[DEBUG] {19240} (2023-11-27 07:31:40) PreferencesDialog.cpp:1737::rtabmap::PreferencesDialog::closeDialog() 

[DEBUG] {19240} (2023-11-27 07:32:17) CloudViewer.cpp:1315::rtabmap::CloudViewer::removeOctomap() 

[DEBUG] {19240} (2023-11-27 07:32:18) OctoMap.cpp:338::rtabmap::OctoMap::OctoMap() fullUpdate_         =true

[DEBUG] {19240} (2023-11-27 07:32:18) OctoMap.cpp:339::rtabmap::OctoMap::OctoMap() updateError_        =0.010000

[DEBUG] {19240} (2023-11-27 07:32:18) OctoMap.cpp:340::rtabmap::OctoMap::OctoMap() rangeMax_           =5.000000

[DEBUG] {19240} (2023-11-27 07:32:18) OctoMap.cpp:341::rtabmap::OctoMap::OctoMap() rayTracing_         =false

[DEBUG] {19240} (2023-11-27 07:32:18) OctoMap.cpp:342::rtabmap::OctoMap::OctoMap() emptyFloodFillDepth_=0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:62::rtabmap::DBDriverSqlite3::DBDriverSqlite3() treadSafe=1

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:88::rtabmap::DBDriver::openConnection() 

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:449::rtabmap::DBDriverSqlite3::disconnectDatabaseQuery() 

[ INFO] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:359::rtabmap::DBDriverSqlite3::connectDatabaseQuery() Using database "C:/Users/Hazel/Downloads/crashdemo/crashdemo.db" from the hard drive.

[ INFO] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:426::rtabmap::DBDriverSqlite3::connectDatabaseQuery() Database version = 0.21.0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000013s

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000005s

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000002s

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000002s

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:1068::rtabmap::DBDriverSqlite3::getLastParametersQuery() 

[DEBUG] {19240} (2023-11-27 07:32:18) Parameters.cpp:111::rtabmap::Parameters::deserialize() 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:;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/K:0.04;GFTT/MinDistance:7;GFTT/QualityLevel:0.001;GFTT/UseHarrisDetector:false;GMS/ThresholdFactor:6;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:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:20;Grid/NormalsSegmentation:true;Grid/PreVoxelFiltering:true;Grid/RangeMax:5;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/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/DebugExportFormat:;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/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/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/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;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: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/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:2.5e-05;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;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/Bf:0.076;OdomORBSLAM/Fps:0.0;OdomORBSLAM/MapSize:3000;OdomORBSLAM/MaxFeatures:1000;OdomORBSLAM/ThDepth:40.0;OdomORBSLAM/VocPath:;OdomOpen3D/MaxDepth:3.0;OdomOpen3D/Method:0;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:1e-05;Optimizer/GravitySigma:0.3;Optimizer/Iterations:20;Optimizer/LandmarksIgnored:false;Optimizer/PriorsIgnored:true;Optimizer/Robust:false;Optimizer/Strategy:2;Optimizer/VarianceIgnored:false;PyDetector/Cuda:true;PyDetector/Path:;PyMatcher/Cuda:true;PyMatcher/Iterations:20;PyMatcher/Model:indoor;PyMatcher/Path:;PyMatcher/Threshold:0.2;RGBD/AngularSpeedUpdate:0.0;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled: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/LoopClosureIdentityGuess:false;RGBD/LoopClosureReextractFeatures:false;RGBD/LoopCovLimited:false;RGBD/MarkerDetection:false;RGBD/MaxLocalRetrieved:2;RGBD/MaxLoopClosureDistance:0;RGBD/MaxOdomCacheSize:10;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:false;RGBD/OptimizeMaxError:3;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;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;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:0.01;VhEp/Enabled:false;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:1;Vis/CorFlowEps:0.01;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/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/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;g2o/RobustKernelDelta:8;g2o/Solver:0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:66::rtabmap::DBDriver::closeConnection() isRunning=0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:68::rtabmap::DBDriver::closeConnection() 

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:449::rtabmap::DBDriverSqlite3::disconnectDatabaseQuery() 

[ INFO] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:489::rtabmap::DBDriverSqlite3::disconnectDatabaseQuery() Disconnecting database C:/Users/Hazel/Downloads/crashdemo/crashdemo.db...

