Re: localization with big db file
Posted by
dnozik on
URL: http://official-rtab-map-forum.206.s1.nabble.com/localization-with-big-db-file-tp9851p9870.html
rtabmap-info /home/administrator/.ros/rtabmap.db
Parameters (Yellow=modified, Red=old parameter not used anymore, NA=not in database):
ALIKE/Gpu= false
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
Db/TargetVersion= 1.0.3 (default=)
DbSqlite3/CacheSize= 10000
DbSqlite3/InMemory= false
DbSqlite3/JournalMode= 3
DbSqlite3/Synchronous= 0
DbSqlite3/TempStore= 2
FAST/CV= 0
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
FE/Gpu= true
FE/Inputs= input_1
FE/Outputs= output_1 output_2 output_3
FREAK/NOctaves= 4
FREAK/OrientationNormalized= true
FREAK/PatternScale= 22
FREAK/ScaleNormalized= true
GFTT/BlockSize= 3
GFTT/K= 0.04
GFTT/MinDistance= 7
GFTT/QualityLevel= 0.001
GFTT/UseHarrisDetector= false
GMS/ThresholdFactor= 6.0
GMS/WithRotation= false
GMS/WithScale= 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/GroundIsObstacle= false
Grid/MapFrameProjection= false
Grid/MaxGroundAngle= 45
Grid/MaxGroundHeight= 0.02
Grid/MaxObstacleHeight= 0.4
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= 4.0
Grid/RangeMin= 0.0
Grid/RayTracing= false (default=true)
Grid/Scan2dUnknownSpaceFilled= false
Grid/ScanDecimation= 1
Grid/Sensor= 1
GridGlobal/AltitudeDelta= 0
GridGlobal/Eroded= false
GridGlobal/FloodFillDepth= 0
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/CCFilterOutFarthestPoints= false
Icp/CCMaxFinalRMS= 0.2
Icp/CCSamplingLimit= 50000
Icp/CorrespondenceRatio= 0.1
Icp/DownsamplingStep= 1
Icp/Epsilon= 0
Icp/Force4DoF= false
Icp/Iterations= 30
Icp/MaxCorrespondenceDistance= 0.1
Icp/MaxRotation= 0.78
Icp/MaxTranslation= 0.2
Icp/OutlierRatio= 0.85
Icp/PMMatcherEpsilon= 0.0
Icp/PMMatcherIntensity= false
Icp/PMMatcherKnn= 1
Icp/PointToPlane= true
Icp/PointToPlaneGroundNormalsUp= 0.0
Icp/PointToPlaneK= 5
Icp/PointToPlaneLowComplexityStrategy=1
Icp/PointToPlaneMinComplexity= 0.02
Icp/PointToPlaneRadius= 0.0
Icp/RangeMax= 0
Icp/RangeMin= 0
Icp/ReciprocalCorrespondences= true
Icp/Strategy= 1
Icp/VoxelSize= 0.05
ImuFilter/ComplementaryBiasAlpha= 0.01
ImuFilter/ComplementaryDoAdpativeGain=true
ImuFilter/ComplementaryDoBiasEstimation=true
ImuFilter/ComplementaryGainAcc= 0.01
ImuFilter/MadgwickGain= 0.1
ImuFilter/MadgwickZeta= 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/ByteToFloat= false
Kp/DetectorStrategy= 8
Kp/FeatureCameras= 0.3 (default=0,1,2,3)
Kp/FlannRebalancingFactor= 2.0
Kp/FlipCameras= true
Kp/GridCols= 1
Kp/GridRows= 1
Kp/IncrementalDictionary= true
Kp/IncrementalFlann= true
Kp/MaxDepth= 0
Kp/MaxFeatures= 2000 (default=1000)
Kp/MinDepth= 0
Kp/NNStrategy= 1
Kp/NewWordsComparedTogether= true
Kp/NndrRatio= 0.7
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
Marker/CornerRefinementMethod= 0
Marker/Dictionary= 20
Marker/Length= 0.169 (default=0)
Marker/MaxDepthError= 0.1
Marker/MaxRange= 1.5 (default=0.0)
Marker/MinRange= 0.1 (default=0.0)
Marker/PriorsVarianceAngular= 0.001
Marker/PriorsVarianceLinear= 0.001
