[Gui] General\imagesKept=true General\loggerLevel=2 General\loggerEventLevel=3 General\loggerPauseLevel=3 General\loggerType=1 General\loggerPrintTime=true General\verticalLayoutUsed=true General\imageFlipped=false General\imageRejectedShown=true General\imageHighestHypShown=true General\beep=false General\keypointsOpacity=10 General\odomQualityThr=30 General\showClouds0=true General\voxelSize0=0 General\decimation0=8 General\maxDepth0=4 General\showScans0=true General\opacity0=1 General\ptSize0=1 General\opacityScan0=1 General\ptSizeScan0=1 General\showClouds1=true General\voxelSize1=0 General\decimation1=4 General\maxDepth1=0 General\showScans1=true General\opacity1=1 General\ptSize1=3 General\opacityScan1=1 General\ptSizeScan1=1 General\meshing=false General\meshGP3Radius=0.04 General\meshNormalKSearch=20 General\meshSmoothing=false General\meshSmoothingRadius=0.04 General\cloudFiltering=true General\cloudFilteringRadius=0.2 General\cloudFilteringAngle=30 General\gridMapShown=false General\gridMapResolution=0.05 General\gridMapFillEmptySpace=true General\gridMapOpacity=0.75 [Camera] imageUsed=false imgRate=30 type=0 imgWidth=0 imgHeight=0 usbDevice\id=0 images\path= images\startPos=1 images\refreshDir=false video\path= [Openni] openniUsed=true [Core] BRIEF\Bytes=16 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=true DbSqlite3\JournalMode=3 DbSqlite3\Synchronous=0 DbSqlite3\TempStore=2 GFTT\BlockSize=3 GFTT\K=0.04 GFTT\MaxCorners=400 GFTT\MinDistance=1 GFTT\QualityLevel=0.01 GFTT\UseHarrisDetector=false Kp\BadSignRatio=0.2 Kp\DetectorStrategy=6 Kp\DictionaryPath= Kp\IncrementalDictionary=true Kp\MaxDepth=3 Kp\NNStrategy=3 Kp\NndrRatio=0.8 Kp\Parallelized=true Kp\PublishKeypoints=true Kp\RoiRatios=0.0 0.0 0.0 0.0 Kp\TfIdfLikelihoodUsed=true Kp\WordsPerImage=0 LccBow\Force2D=false LccBow\InlierDistance=0.02 LccBow\Iterations=100 LccBow\MaxDepth=3 LccBow\MinInliers=10 LccIcp\Type=0 LccReextract\FeatureType=4 LccReextract\Activated=true LccReextract\MaxWords=0 LccReextract\NNDR=0.8 LccReextract\NNType=3 Mem\BadSignaturesIgnored=false Mem\GenerateIds=true Mem\ImageKept=true Mem\IncrementalMemory=true Mem\InitWMWithAllNodes=false Mem\RecentWmRatio=0.2 Mem\RehearsalIdUpdatedToNewOne=false Mem\RehearsalSimilarity=0.6 Mem\RehearsedNodesKept=true Mem\STMSize=10 Odom\AngularUpdate=0 Odom\InlierDistance=0.02 Odom\Iterations=100 Odom\LinearUpdate=0 Odom\MaxDepth=3 Odom\MaxFeatures=0 Odom\MinInliers=10 Odom\ResetCountdown=0 Odom\FeatureType=6 Odom\FeaturesRatio=0.5 OdomBow\LocalHistorySize=1000 OdomBow\NNDR=0.8 OdomBow\NNType=3 ; Backward compatibility... LccReextract\LoopClosureFeatures=true Odom\LocalHistory=1000 Odom\MaxWords=0 Odom\NNDR=0.8 Odom\NearestNeighbor=3 Odom\Type=6 Odom\WordsRatio=0.5 RGBD\AngularUpdate=0 RGBD\Enabled=true RGBD\LinearUpdate=0 RGBD\LocalLoopDetectionMaxDiffID=0 RGBD\LocalLoopDetectionNeighbors=20 RGBD\LocalLoopDetectionRadius=2 RGBD\LocalLoopDetectionSpace=false RGBD\LocalLoopDetectionTime=false RGBD\NewMapOdomChangeDistance=0 RGBD\OptimizeFromGraphEnd=true RGBD\ScanMatchingSize=0 RGBD\ToroIterations=100 Rtabmap\DetectionRate=2 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=0 Rtabmap\VhStrategy=0