[ INFO] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:503::rtabmap::DBDriverSqlite3::disconnectDatabaseQuery() Disconnected database C:/Users/Hazel/Downloads/crashdemo/crashdemo.db!

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:83::rtabmap::DBDriver::closeConnection() 

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:66::rtabmap::DBDriver::closeConnection() isRunning=0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:68::rtabmap::DBDriver::closeConnection() 

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:327::rtabmap::DBDriver::emptyTrashes() signatures=0, visualWords=0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:377::rtabmap::DBDriver::emptyTrashes() Total time emptying trashes = 0.000006s...

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:449::rtabmap::DBDriverSqlite3::disconnectDatabaseQuery() 

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:83::rtabmap::DBDriver::closeConnection() 

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:327::rtabmap::DBDriver::emptyTrashes() signatures=0, visualWords=0

[DEBUG] {19240} (2023-11-27 07:32:18) DBDriver.cpp:377::rtabmap::DBDriver::emptyTrashes() Total time emptying trashes = 0.000005s...

[DEBUG] {10284} (2023-11-27 07:32:18) RtabmapThread.cpp:71::rtabmap::RtabmapThread::pushNewState() to 1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4826::rtabmap::MainWindow::applyPrefSettings() 

[ INFO] {29040} (2023-11-27 07:32:18) RtabmapThread.cpp:594::rtabmap::RtabmapThread::getData() wake-up

[DEBUG] {29040} (2023-11-27 07:32:18) RtabmapThread.cpp:210::rtabmap::RtabmapThread::mainLoop() CMD_INIT

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:317::rtabmap::Rtabmap::init() path=C:/Users/Hazel/Downloads/crashdemo/crashdemo.db

[ INFO] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:322::rtabmap::Rtabmap::init() Using database "C:/Users/Hazel/Downloads/crashdemo/crashdemo.db".

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:4552::rtabmap::Rtabmap::setWorkingDirectory() Comparing new working directory path "C:/Users/Hazel/Documents/RTAB-Map" with ""

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:289::rtabmap::Rtabmap::setupLogFiles() Log disabled!

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=BRIEF/Bytes Value=32

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=BRISK/Octaves Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=BRISK/PatternScale Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=BRISK/Thresh Value=30

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Bayes/FullPredictionUpdate Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Bayes/PredictionLC Value=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

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Bayes/VirtualPlacePriorThr Value=0.9

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Db/TargetVersion Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=DbSqlite3/CacheSize Value=10000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=DbSqlite3/InMemory Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=DbSqlite3/JournalMode Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=DbSqlite3/Synchronous Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=DbSqlite3/TempStore Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/CV Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/Gpu Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/GpuKeypointsRatio Value=0.05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/GridCols Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/GridRows Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/MaxThreshold Value=200

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/MinThreshold Value=7

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/NonmaxSuppression Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FAST/Threshold Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FREAK/NOctaves Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FREAK/OrientationNormalized Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FREAK/PatternScale Value=22

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=FREAK/ScaleNormalized Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GFTT/BlockSize Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GFTT/K Value=0.04

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GFTT/MinDistance Value=7

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GFTT/QualityLevel Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GFTT/UseHarrisDetector Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GMS/ThresholdFactor Value=6

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GMS/WithRotation Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GMS/WithScale Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GTSAM/Optimizer Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/3D Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/CellSize Value=0.05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/ClusterRadius Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/DepthDecimation Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/DepthRoiRatios Value=0.0 0.0 0.0 0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/FlatObstacleDetected Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/FootprintHeight Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/FootprintLength Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/FootprintWidth Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/GroundIsObstacle Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/MapFrameProjection Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/MaxGroundAngle Value=45