Marker/VarianceAngular= 0.1 (default=0.01)
Marker/VarianceLinear= 0.5 (default=0.001)
Mem/BadSignaturesIgnored= false
Mem/BinDataKept= true
Mem/CompressionParallelized= true
Mem/CovOffDiagIgnored= true
Mem/DepthAsMask= true
Mem/GenerateIds= true
Mem/ImageCompressionFormat= .jpg
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/LocalizationDataSaved= false
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/StereoFromMotion= false
Mem/TransferSortingByWeightId= false
Mem/UseOdomFeatures= false (default=true)
Mem/UseOdomGravity= false
ORB/EdgeThreshold= 19
ORB/FirstLevel= 0
ORB/Gpu= false
ORB/NLevels= 3
ORB/PatchSize= 31
ORB/ScaleFactor= 2
ORB/ScoreType= 0
ORB/WTA_K= 2
Odom/AlignWithGround= false
Odom/FillInfoData= true
Odom/FilteringStrategy= 0
Odom/GuessMotion= true
Odom/GuessSmoothingDelay= 0
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/ReplaceFarMapPoints= false
OdomF2M/ReplaceMPsMinDepth= 2.0
OdomF2M/ReplaceMPsThreshold= 0.9
OdomF2M/ScanMaxSize= 2000
OdomF2M/ScanRange= 0
OdomF2M/ScanSubtractAngle= 45
OdomF2M/ScanSubtractRadius= 0.05
OdomF2M/ValidDepthRatio= 0.75
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/Resolution= 0.2
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
OdomORBSLAM/Bf= 0.076
OdomORBSLAM/Fps= 0.0
OdomORBSLAM/MapSize= 3000
OdomORBSLAM/MaxFeatures= 1000
OdomORBSLAM/ThDepth= 40.0
OdomOpen3D/MaxDepth= 3.0
OdomOpen3D/Method= 0
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/GravitySigma= 0.3
Optimizer/Iterations= 20
Optimizer/LandmarksIgnored= false
Optimizer/PriorsIgnored= false
Optimizer/Robust= false
Optimizer/Strategy= 1
Optimizer/VarianceIgnored= false
PyDetector/Cuda= true
PyDetector/RGB= true
PyMatcher/Cuda= true
PyMatcher/Iterations= 20
PyMatcher/Model= indoor
PyMatcher/Threshold= 0.2
RGBD/AngularSpeedUpdate= 1.5
RGBD/AngularUpdate= 0.2
RGBD/CreateOccupancyGrid= true (default=false)
RGBD/Enabled= true
RGBD/GoalReachedRadius= 0.5
RGBD/GoalsSavedInUserData= false
RGBD/InvertedReg= false
RGBD/LinearSpeedUpdate= 1.0
RGBD/LinearUpdate= 0.2
RGBD/LocalBundleOnLoopClosure= false
RGBD/LocalImmunizationRatio= 0.25
RGBD/LocalRadius= 10
RGBD/LocalizationSmoothing= true
RGBD/LoopClosureIdentityGuess= false
RGBD/LoopClosureReextractFeatures= false
RGBD/LoopCovLimited= false
RGBD/MarkerDetection= false
RGBD/MaxLocalRetrieved= 2
RGBD/MaxLoopClosureDistance= 0.0
RGBD/MaxOdomCacheSize= 10
RGBD/NeighborLinkRefining= false
RGBD/NewMapOdomChangeDistance= 0
RGBD/OptimizeFromGraphEnd= false
RGBD/OptimizeMaxError= 3 (default=2.0)
RGBD/PlanAngularVelocity= 0
RGBD/PlanLinearVelocity= 0
RGBD/PlanStuckIterations= 0
RGBD/ProximityAngle= 180 (default=45)
RGBD/ProximityBySpace= true
RGBD/ProximityByTime= false
RGBD/ProximityGlobalScanMap= false
RGBD/ProximityMaxGraphDepth= 50
RGBD/ProximityMaxPaths= 3
RGBD/ProximityMergedScanCovFactor= 100.0
RGBD/ProximityOdomGuess= false
RGBD/ProximityPathFilteringRadius= 1
RGBD/ProximityPathMaxNeighbors= 0
RGBD/ProximityPathRawPosesUsed= true
RGBD/ScanMatchingIdsSavedInLinks= true
RGBD/StartAtOrigin= true (default=false)
RGBD/StartUnknown= true
