/Occupancy_grid/ms:1.84083;TimingMem/Post_decimation/ms:2.41804;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.11611;TimingMem/Signature_creation/ms:63.3838


data:
Keypoint/Dictionary_size/words:3301;Keypoint/Index_memory_usage/KB:847;Keypoint/Indexed_words/words:3250;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:103;Loop/Highest_hypothesis_value/:0.111217;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:89355.8;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.38766;Loop/Reactivate_id/:103;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:3;Loop/Vp_hypothesis/:0.888783;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:23.4296;Memory/Immunized_globally/:13;Memory/Immunized_locally/:19;Memory/Immunized_locally_max/:19;Memory/Local_graph_size/:85;Memory/Odometry_variance_ang/:199980;Memory/Odometry_variance_lin/:199980;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.264516;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:76;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.71028;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:0.000121123;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:5.20802;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.0100136;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0741482;Timing/Hypotheses_validation/ms:0.000953674;Timing/Joining_trash/ms:0.0200272;Timing/Likelihood_computation/ms:0.90909;Timing/Map_optimization/ms:10.309;Timing/Memory_cleanup/ms:0.10705;Timing/Memory_update/ms:65.8321;Timing/Neighbor_link_refining/ms:16.737;Timing/Posterior_computation/ms:0.445843;Timing/Proximity_by_space/ms:24.771;Timing/Proximity_by_time/ms:0.0538826;Timing/Reactivation/ms:0.360012;Timing/Statistics_creation/ms:0.206947;Timing/Total/ms:125.037;TimingMem/Add_new_words/ms:6.69909;TimingMem/Compressing_data/ms:1.50919;TimingMem/Descriptors_extraction/ms:10.504;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:0.105858;TimingMem/Keypoints_detection/ms:38.1801;TimingMem/Occupancy_grid/ms:1.28603;TimingMem/Post_decimation/ms:1.80888;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0858307;TimingMem/Signature_creation/ms:65.7361


data:
Keypoint/Dictionary_size/words:3336;Keypoint/Index_memory_usage/KB:860;Keypoint/Indexed_words/words:3301;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:104;Loop/Highest_hypothesis_value/:0.104996;Loop/Hypothesis_ratio/:0;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:88647.5;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.37188;Loop/Reactivate_id/:104;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:0;Loop/Vp_hypothesis/:0.895004;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:23.799;Memory/Immunized_globally/:13;Memory/Immunized_locally/:19;Memory/Immunized_locally_max/:19;Memory/Local_graph_size/:86;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.18254;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:77;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.760125;NeighborLinkRefining/Pts/:320;NeighborLinkRefining/Variance/:0.000114476;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00309944;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.025034;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00500679;Timing/Likelihood_computation/ms:0.185966;Timing/Map_optimization/ms:12.718;Timing/Memory_cleanup/ms:0.0751019;Timing/Memory_update/ms:44.7121;Timing/Neighbor_link_refining/ms:28.378;Timing/Posterior_computation/ms:0.236034;Timing/Proximity_by_space/ms:22.2981;Timing/Proximity_by_time/ms:0.0209808;Timing/Reactivation/ms:0.299931;Timing/Statistics_creation/ms:0.211954;Timing/Total/ms:109.167;TimingMem/Add_new_words/ms:3.79014;TimingMem/Compressing_data/ms:1.82414;TimingMem/Descriptors_extraction/ms:6.50811;TimingMem/Joining_dictionary_update/ms:0.0190735;TimingMem/Keypoints_3D/ms:0.0798702;TimingMem/Keypoints_detection/ms:22.697;TimingMem/Occupancy_grid/ms:1.7519;TimingMem/Post_decimation/ms:1.4658;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.115871;TimingMem/Signature_creation/ms:44.5831


