[Camera] imgRate=1 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\OptimizeSlam2D=true RGBD\ScanMatchingSize=0 RGBD\ToroIterations=100 Rtabmap\DetectionRate=0 Rtabmap\ImageBufferSize=0 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 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