[Camera]
imgRate=10
mirroring=false
type=3
Database\path=/Users/mathieu/Downloads/map1_10Hz.db
Database\ignoreOdometry=false
Database\ignoreGoalDelay=false
Database\startPos=0
Database\useDatabaseStamps=false

[Core]
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
Kp\BadSignRatio=0.2
Kp\DetectorStrategy=0
Kp\DictionaryPath=
Kp\IncrementalDictionary=true
Kp\MaxLeafs=64
Kp\MinDist=0.05
Kp\MinDistUsed=false
Kp\NNStrategy=1
Kp\NndrRatio=0.8
Kp\NndrUsed=true
Kp\Parallelized=true
Kp\PublishKeypoints=true
Kp\RoiRatios=0.0 0.0 0.0 0.0
Kp\TfIdfLikelihoodUsed=false
Kp\WordsPerImage=400
LccBow\InlierDistance=0.1
LccBow\Iterations=100
LccBow\MaxDepth=4
LccBow\MinInliers=5
LccIcp\Type=2
LccIcp2\CorrespondenceRatio=0.2
LccIcp2\Iterations=100
LccIcp2\MaxCorrespondenceDistance=0.1
LccIcp2\MaxFitness=1
LccIcp2\VoxelSize=0
Mem\BadSignaturesIgnored=false
Mem\GenerateIds=true
Mem\ImageKept=true
Mem\IncrementalMemory=true
Mem\RecentWmRatio=0.2
Mem\RehearsalIdUpdatedToNewOne=false
Mem\RehearsalSimilarity=0.45
Mem\RehearsedNodesKept=true
Mem\STMSize=10
RGBD\AngularUpdate=0.01
RGBD\Enabled=true
RGBD\LinearUpdate=0.01
RGBD\LocalLoopDetectionMaxDiffID=0
RGBD\LocalLoopDetectionNeighbors=20
RGBD\LocalLoopDetectionRadius=15
RGBD\LocalLoopDetectionSpace=false
RGBD\LocalLoopDetectionTime=false
RGBD\ScanMatchingSize=0
RGBD\ToroIterations=100
Rtabmap\DetectionRate=1
Rtabmap\ImageBufferSize=1
Rtabmap\LoopRatio=0.9
Rtabmap\LoopThr=0.11
Rtabmap\MaxRetrieved=2
Rtabmap\MemoryThr=0
Rtabmap\PublishImage=true
Rtabmap\PublishLikelihood=true
Rtabmap\PublishPdf=true
Rtabmap\PublishStats=true
Rtabmap\StatisticLogged=false
Rtabmap\StatisticLogsBufferedInRAM=true
Rtabmap\TimeThr=700
Rtabmap\VhStrategy=0
SIFT\ContrastThreshold=0.04
SIFT\EdgeThreshold=10
SIFT\NFeatures=0
SIFT\NOctaveLayers=3
SIFT\Sigma=1.6
SURF\Extended=false
SURF\GpuVersion=false
SURF\HessianThreshold=75
SURF\OctaveLayers=2
SURF\Octaves=4
SURF\Upright=false
VhEp\MatchCountMin=8
VhEp\RansacParam1=3
VhEp\RansacParam2=0.99
Version=0.10.4
BRIEF\Bytes=32
BRISK\Octaves=3
BRISK\PatternScale=1
BRISK\Thresh=30
FAST\Gpu=false
FAST\GpuKeypointsRatio=0.05
FAST\NonmaxSuppression=true
FAST\Threshold=30
FREAK\NOctaves=4
FREAK\OrientationNormalized=true
FREAK\PatternScale=22
FREAK\ScaleNormalized=true
GFTT\BlockSize=3
GFTT\K=0.04
GFTT\MinDistance=5
GFTT\QualityLevel=0.001
GFTT\UseHarrisDetector=false
Kp\MaxDepth=0
Kp\NewWordsComparedTogether=true
Kp\SubPixEps=0.02
Kp\SubPixIterations=0
Kp\SubPixWinSize=3
LccBow\EpipolarGeometryVar=0.02
LccBow\EstimationType=0
LccBow\Force2D=false
LccBow\PnPFlags=1
LccBow\PnPReprojError=5
LccBow\RefineIterations=10
LccIcp\MaxRotation=0.78
LccIcp\MaxTranslation=0.2
LccIcp3\CorrespondenceRatio=0
LccIcp3\PointToPlane=false
LccIcp3\PointToPlaneNormalNeighbors=20
LccReextract\Activated=false
LccReextract\FeatureType=4
LccReextract\MaxDepth=0
LccReextract\MaxWords=600
LccReextract\NNDR=0.8
LccReextract\NNType=3
Mem\BinDataKept=true
Mem\ImageDecimation=1
Mem\InitWMWithAllNodes=false
Mem\LaserScanVoxelSize=0
Mem\LocalSpaceLinksKeptInWM=true
Mem\NotLinkedNodesKept=true
Mem\RehearsalWeightIgnoredWhileMoving=false
Mem\TransferSortingByWeightId=false
ORB\EdgeThreshold=31
ORB\FirstLevel=0
ORB\Gpu=false
ORB\NLevels=1
ORB\PatchSize=31
ORB\ScaleFactor=1.2
ORB\ScoreType=0
ORB\WTA_K=2
RGBD\GoalReachedRadius=0.5
RGBD\GoalsSavedInUserData=false
RGBD\LocalImmunizationRatio=0.25
RGBD\LocalLoopDetectionMaxGraphDepth=50
RGBD\LocalLoopDetectionPathFilteringRadius=0.5
RGBD\LocalLoopDetectionPathOdomPosesUsed=true
RGBD\LocalRadius=10
RGBD\MaxLocalRetrieved=2
RGBD\NewMapOdomChangeDistance=0
RGBD\OptimizeEpsilon=0.001
RGBD\OptimizeFromGraphEnd=false
RGBD\OptimizeIterations=100
RGBD\OptimizeSlam2D=true
RGBD\OptimizeStrategy=0
RGBD\OptimizeVarianceIgnored=false
RGBD\PlanVirtualLinks=true
RGBD\PoseScanMatching=false
Rtabmap\CreateIntermediateNodes=false
Rtabmap\PublishLastSignature=true
Rtabmap\StartNewMapOnLoopClosure=false
Rtabmap\StatisticLoggedHeaders=true
SURF\GpuKeypointsRatio=0.01
Stereo\Eps=0.01
Stereo\Iterations=30
Stereo\MaxLevel=3
Stereo\MaxSlope=0.1
Stereo\WinSize=16
Grid\FromDepth=false
Grid\3D=false
RGBD\CreateOccupancyGrid=true
Optimizer\Strategy=0
Optimizer\Iterations=100
Optimizer\Slam2D=true
Reg\Force3DoF=true
Reg\Strategy=1
RGBD\ProximityBySpace=false