RTAB-Map:               0.20.7
PCL:                     1.7.2
With VTK:                6.2.0
OpenCV:              3.3.1-dev
With OpenCV xfeatures2d:  true
With OpenCV nonfree:      true
With ORB OcTree:          true
With SuperPoint Torch:   false
With Python3:            false
With FastCV:             false
With Madgwick:            true
With TORO:                true
With g2o:                 true
With GTSAM:               true
With Vertigo:             true
With CVSBA:              false
With Ceres:               true
With OpenNI2:             true
With Freenect:            true
With Freenect2:          false
With K4W2:               false
With K4A:                false
With DC1394:              true
With FlyCapture2:        false
With ZED:                false
With RealSense:           true
With RealSense SLAM:     false
With RealSense2:          true
With MYNT EYE S:         false
With libpointmatcher:     true
With octomap:             true
With cpu-tsdf:           false
With open chisel:        false
With Alice Vision:       false
With LOAM:               false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM2:          false
With OKVIS:              false
With MSCKF_VIO:          false
With VINS-Fusion:        false



Parameters (Yellow=modified, Red=old parameter not used anymore):
Grid/MinClusterSize=               20  (default=10)
Grid/RangeMax=                     3  (default=5.0)
GridGlobal/ProbHit=                0.65  (default=0.7)
Icp/PMConfig=                      /home/nvidia/catkin_ws/src/algo/software/mybot_camera_calibration/launch/pm_1.yaml  (default=)
Icp/PointToPlane=                  false  (default=true)
Icp/VoxelSize=                     0.05  (default=0.0)
Kp/DetectorStrategy=               1  (default=6)
Mem/UseOdomFeatures=               false  (default=true)
ORB/EdgeThreshold=                 31  (default=19)
ORB/NLevels=                       8  (default=3)
ORB/ScaleFactor=                   1.2  (default=2)
Optimizer/Epsilon=                 0  (default=0.00001)
Optimizer/Robust=                  true  (default=false)
Optimizer/Strategy=                1  (default=2)
RGBD/CreateOccupancyGrid=          true  (default=false)
RGBD/LocalBundleOnLoopClosure=     true  (default=false)
RGBD/NeighborLinkRefining=         true  (default=false)
RGBD/OptimizeMaxError=             0  (default=3.0)
RGBD/ProximityPathMaxNeighbors=    10  (default=0)
Reg/Force3DoF=                     true  (default=false)
Reg/Strategy=                      1  (default=0)
Vis/CorNNDR=                       0.6  (default=0.8)

Info:

Path:               sift.db
Version:            0.20.0
Sessions:           2
Total odometry length:290.006104 m
Total time:         5228.139730s
LTM:                1524 nodes and 268663 words (dim=128 type=32F)
WM:                 0 nodes and 0 words
Global graph:       1524 poses and 5482 links
Optimized graph:    1081 poses
Maps in graph:      2/2 [0(312), 1(769)]
Ground truth:       0 poses
GPS:                0 poses
Links:
  Neighbor:         2158
  GlobalClosure:    74
  LocalSpaceClosure:3250
  LocalTimeClosure: 0
  UserClosure:      0
  VirtualClosure:   0
  NeighborMerged:   0
  PosePrior:        0
  Landmark:         0
  Gravity:          0

Database size:      2474 MB
Nodes size:         207 KB	(0.01%)
Links size:         1 MB	(0.08%)
RGB Images size:    404 MB	(16.33%)
Depth Images size:  776 MB	(31.40%)
Calibrations size:  566 KB	(0.02%)
Grids size:         20 MB	(0.85%)
Scans size:         3 MB	(0.16%)
User data size:     0 Bytes	(0.00%)
Dictionary size:    145 MB	(5.86%)
Features size:      583 MB	(23.57%)
Statistics size:    2 MB	(0.08%)
Other (indexing, unused):535 MB	(21.65%)