Reg/Force3DoF= true (default=false)
Reg/RepeatOnce= true
Reg/Strategy= 0
Rtabmap/ComputeRMSE= true
Rtabmap/CreateIntermediateNodes= false
Rtabmap/DetectionRate= 10 (default=1)
Rtabmap/ImageBufferSize= 1
Rtabmap/ImagesAlreadyRectified= true
Rtabmap/LoopGPS= true
Rtabmap/LoopRatio= 0
Rtabmap/LoopThr= 0.11
Rtabmap/MaxRepublished= 2
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/RootSIFT= false
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/DenseStrategy= 0
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/Disp12MaxDiff= -1
StereoBM/MinDisparity= 0
StereoBM/NumDisparities= 128
StereoBM/PreFilterCap= 31
StereoBM/PreFilterSize= 9
StereoBM/SpeckleRange= 4
StereoBM/SpeckleWindowSize= 100
StereoBM/TextureThreshold= 10
StereoBM/UniquenessRatio= 15
StereoSGBM/BlockSize= 15
StereoSGBM/Disp12MaxDiff= 1
StereoSGBM/MinDisparity= 0
StereoSGBM/Mode= 2
StereoSGBM/NumDisparities= 128
StereoSGBM/P1= 2
StereoSGBM/P2= 5
StereoSGBM/PreFilterCap= 31
StereoSGBM/SpeckleRange= 4
StereoSGBM/SpeckleWindowSize= 100
StereoSGBM/UniquenessRatio= 20
SuperPoint/Cuda= true
SuperPoint/NMS= true
SuperPoint/NMSRadius= 4
SuperPoint/Threshold= 0.010
VhEp/Enabled= false
VhEp/MatchCountMin= 8
VhEp/RansacParam1= 3
VhEp/RansacParam2= 0.99
Vis/BundleAdjustment= 0
Vis/CorFlowEps= 0.01
Vis/CorFlowIterations= 30
Vis/CorFlowMaxLevel= 3
Vis/CorFlowWinSize= 16
Vis/CorGuessMatchToProjection= false
Vis/CorGuessWinSize= 0
Vis/CorNNDR= 0.8
Vis/CorNNType= 1
Vis/CorType= 0
Vis/DepthAsMask= true
Vis/EpipolarGeometryVar= 0.1
Vis/EstimationType= 1
Vis/FeatureType= 16 (default=8)
Vis/ForwardEstOnly= true
Vis/GridCols= 1
Vis/GridRows= 1
Vis/InlierDistance= 0.1
Vis/Iterations= 500
Vis/MaxDepth= 0
Vis/MaxFeatures= -1 (default=1000)
Vis/MeanInliersDistance= 0.0
Vis/MinDepth= 0
Vis/MinInliers= 40 (default=30)
Vis/MinInliersDistribution= 0.0
Vis/PnPFlags= 0
Vis/PnPMaxVariance= 0
Vis/PnPRefineIterations= 0
Vis/PnPReprojError= 2
Vis/PnPSamplingPolicy= 1
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
FE/ModelPath= NA (default="")
Icp/DebugExportFormat= NA (default="")
Icp/PMConfig= NA (default="")
Kp/DictionaryPath= NA (default="")
Marker/Priors= NA (default="")
Marker/PriorsFile= NA (default="")
OdomOKVIS/ConfigPath= NA (default="")
OdomORBSLAM/VocPath= NA (default="")
OdomVINS/ConfigPath= NA (default="")
PyDetector/Path= NA (default="")
PyMatcher/Path= NA (default="")
Rtabmap/WorkingDirectory= NA (default="")
SuperPoint/ModelPath= NA (default="")
Info:
Path: /home/administrator/.ros/rtabmap.db
Version: 1.0.3
Sessions: 1
Total odometry length:1432.233887 m
Total time: 4582.739898s
LTM: 30997 nodes and 8803876 words (dim=32 type=8U)
WM: 5930 nodes and 8684994 words
Global graph: 30997 poses and 13174 links
Optimized graph: 5930 poses (x=13174->-65, y=7->-57, z=6->0)
Maps in graph: 1/1 [0(5930)]
Ground truth: 0 poses
GPS: 0 poses
Links:
Neighbor: 11858
GlobalClosure: 960
LocalSpaceClosure:356
LocalTimeClosure: 0
UserClosure: 0
VirtualClosure: 0
NeighborMerged: 0
PosePrior: 0
Landmark: 0
Gravity: 0
Database size: 60593 MB
Nodes size: 4 MB (0.01%)
