# Info

time_enter: 2018-10-27 07:47:35
parameters:
BRIEF/Bytes:32;BRISK/Octaves:3;BRISK/PatternScale:1;BRISK/Thresh:30;Bayes/FullPredictionUpdate:false;Bayes/PredictionLC:0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23;Bayes/VirtualPlacePriorThr:0.9;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:false;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:0;FAST/GridRows:0;FAST/MaxThreshold:200;FAST/MinThreshold:7;FAST/NonmaxSuppression:true;FAST/Threshold:20;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:3;GFTT/QualityLevel:0.001;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:true;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthRoiRatios:0.0 0.0 0.0 0.0;Grid/FlatObstacleDetected:true;Grid/FootprintHeight:0.0;Grid/FootprintLength:0.0;Grid/FootprintWidth:0.0;Grid/FromDepth:true;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:20;Grid/NormalsSegmentation:true;Grid/PreVoxelFiltering:true;Grid/RangeMax:5.0;Grid/RangeMin:0.0;Grid/RayTracing:false;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;GridGlobal/Eroded:false;GridGlobal/FootprintRadius:0.0;GridGlobal/FullUpdate:true;GridGlobal/MaxNodes:0;GridGlobal/MinSize:0.0;GridGlobal/OccupancyThr:0.5;GridGlobal/ProbClampingMax:0.971;GridGlobal/ProbClampingMin:0.1192;GridGlobal/ProbHit:0.7;GridGlobal/ProbMiss:0.4;GridGlobal/UpdateError:0.01;Icp/CorrespondenceRatio:0.1;Icp/DownsamplingStep:1;Icp/Epsilon:0;Icp/Iterations:30;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.78;Icp/MaxTranslation:0.2;Icp/PM:false;Icp/PMConfig:;Icp/PMMatcherEpsilon:0.0;Icp/PMMatcherKnn:1;Icp/PMOutlierRatio:0.95;Icp/PointToPlane:false;Icp/PointToPlaneK:5;Icp/PointToPlaneMinComplexity:0.02;Icp/PointToPlaneRadius:1.0;Icp/VoxelSize:0.0;KAZE/Diffusivity:1;KAZE/Extended:false;KAZE/NOctaveLayers:4;KAZE/NOctaves:4;KAZE/Threshold:0.001;KAZE/Upright:false;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:6;Kp/DictionaryPath:;Kp/FlannRebalancingFactor:2.0;Kp/GridCols:1;Kp/GridRows:1;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:0;Kp/MaxFeatures:500;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:true;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:true;Mem/CovOffDiagIgnored:true;Mem/DepthAsMask:true;Mem/GenerateIds:true;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/IntermediateNodeDataKept:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/LaserScanNormalRadius:0.0;Mem/LaserScanVoxelSize:0.0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.6;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:true;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:true;Odom/Holonomic:true;Odom/ImageBufferSize:1;Odom/ImageDecimation:1;Odom/KalmanMeasurementNoise:0.01;Odom/KalmanProcessNoise:0.001;Odom/KeyFrameThr:0.3;Odom/ParticleLambdaR:100;Odom/ParticleLambdaT:100;Odom/ParticleNoiseR:0.002;Odom/ParticleNoiseT:0.002;Odom/ParticleSize:400;Odom/ResetCountdown:0;Odom/ScanKeyFrameThr:0.9;Odom/Strategy:0;Odom/VisKeyFrameThr:150;OdomF2M/BundleAdjustment:1;OdomF2M/BundleAdjustmentMaxFrames:10;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractAngle:45;OdomF2M/ScanSubtractRadius:0.05;OdomFovis/BucketHeight:80;OdomFovis/BucketWidth:80;OdomFovis/CliqueInlierThreshold:0.1;OdomFovis/FastThreshold:20;OdomFovis/FastThresholdAdaptiveGain:0.005;OdomFovis/FeatureSearchWindow:25;OdomFovis/FeatureWindowSize:9;OdomFovis/InlierMaxReprojectionError:1.5;OdomFovis/MaxKeypointsPerBucket:25;OdomFovis/MaxMeanReprojectionError:10.0;OdomFovis/MaxPyramidLevel:3;OdomFovis/MinFeaturesForEstimate:20;OdomFovis/MinPyramidLevel:0;OdomFovis/StereoMaxDisparity:128;OdomFovis/StereoMaxDistEpipolarLine:1.5;OdomFovis/StereoMaxRefinementDisplacement:1.0;OdomFovis/StereoRequireMutualMatch:true;OdomFovis/TargetPixelsPerFeature:250;OdomFovis/UpdateTargetFeaturesWithRefined:false;OdomFovis/UseAdaptiveThreshold:true;OdomFovis/UseBucketing:true;OdomFovis/UseHomographyInitialization:true;OdomFovis/UseImageNormalization:false;OdomFovis/UseSubpixelRefinement:true;OdomLOAM/AngVar:0.01;OdomLOAM/LinVar:0.01;OdomLOAM/LocalMapping:true;OdomLOAM/ScanPeriod:0.1;OdomLOAM/Sensor:2;OdomMSCKF/FastThreshold:10;OdomMSCKF/GridCol:5;OdomMSCKF/GridMaxFeatureNum:4;OdomMSCKF/GridMinFeatureNum:3;OdomMSCKF/GridRow:4;OdomMSCKF/InitCovAccBias:0.01;OdomMSCKF/InitCovExRot:0.00030462;OdomMSCKF/InitCovExTrans:0.000025;OdomMSCKF/InitCovGyroBias:0.01;OdomMSCKF/InitCovVel:0.25;OdomMSCKF/MaxCamStateSize:20;OdomMSCKF/MaxIteration:30;OdomMSCKF/NoiseAcc:0.05;OdomMSCKF/NoiseAccBias:0.01;OdomMSCKF/NoiseFeature:0.035;OdomMSCKF/NoiseGyro:0.005;OdomMSCKF/NoiseGyroBias:0.001;OdomMSCKF/OptTranslationThreshold:0;OdomMSCKF/PatchSize:15;OdomMSCKF/PositionStdThreshold:8.0;OdomMSCKF/PyramidLevels:3;OdomMSCKF/RansacThreshold:3;OdomMSCKF/RotationThreshold:0.2618;OdomMSCKF/StereoThreshold:5;OdomMSCKF/TrackPrecision:0.01;OdomMSCKF/TrackingRateThreshold:0.5;OdomMSCKF/TranslationThreshold:0.4;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;OdomOKVIS/ConfigPath:;OdomORBSLAM2/Bf:0.076;OdomORBSLAM2/Fps:0.0;OdomORBSLAM2/MapSize:3000;OdomORBSLAM2/MaxFeatures:1000;OdomORBSLAM2/ThDepth:40.0;OdomORBSLAM2/VocPath:;OdomViso2/BucketHeight:50;OdomViso2/BucketMaxFeatures:2;OdomViso2/BucketWidth:50;OdomViso2/InlierThreshold:2.0;OdomViso2/MatchBinsize:50;OdomViso2/MatchDispTolerance:2;OdomViso2/MatchHalfResolution:true;OdomViso2/MatchMultiStage:true;OdomViso2/MatchNmsN:3;OdomViso2/MatchNmsTau:50;OdomViso2/MatchOutlierDispTolerance:5;OdomViso2/MatchOutlierFlowTolerance:5;OdomViso2/MatchRadius:200;OdomViso2/MatchRefinement:1;OdomViso2/RansacIters:200;OdomViso2/Reweighting:true;Optimizer/Epsilon:0.0;Optimizer/Iterations:20;Optimizer/PriorsIgnored:true;Optimizer/Robust:false;Optimizer/Strategy:1;Optimizer/VarianceIgnored:false;RGBD/AngularSpeedUpdate:0.0;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:true;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearSpeedUpdate:0.0;RGBD/LinearUpdate:0.1;RGBD/LocalBundleOnLoopClosure:false;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/MaxLocalRetrieved:2;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:false;RGBD/OptimizeMaxError:1.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:true;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:1;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/SavedLocalizationIgnored:false;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:false;Reg/RepeatOnce:true;Reg/Strategy:0;Rtabmap/ComputeRMSE:true;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate:1;Rtabmap/ImageBufferSize:1;Rtabmap/ImagesAlreadyRectified:true;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:2;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:true;Rtabmap/PublishPdf:true;Rtabmap/PublishRAMUsage:false;Rtabmap/PublishStats:true;Rtabmap/RectifyOnlyFeatures:false;Rtabmap/SaveWMState:false;Rtabmap/StartNewMapOnGoodSignature:false;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:0;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;SIFT/Sigma:1.6;SURF/Extended:false;SURF/GpuKeypointsRatio:0.01;SURF/GpuVersion:false;SURF/HessianThreshold:500;SURF/OctaveLayers:2;SURF/Octaves:4;SURF/Upright:false;Stereo/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128.0;Stereo/MaxLevel:5;Stereo/MinDisparity:0.5;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;VhEp/Enabled:false;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:1;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessMatchToProjection:false;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/DepthAsMask:true;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:1;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/GridCols:1;Vis/GridRows:1;Vis/InlierDistance:0.1;Vis/Iterations:300;Vis/MaxDepth:0;Vis/MaxFeatures:1000;Vis/MinDepth:0;Vis/MinInliers:20;Vis/PnPFlags:0;Vis/PnPRefineIterations:0;Vis/PnPReprojError:2;Vis/RefineIterations:5;Vis/RoiRatios:0.0 0.0 0.0 0.0;Vis/SubPixEps:0.02;Vis/SubPixIterations:0;Vis/SubPixWinSize:3;g2o/Baseline:0.075;g2o/Optimizer:0;g2o/PixelVariance:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0