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/MaxGroundHeight Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/MaxObstacleHeight Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/MinClusterSize Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/MinGroundHeight Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/NoiseFilteringMinNeighbors Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/NoiseFilteringRadius Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/NormalK Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/NormalsSegmentation Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/PreVoxelFiltering Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/RangeMax Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/RangeMin Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/RayTracing Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/Scan2dUnknownSpaceFilled Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/ScanDecimation Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Grid/Sensor Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/AltitudeDelta Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/Eroded Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/FloodFillDepth Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/FootprintRadius Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/FullUpdate Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/MaxNodes Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/MinSize Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/OccupancyThr Value=0.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/ProbClampingMax Value=0.971

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/ProbClampingMin Value=0.1192

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/ProbHit Value=0.7

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/ProbMiss Value=0.4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=GridGlobal/UpdateError Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/CCFilterOutFarthestPoints Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/CCMaxFinalRMS Value=0.2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/CCSamplingLimit Value=50000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/CorrespondenceRatio Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/DebugExportFormat Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/DownsamplingStep Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/Epsilon Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/Force4DoF Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/Iterations Value=30

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/MaxCorrespondenceDistance Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/MaxRotation Value=0.78

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/MaxTranslation Value=0.2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/OutlierRatio Value=0.85

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PMConfig Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PMMatcherEpsilon Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PMMatcherIntensity Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PMMatcherKnn Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PointToPlane Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneGroundNormalsUp Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneK Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneLowComplexityStrategy Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneMinComplexity Value=0.02

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/PointToPlaneRadius Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/RangeMax Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/RangeMin Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/Strategy Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Icp/VoxelSize Value=0.05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ImuFilter/ComplementaryBiasAlpha Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ImuFilter/ComplementaryDoAdpativeGain Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ImuFilter/ComplementaryDoBiasEstimation Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ImuFilter/ComplementaryGainAcc Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ImuFilter/MadgwickGain Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ImuFilter/MadgwickZeta Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=KAZE/Diffusivity Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=KAZE/Extended Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=KAZE/NOctaveLayers Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=KAZE/NOctaves Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=KAZE/Threshold Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=KAZE/Upright Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/BadSignRatio Value=0.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/ByteToFloat Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/DetectorStrategy Value=6

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/DictionaryPath Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/FlannRebalancingFactor Value=2.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/GridCols Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/GridRows Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/IncrementalDictionary Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/IncrementalFlann Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/MaxDepth Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/MaxFeatures Value=500

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/MinDepth Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/NNStrategy Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/NewWordsComparedTogether Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/NndrRatio Value=0.8

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/Parallelized Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/RoiRatios Value=0.0 0.0 0.0 0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/SubPixEps Value=0.02

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/SubPixIterations Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/SubPixWinSize Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Kp/TfIdfLikelihoodUsed Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/CornerRefinementMethod Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/Dictionary Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/Length Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/MaxDepthError Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/MaxRange Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/MinRange Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/Priors Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/PriorsVarianceAngular Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/PriorsVarianceLinear Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/VarianceAngular Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Marker/VarianceLinear Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/BadSignaturesIgnored Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/BinDataKept Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/CompressionParallelized Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/CovOffDiagIgnored Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/DepthAsMask Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/GenerateIds Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/ImageCompressionFormat Value=.jpg

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/ImageKept Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/ImagePostDecimation Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/ImagePreDecimation Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/IncrementalMemory Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/InitWMWithAllNodes Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/IntermediateNodeDataKept Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/LaserScanDownsampleStepSize Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/LaserScanNormalK Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/LaserScanNormalRadius Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/LaserScanVoxelSize Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/LocalizationDataSaved Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/MapLabelsAdded Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/NotLinkedNodesKept Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/RawDescriptorsKept Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/RecentWmRatio Value=0.2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/ReduceGraph Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/RehearsalIdUpdatedToNewOne Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/RehearsalSimilarity Value=0.6

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/RehearsalWeightIgnoredWhileMoving Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/STMSize Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/SaveDepth16Format Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/StereoFromMotion Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/TransferSortingByWeightId Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/UseOdomFeatures Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Mem/UseOdomGravity Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/EdgeThreshold Value=19

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/FirstLevel Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/Gpu Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/NLevels Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/PatchSize Value=31

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/ScaleFactor Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/ScoreType Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=ORB/WTA_K Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/AlignWithGround Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/FillInfoData Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/FilteringStrategy Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/GuessMotion Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/GuessSmoothingDelay Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/Holonomic Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ImageBufferSize Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ImageDecimation Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/KalmanMeasurementNoise Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/KalmanProcessNoise Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/KeyFrameThr Value=0.3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ParticleLambdaR Value=100