data:
Keypoint/Dictionary_size/words:3371;Keypoint/Index_memory_usage/KB:869;Keypoint/Indexed_words/words:3336;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:100;Loop/Highest_hypothesis_value/:0.11325;Loop/Hypothesis_ratio/:1;Loop/Hypothesis_reactivated/:0;Loop/Last_id/:113;Loop/Optimization_error/:88880.7;Loop/Optimization_iterations/:100;Loop/Optimization_max_error/m:3.37703;Loop/Reactivate_id/:100;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:7;Loop/Vp_hypothesis/:0.88675;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:24.172;Memory/Immunized_globally/:13;Memory/Immunized_locally/:19;Memory/Immunized_locally_max/:19;Memory/Local_graph_size/:87;Memory/Odometry_variance_ang/:229977;Memory/Odometry_variance_lin/:229977;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.289157;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:78;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.725857;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000107138;Proximity/Space_detections_added_icp_only/:1;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:3.30615;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00286102;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0200272;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00286102;Timing/Likelihood_computation/ms:0.167847;Timing/Map_optimization/ms:7.08795;Timing/Memory_cleanup/ms:0.0360012;Timing/Memory_update/ms:48.5539;Timing/Neighbor_link_refining/ms:21.7772;Timing/Posterior_computation/ms:0.182152;Timing/Proximity_by_space/ms:23.03;Timing/Proximity_by_time/ms:0.0169277;Timing/Reactivation/ms:0.231981;Timing/Statistics_creation/ms:0.0770092;Timing/Total/ms:104.492;TimingMem/Add_new_words/ms:3.91483;TimingMem/Compressing_data/ms:1.41811;TimingMem/Descriptors_extraction/ms:13.386;TimingMem/Joining_dictionary_update/ms:0.0200272;TimingMem/Keypoints_3D/ms:0.0889301;TimingMem/Keypoints_detection/ms:20.097;TimingMem/Occupancy_grid/ms:1.63198;TimingMem/Post_decimation/ms:1.48511;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.0970364;TimingMem/Signature_creation/ms:48.4428


data:
Keypoint/Dictionary_size/words:3409;Keypoint/Index_memory_usage/KB:878;Keypoint/Indexed_words/words:3371;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.107065;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/:0.892935;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:24.5347;Memory/Immunized_globally/:13;Memory/Immunized_locally/:19;Memory/Immunized_locally_max/:19;Memory/Local_graph_size/:88;Memory/Odometry_variance_ang/:189981;Memory/Odometry_variance_lin/:189981;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.404255;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:79;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.757009;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000118227;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;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:0.0219345;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.150919;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0739098;Timing/Memory_update/ms:67.4491;Timing/Neighbor_link_refining/ms:5.18584;Timing/Posterior_computation/ms:0.180006;Timing/Proximity_by_space/ms:2.79808;Timing/Proximity_by_time/ms:0.0181198;Timing/Reactivation/ms:0.236034;Timing/Statistics_creation/ms:0.09799;Timing/Total/ms:76.216;TimingMem/Add_new_words/ms:4.01092;TimingMem/Compressing_data/ms:1.6489;TimingMem/Descriptors_extraction/ms:9.85312;TimingMem/Joining_dictionary_update/ms:0.0140667;TimingMem/Keypoints_3D/ms:0.0710487;TimingMem/Keypoints_detection/ms:41.4948;TimingMem/Occupancy_grid/ms:2.63309;TimingMem/Post_decimation/ms:1.33896;TimingMem/Pre_update/ms:0.00214577;TimingMem/Rehearsal/ms:0.138044;TimingMem/Signature_creation/ms:67.2939


data:
Keypoint/Dictionary_size/words:3437;Keypoint/Index_memory_usage/KB:888;Keypoint/Indexed_words/words:3409;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:99;Loop/Highest_hypothesis_value/:0.110369;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/:99;Loop/RejectedHypothesis/:1;Loop/Visual_inliers/:0;Loop/Visual_matches/:7;Loop/Vp_hypothesis/:0.889631;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:24.8918;Memory/Immunized_globally/:13;Memory/Immunized_locally/:20;Memory/Immunized_locally_max/:20;Memory/Local_graph_size/:89;Memory/Odometry_variance_ang/:209979;Memory/Odometry_variance_lin/:209979;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.287234;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:80;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.738318;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000141179;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:3;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:3.57294;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.000953674;Timing/Forgetting/ms:0.000953674;Timing/Hypotheses_creation/ms:0.0500679;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.0150204;Timing/Likelihood_computation/ms:0.276089;Timing/Map_optimization/ms:0.000953674;Timing/Memory_cleanup/ms:0.0481606;Timing/Memory_update/ms:59.7162;Timing/Neighbor_link_refining/ms:18.265;Timing/Posterior_computation/ms:0.299931;Timing/Proximity_by_space/ms:3.46804;Timing/Proximity_by_time/ms:0.0247955;Timing/Reactivation/ms:0.390053;Timing/Statistics_creation/ms:0.109911;Timing/Total/ms:86.2372;TimingMem/Add_new_words/ms:4.30012;TimingMem/Compressing_data/ms:9.69195;TimingMem/Descriptors_extraction/ms:13.015;TimingMem/Joining_dictionary_update/ms:0.0309944;TimingMem/Keypoints_3D/ms:0.115871;TimingMem/Keypoints_detection/ms:23.272;TimingMem/Occupancy_grid/ms:1.40285;TimingMem/Post_decimation/ms:1.302;TimingMem/Pre_update/ms:0.00405312;TimingMem/Rehearsal/ms:0.0789165;TimingMem/Signature_creation/ms:59.6189


