# Info

time_enter: 2025-04-13 20:02:49
parameters:
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:0.10.5;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;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/Gpu:false;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/IncRelinearizeSkip:1;GTSAM/IncRelinearizeThreshold:0.01;GTSAM/Incremental: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:0.0;Grid/MaxObstacleHeight:0.0;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:5.0;Grid/RangeMin:0.0;Grid/RayTracing:false;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;Grid/Sensor:1;GridGlobal/AltitudeDelta:0;GridGlobal/Eroded:false;GridGlobal/FloodFillDepth:0;GridGlobal/FootprintRadius:0.0;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/DebugExportFormat:;Icp/DownsamplingStep:1;Icp/Epsilon:0;Icp/FiltersEnabled:3;Icp/Force4DoF:false;Icp/Iterations:30;Icp/MaxCorrespondenceDistance:0.1;Icp/MaxRotation:0.78;Icp/MaxTranslation:0.2;Icp/OutlierRatio:0.85;Icp/PMConfig:;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:6;Kp/DictionaryPath:;Kp/FlannRebalancingFactor:2.0;Kp/GridCols:1;Kp/GridRows:1;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:0;Kp/MaxFeatures:500;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:true;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SSC:false;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Marker/CornerRefinementMethod:0;Marker/Dictionary:0;Marker/Length:0;Marker/MaxDepthError:0.01;Marker/MaxRange:0.0;Marker/MinRange:0.0;Marker/Priors:;Marker/PriorsVarianceAngular:0.001;Marker/PriorsVarianceLinear:0.001;Marker/VarianceAngular:0.01;Marker/VarianceLinear:0.001;Marker/VarianceOrientationIgnored:false;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:true;Mem/CovOffDiagIgnored:true;Mem/DepthAsMask:true;Mem/DepthCompressionFormat:.rvl;Mem/DepthMaskFloorThr:0.0;Mem/GenerateIds:true;Mem/GlobalDescriptorStrategy:0;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/RotateImagesUpsideUp:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/StereoFromMotion:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures: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/Deskewing:true;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/BundleAdjustmentMaxKeyFramesPerFeature:0;OdomF2M/BundleAdjustmentMinMotion:0.0;OdomF2M/BundleUpdateFeatureMapOnAllFrames:false;OdomF2M/FloorThreshold:0.0;OdomF2M/InitDepthFactor:0.05;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;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;OdomOKVIS/ConfigPath:;OdomORBSLAM/AccNoise:0.1;OdomORBSLAM/AccWalk:0.0001;OdomORBSLAM/Bf:0.076;OdomORBSLAM/Fps:0.0;OdomORBSLAM/GyroNoise:0.01;OdomORBSLAM/GyroWalk:0.000001;OdomORBSLAM/Inertial:false;OdomORBSLAM/MapSize:3000;OdomORBSLAM/MaxFeatures:1000;OdomORBSLAM/SamplingRate:0;OdomORBSLAM/ThDepth:40.0;OdomORBSLAM/VocPath:;OdomOpen3D/MaxDepth:3.0;OdomOpen3D/Method:0;OdomOpenVINS/AccelerometerNoiseDensity:0.01;OdomOpenVINS/AccelerometerRandomWalk:0.001;OdomOpenVINS/CalibCamExtrinsics:false;OdomOpenVINS/CalibCamIntrinsics:false;OdomOpenVINS/CalibCamTimeoffset:false;OdomOpenVINS/CalibIMUGSensitivity:false;OdomOpenVINS/CalibIMUIntrinsics:false;OdomOpenVINS/DtSLAMDelay:0.0;OdomOpenVINS/FeatRepMSCKF:0;OdomOpenVINS/FeatRepSLAM:4;OdomOpenVINS/FiMaxBaseline:40;OdomOpenVINS/FiMaxCondNumber:10000;OdomOpenVINS/FiMaxRuns:5;OdomOpenVINS/FiRefineFeatures:true;OdomOpenVINS/FiTriangulate1d:false;OdomOpenVINS/GravityMag:9.81;OdomOpenVINS/GyroscopeNoiseDensity:0.001;OdomOpenVINS/GyroscopeRandomWalk:0.0001;OdomOpenVINS/InitDynInflationBa:100.0;OdomOpenVINS/InitDynInflationBg:10.0;OdomOpenVINS/InitDynInflationOri:10.0;OdomOpenVINS/InitDynInflationVel:100.0;OdomOpenVINS/InitDynMLEMaxIter:50;OdomOpenVINS/InitDynMLEMaxThreads:6;OdomOpenVINS/InitDynMLEMaxTime:0.05;OdomOpenVINS/InitDynMLEOptCalib:false;OdomOpenVINS/InitDynMinDeg:10.0;OdomOpenVINS/InitDynMinRecCond:1e-15;OdomOpenVINS/InitDynNumPose:6;OdomOpenVINS/InitDynUse:false;OdomOpenVINS/InitIMUThresh:1.0;OdomOpenVINS/InitMaxDisparity:10.0;OdomOpenVINS/InitMaxFeatures:50;OdomOpenVINS/InitWindowTime:2.0;OdomOpenVINS/Integration:1;OdomOpenVINS/LeftMaskPath:;OdomOpenVINS/MaxClones:11;OdomOpenVINS/MaxMSCKFInUpdate:50;OdomOpenVINS/MaxSLAM:50;OdomOpenVINS/MaxSLAMInUpdate:25;OdomOpenVINS/MinPxDist:15;OdomOpenVINS/NumPts:200;OdomOpenVINS/RightMaskPath:;OdomOpenVINS/TryZUPT:true;OdomOpenVINS/UpMSCKFChi2Multiplier:1.0;OdomOpenVINS/UpMSCKFSigmaPx:1.0;OdomOpenVINS/UpSLAMChi2Multiplier:1.0;OdomOpenVINS/UpSLAMSigmaPx:1.0;OdomOpenVINS/UseFEJ:true;OdomOpenVINS/UseKLT:true;OdomOpenVINS/UseStereo:true;OdomOpenVINS/ZUPTChi2Multiplier:0.0;OdomOpenVINS/ZUPTMaxDisparity:0.5;OdomOpenVINS/ZUPTMaxVelodicy:0.1;OdomOpenVINS/ZUPTNoiseMultiplier:10.0;OdomOpenVINS/ZUPTOnlyAtBeginning:false;OdomVINS/ConfigPath:;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:0.00001;Optimizer/GravitySigma:0.3;Optimizer/Iterations:20;Optimizer/LandmarksIgnored:false;Optimizer/PriorsIgnored:true;Optimizer/Robust:false;Optimizer/Strategy:2;Optimizer/VarianceIgnored:false;PyDescriptor/Dim:4096;PyDescriptor/Path:;PyDetector/Cuda:true;PyDetector/Path:;PyMatcher/Cuda:true;PyMatcher/Iterations:20;PyMatcher/Model:indoor;PyMatcher/Path:;PyMatcher/Threshold:0.2;RGBD/AggressiveLoopThr:0.05;RGBD/AngularSpeedUpdate:0.0;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled:true;RGBD/ForceOdom3DoF:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/InvertedReg:false;RGBD/LinearSpeedUpdate:0.0;RGBD/LinearUpdate:0.1;RGBD/LocalBundleOnLoopClosure:false;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LocalizationPriorError:0.001;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:3.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle: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:false;Reg/Force3DoF:false;Reg/RepeatOnce:true;Reg/Strategy:0;Rtabmap/ComputeRMSE:true;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate: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;Rtabmap/VirtualPlaceLikelihoodRatio:0;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/GaussianThreshold:2.0;SIFT/Gpu:false;SIFT/NOctaveLayers:3;SIFT/PreciseUpscale:false;SIFT/RootSIFT:false;SIFT/Sigma:1.6;SIFT/Upscale:false;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/Gpu:false;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/ModelPath:;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:1;Vis/CorFlowEps:0.01;Vis/CorFlowGpu:false;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessMatchToProjection:false;Vis/CorGuessWinSize:40;Vis/CorNNDR:0.8;Vis/CorNNType:1;Vis/CorType:0;Vis/DepthAsMask:true;Vis/DepthMaskFloorThr:0.0;Vis/EpipolarGeometryVar:0.1;Vis/EstimationType:1;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/GridCols:1;Vis/GridRows:1;Vis/InlierDistance:0.1;Vis/Iterations:300;Vis/MaxDepth:0;Vis/MaxFeatures:1000;Vis/MeanInliersDistance:0.0;Vis/MinDepth:0;Vis/MinInliers:20;Vis/MinInliersDistribution:0.0;Vis/PnPFlags:0;Vis/PnPMaxVariance:0.0;Vis/PnPRefineIterations:0;Vis/PnPReprojError:2;Vis/PnPSamplingPolicy:1;Vis/PnPSplitLinearCovComponents:false;Vis/PnPVarianceMedianRatio:4;Vis/RefineIterations:5;Vis/RoiRatios:0.0 0.0 0.0 0.0;Vis/SSC:false;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