Links size: 4 MB (0.01%)
RGB Images size: 14495 MB (23.92%)
Depth Images size: 36031 MB (59.46%)
Calibrations size: 41 MB (0.07%)
Grids size: 2834 MB (4.68%)
Scans size: 0 Bytes (0.00%)
User data size: 0 Bytes (0.00%)
Dictionary size: 534 MB (0.88%)
Features size: 7441 MB (12.28%)
Statistics size: 38 MB (0.06%)
Other (indexing, unused):-832196637 Bytes (-1.37%)
udebug
DEBUG] (2023-12-17 10:09:42.369) CameraModel.cpp:556::deserialize() Header: 1 0 3 0 640 480 9 0 9 12 12
[DEBUG] (2023-12-17 10:09:42.369) CameraModel.cpp:556::deserialize() Header: 1 0 3 0 640 480 9 0 9 12 12
[DEBUG] (2023-12-17 10:09:42.369) DBDriverSqlite3.cpp:3472::loadSignaturesQuery() Time load 5930 calibrations=7.198363s
[DEBUG] (2023-12-17 10:09:42.384) DBDriverSqlite3.cpp:3539::loadSignaturesQuery() Time load 5930 global descriptors=0.015006s
[DEBUG] (2023-12-17 10:09:42.387) Memory.cpp:350::loadDataFromDb() Get labels
[DEBUG] (2023-12-17 10:09:42.387) DBDriverSqlite3.cpp:2871::getAllLabelsQuery() Time=0.000248
[DEBUG] (2023-12-17 10:09:42.387) Memory.cpp:353::loadDataFromDb() Check if all nodes are in Working Memory
[DEBUG] (2023-12-17 10:09:42.388) Memory.cpp:365::loadDataFromDb() allNodesInWM()=true
[DEBUG] (2023-12-17 10:09:42.388) Memory.cpp:367::loadDataFromDb() update odomMaxInf vector
[DEBUG] (2023-12-17 10:09:42.430) Memory.cpp:389::loadDataFromDb() update odomMaxInf vector, done!
[DEBUG] (2023-12-17 10:09:42.430) DBDriverSqlite3.cpp:2641::getLastIdQuery() get last id from table "Node"
[DEBUG] (2023-12-17 10:09:42.431) DBDriverSqlite3.cpp:2672::getLastIdQuery() Time=0.001004s
[DEBUG] (2023-12-17 10:09:42.431) DBDriverSqlite3.cpp:2641::getLastIdQuery() get last id from table "Statistics"
[DEBUG] (2023-12-17 10:09:42.431) DBDriverSqlite3.cpp:2672::getLastIdQuery() Time=0.000098s
[DEBUG] (2023-12-17 10:09:42.431) DBDriverSqlite3.cpp:2641::getLastIdQuery() get last map_id from table "Node"
[DEBUG] (2023-12-17 10:09:42.433) DBDriverSqlite3.cpp:2672::getLastIdQuery() Time=0.002494s
[DEBUG] (2023-12-17 10:09:42.433) Memory.cpp:412::loadDataFromDb() Loading dictionary...
[DEBUG] (2023-12-17 10:09:42.433) Memory.cpp:416::loadDataFromDb() load all referenced words in working memory
[DEBUG] (2023-12-17 10:09:45.191) Memory.cpp:433::loadDataFromDb() load words 8684994
[DEBUG] (2023-12-17 10:09:45.438) DBDriverSqlite3.cpp:3690::loadWordsQuery() size=8684994
[DEBUG] (2023-12-17 10:10:10.768) DBDriverSqlite3.cpp:3767::loadWordsQuery() Time=25.329514s (8684994 words, 277 MB)
[DEBUG] (2023-12-17 10:10:18.088) DBDriverSqlite3.cpp:2641::getLastIdQuery() get last id from table "Word"
[DEBUG] (2023-12-17 10:10:18.088) DBDriverSqlite3.cpp:2672::getLastIdQuery() Time=0.000079s
[DEBUG] (2023-12-17 10:10:18.304) Memory.cpp:465::loadDataFromDb() 8684994 words loaded!
[DEBUG] (2023-12-17 10:10:18.304) VWDictionary.cpp:505::update() incremental=1
[DEBUG] (2023-12-17 10:10:18.304) VWDictionary.cpp:526::update() Incremental FLANN: Removing 0 words...
[DEBUG] (2023-12-17 10:10:18.304) VWDictionary.cpp:535::update() Incremental FLANN: Removing 0 words... done!
[DEBUG] (2023-12-17 10:10:18.304) VWDictionary.cpp:539::update() Incremental FLANN: Inserting 8684994 words...
[DEBUG] (2023-12-17 10:10:18.497) VWDictionary.cpp:566::update() Building FLANN index...
[DEBUG] (2023-12-17 10:10:18.497) FlannIndex.cpp:238::buildKDTreeIndex()
[DEBUG] (2023-12-17 10:10:18.497) FlannIndex.cpp:82::release()
[DEBUG] (2023-12-17 10:10:18.497) FlannIndex.cpp:110::release()
[DEBUG] (2023-12-17 10:10:18.498) FlannIndex.cpp:290::buildKDTreeIndex()
[DEBUG] (2023-12-17 10:10:18.498) VWDictionary.cpp:584::update() Building FLANN index... done!
[DEBUG] (2023-12-17 10:10:18.499) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 1 -> 3
[DEBUG] (2023-12-17 10:10:18.502) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 3.2921ms
[DEBUG] (2023-12-17 10:10:18.503) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 3 -> 7
[DEBUG] (2023-12-17 10:10:18.504) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 0.5620ms
[DEBUG] (2023-12-17 10:10:18.509) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 7 -> 15
[DEBUG] (2023-12-17 10:10:18.509) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 0.5460ms
[DEBUG] (2023-12-17 10:10:18.520) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 15 -> 31
[DEBUG] (2023-12-17 10:10:18.521) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 0.6351ms
[DEBUG] (2023-12-17 10:10:18.542) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 31 -> 63
[DEBUG] (2023-12-17 10:10:18.543) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 0.7570ms
[DEBUG] (2023-12-17 10:10:18.586) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 63 -> 127
[DEBUG] (2023-12-17 10:10:18.588) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 1.2801ms
[DEBUG] (2023-12-17 10:10:18.621) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 127 -> 255
[DEBUG] (2023-12-17 10:10:18.622) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 0.8330ms
[DEBUG] (2023-12-17 10:10:18.623) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 255 -> 511
[DEBUG] (2023-12-17 10:10:18.624) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 1.6329ms
[DEBUG] (2023-12-17 10:10:18.626) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 511 -> 1023
[DEBUG] (2023-12-17 10:10:18.629) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 3.3090ms
[DEBUG] (2023-12-17 10:10:18.631) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 1023 -> 2047
[DEBUG] (2023-12-17 10:10:18.638) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 6.8440ms
[DEBUG] (2023-12-17 10:10:18.643) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 2047 -> 4095
[DEBUG] (2023-12-17 10:10:18.658) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 14.9601ms
[DEBUG] (2023-12-17 10:10:18.667) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 4095 -> 8191
[DEBUG] (2023-12-17 10:10:18.696) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 29.0890ms
[DEBUG] (2023-12-17 10:10:18.716) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 8191 -> 16383
[DEBUG] (2023-12-17 10:10:18.777) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 61.5981ms
[DEBUG] (2023-12-17 10:10:18.825) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 16383 -> 32767
[DEBUG] (2023-12-17 10:10:18.956) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 130.9710ms
[DEBUG] (2023-12-17 10:10:19.070) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 32767 -> 65535
[DEBUG] (2023-12-17 10:10:19.348) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 278.0912ms
[DEBUG] (2023-12-17 10:10:19.602) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 65535 -> 131071
[DEBUG] (2023-12-17 10:10:20.180) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 577.9569ms
[DEBUG] (2023-12-17 10:10:20.747) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 131071 -> 262143
[DEBUG] (2023-12-17 10:10:21.938) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 1190.9089ms
[DEBUG] (2023-12-17 10:10:23.293) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 262143 -> 524287
[DEBUG] (2023-12-17 10:10:25.791) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 2497.8521ms
[DEBUG] (2023-12-17 10:10:28.953) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 524287 -> 1048575
[DEBUG] (2023-12-17 10:10:34.211) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 5257.9980ms
[DEBUG] (2023-12-17 10:10:41.209) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 1048575 -> 2097151
[DEBUG] (2023-12-17 10:10:52.487) FlannIndex.cpp:450::addPoints() [FLANN] Rebuilding FLANN index took: 11277.7572ms
[DEBUG] (2023-12-17 10:11:07.768) FlannIndex.cpp:448::addPoints() Rebuilding FLANN index: 2097151 -> 4194303
[DEBUG] (2023-12-17 10