data:
Keypoint/Dictionary_size/words:3473;Keypoint/Index_memory_usage/KB:896;Keypoint/Indexed_words/words:3437;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:103;Loop/Highest_hypothesis_value/:0.104234;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/:0.895766;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:25.2639;Memory/Immunized_globally/:13;Memory/Immunized_locally/:20;Memory/Immunized_locally_max/:20;Memory/Local_graph_size/:90;Memory/Odometry_variance_ang/:239976;Memory/Odometry_variance_lin/:239976;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.304878;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:81;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.70405;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.000160879;Proximity/Space_detections_added_icp_only/:0;Proximity/Space_detections_added_visually/:0;Proximity/Space_last_detection_id/:0;Proximity/Space_paths/:4;Proximity/Space_scan_paths_checked/:1;Proximity/Space_visual_paths_checked/:0;Proximity/Time_detections/:0;Timing/Add_loop_closure_link/ms:0.000953674;Timing/Cleaning_neighbors/ms:0;Timing/Emptying_trash/ms:0.00214577;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0219345;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00405312;Timing/Likelihood_computation/ms:0.138044;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0319481;Timing/Memory_update/ms:62.7072;Timing/Neighbor_link_refining/ms:9.47785;Timing/Posterior_computation/ms:0.174046;Timing/Proximity_by_space/ms:2.58303;Timing/Proximity_by_time/ms:0.0150204;Timing/Reactivation/ms:0.242949;Timing/Statistics_creation/ms:0.0681877;Timing/Total/ms:75.4662;TimingMem/Add_new_words/ms:2.31886;TimingMem/Compressing_data/ms:1.04594;TimingMem/Descriptors_extraction/ms:23.3529;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0491142;TimingMem/Keypoints_detection/ms:27.112;TimingMem/Occupancy_grid/ms:2.19011;TimingMem/Post_decimation/ms:0.822067;TimingMem/Pre_update/ms:0.00190735;TimingMem/Rehearsal/ms:0.0751019;TimingMem/Signature_creation/ms:62.6211


data:
Keypoint/Dictionary_size/words:3501;Keypoint/Index_memory_usage/KB:905;Keypoint/Indexed_words/words:3473;Loop/Accepted_hypothesis_id/:0;Loop/Highest_hypothesis_id/:102;Loop/Highest_hypothesis_value/:0.0913817;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/:0.908618;Memory/Database_memory_used/MB:0;Memory/Distance_travelled/m:25.6313;Memory/Immunized_globally/:13;Memory/Immunized_locally/:20;Memory/Immunized_locally_max/:20;Memory/Local_graph_size/:91;Memory/Odometry_variance_ang/:219978;Memory/Odometry_variance_lin/:219978;Memory/Rehearsal_id/:0;Memory/Rehearsal_merged/:0;Memory/Rehearsal_sim/:0.365854;Memory/Short_time_memory_size/:10;Memory/Signatures_removed/:0;Memory/Signatures_retrieved/:0;Memory/Small_movement/:0;Memory/Working_memory_size/:82;NeighborLinkRefining/Accepted/:1;NeighborLinkRefining/Inliers/:0;NeighborLinkRefining/Inliers_ratio/:0.725857;NeighborLinkRefining/Pts/:321;NeighborLinkRefining/Variance/:0.00012605;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:0.000953674;Timing/Forgetting/ms:0;Timing/Hypotheses_creation/ms:0.0309944;Timing/Hypotheses_validation/ms:0;Timing/Joining_trash/ms:0.00810623;Timing/Likelihood_computation/ms:0.241995;Timing/Map_optimization/ms:0;Timing/Memory_cleanup/ms:0.0600815;Timing/Memory_update/ms:44.9882;Timing/Neighbor_link_refining/ms:22.372;Timing/Posterior_computation/ms:0.203133;Timing/Proximity_by_space/ms:4.4198;Timing/Proximity_by_time/ms:0.0238419;Timing/Reactivation/ms:0.296831;Timing/Statistics_creation/ms:0.118971;Timing/Total/ms:72.767;TimingMem/Add_new_words/ms:2.49505;TimingMem/Compressing_data/ms:0.624895;TimingMem/Descriptors_extraction/ms:7.21622;TimingMem/Joining_dictionary_update/ms:0.0100136;TimingMem/Keypoints_3D/ms:0.0488758;TimingMem/Keypoints_detection/ms:25.9569;TimingMem/Occupancy_grid/ms:1.55711;TimingMem/Post_decimation/ms:1.13606;TimingMem/Pre_update/ms:0.00309944;TimingMem/Rehearsal/ms:0.0839233;TimingMem/Signature_creation/ms:44.889