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ParticleLambdaT Value=100

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ParticleNoiseR Value=0.002

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ParticleNoiseT Value=0.002

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ParticleSize Value=400

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ResetCountdown Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/ScanKeyFrameThr Value=0.9

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/Strategy Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Odom/VisKeyFrameThr Value=150

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/BundleAdjustment Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/BundleAdjustmentMaxFrames Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/MaxNewFeatures Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/MaxSize Value=2000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanMaxSize Value=2000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanRange Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanSubtractAngle Value=45

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/ScanSubtractRadius Value=0.05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomF2M/ValidDepthRatio Value=0.75

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/BucketHeight Value=80

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/BucketWidth Value=80

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/CliqueInlierThreshold Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/FastThreshold Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/FastThresholdAdaptiveGain Value=0.005

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/FeatureSearchWindow Value=25

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/FeatureWindowSize Value=9

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/InlierMaxReprojectionError Value=1.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/MaxKeypointsPerBucket Value=25

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/MaxMeanReprojectionError Value=10.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/MaxPyramidLevel Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/MinFeaturesForEstimate Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/MinPyramidLevel Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoMaxDisparity Value=128

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoMaxDistEpipolarLine Value=1.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoMaxRefinementDisplacement Value=1.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/StereoRequireMutualMatch Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/TargetPixelsPerFeature Value=250

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/UpdateTargetFeaturesWithRefined Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/UseAdaptiveThreshold Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/UseBucketing Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/UseHomographyInitialization Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/UseImageNormalization Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomFovis/UseSubpixelRefinement Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomLOAM/AngVar Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomLOAM/LinVar Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomLOAM/LocalMapping Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomLOAM/Resolution Value=0.2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomLOAM/ScanPeriod Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomLOAM/Sensor Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/FastThreshold Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/GridCol Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/GridMaxFeatureNum Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/GridMinFeatureNum Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/GridRow Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/InitCovAccBias Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/InitCovExRot Value=0.00030462

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/InitCovExTrans Value=2.5e-05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/InitCovGyroBias Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/InitCovVel Value=0.25

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/MaxCamStateSize Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/MaxIteration Value=30

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/NoiseAcc Value=0.05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/NoiseAccBias Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/NoiseFeature Value=0.035

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/NoiseGyro Value=0.005

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/NoiseGyroBias Value=0.001

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/OptTranslationThreshold Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/PatchSize Value=15

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/PositionStdThreshold Value=8

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/PyramidLevels Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/RansacThreshold Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/RotationThreshold Value=0.2618

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/StereoThreshold Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/TrackPrecision Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/TrackingRateThreshold Value=0.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMSCKF/TranslationThreshold Value=0.4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMono/InitMinFlow Value=100

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMono/InitMinTranslation Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMono/MaxVariance Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomMono/MinTranslation Value=0.02

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomOKVIS/ConfigPath Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomORBSLAM/Bf Value=0.076

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomORBSLAM/Fps Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomORBSLAM/MapSize Value=3000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomORBSLAM/MaxFeatures Value=1000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomORBSLAM/ThDepth Value=40.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomORBSLAM/VocPath Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomOpen3D/MaxDepth Value=3.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomOpen3D/Method Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomVINS/ConfigPath Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/BucketHeight Value=50

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/BucketMaxFeatures Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/BucketWidth Value=50

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/InlierThreshold Value=2.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchBinsize Value=50

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchDispTolerance Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchHalfResolution Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchMultiStage Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchNmsN Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchNmsTau Value=50

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchOutlierDispTolerance Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchOutlierFlowTolerance Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchRadius Value=200

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/MatchRefinement Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/RansacIters Value=200

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=OdomViso2/Reweighting Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/Epsilon Value=1e-05

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/GravitySigma Value=0.3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/Iterations Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/LandmarksIgnored Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/PriorsIgnored Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/Robust Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/Strategy Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Optimizer/VarianceIgnored Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyDetector/Cuda Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyDetector/Path Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyMatcher/Cuda Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyMatcher/Iterations Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyMatcher/Model Value=indoor

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyMatcher/Path Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=PyMatcher/Threshold Value=0.2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/AngularSpeedUpdate Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/AngularUpdate Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/CreateOccupancyGrid Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/Enabled Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/GoalReachedRadius Value=0.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/GoalsSavedInUserData Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/InvertedReg Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LinearSpeedUpdate Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LinearUpdate Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LocalBundleOnLoopClosure Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LocalImmunizationRatio Value=0.25

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LocalRadius Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LoopClosureIdentityGuess Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LoopClosureReextractFeatures Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/LoopCovLimited Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/MarkerDetection Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/MaxLocalRetrieved Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/MaxLoopClosureDistance Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/MaxOdomCacheSize Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/NeighborLinkRefining Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/NewMapOdomChangeDistance Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/OptimizeFromGraphEnd Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/OptimizeMaxError Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/PlanAngularVelocity Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/PlanLinearVelocity Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/PlanStuckIterations Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityAngle Value=45

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityBySpace Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityByTime Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityGlobalScanMap Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityMaxGraphDepth Value=50

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityMaxPaths Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityMergedScanCovFactor Value=100.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityOdomGuess Value=false

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:470::rtabmap::VWDictionary::update() incremental=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityPathFilteringRadius Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityPathMaxNeighbors Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ProximityPathRawPosesUsed Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/ScanMatchingIdsSavedInLinks Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=RGBD/StartAtOrigin Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Reg/Force3DoF Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Reg/RepeatOnce Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Reg/Strategy Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/ComputeRMSE Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/CreateIntermediateNodes Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/DetectionRate Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/ImageBufferSize Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/ImagesAlreadyRectified Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/LoopGPS Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/LoopRatio Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/LoopThr Value=0.11

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/MaxRepublished Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/MaxRetrieved Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/MemoryThr Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishLastSignature Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishLikelihood Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishPdf Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishRAMUsage Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/PublishStats Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/RectifyOnlyFeatures Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/SaveWMState Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/StartNewMapOnGoodSignature Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/StartNewMapOnLoopClosure Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/StatisticLogged Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/StatisticLoggedHeaders Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/StatisticLogsBufferedInRAM Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/TimeThr Value=0

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:52::rtabmap::FlannIndex::release() 

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Rtabmap/WorkingDirectory Value=C:/Users/Hazel/Documents/RTAB-Map

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SIFT/ContrastThreshold Value=0.04

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SIFT/EdgeThreshold Value=10

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SIFT/NFeatures Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SIFT/NOctaveLayers Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SIFT/RootSIFT Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SIFT/Sigma Value=1.6

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/Extended Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/GpuKeypointsRatio Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/GpuVersion Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/HessianThreshold Value=500

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/OctaveLayers Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/Octaves Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SURF/Upright Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/DenseStrategy Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/Eps Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/Iterations Value=30

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/MaxDisparity Value=128

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/MaxLevel Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/MinDisparity Value=0.5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/OpticalFlow Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/SSD Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/WinHeight Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Stereo/WinWidth Value=15

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/BlockSize Value=15

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/Disp12MaxDiff Value=-1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/MinDisparity Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/NumDisparities Value=128

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/PreFilterCap Value=31

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/PreFilterSize Value=9

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/SpeckleRange Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/SpeckleWindowSize Value=100

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:80::rtabmap::FlannIndex::release() 

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:681::rtabmap::VWDictionary::update() Dictionary updated! (size=0 added=0 removed=0)

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/TextureThreshold Value=10

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:689::rtabmap::VWDictionary::update() 

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoBM/UniquenessRatio Value=15

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/BlockSize Value=15

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/Disp12MaxDiff Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/MinDisparity Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/Mode Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/NumDisparities Value=128

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/P1 Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/P2 Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/PreFilterCap Value=31

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/SpeckleRange Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/SpeckleWindowSize Value=100

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=StereoSGBM/UniquenessRatio Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SuperPoint/Cuda Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SuperPoint/ModelPath Value=

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SuperPoint/NMS Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SuperPoint/NMSRadius Value=4

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=SuperPoint/Threshold Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=VhEp/Enabled Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=VhEp/MatchCountMin Value=8

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=VhEp/RansacParam1 Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=VhEp/RansacParam2 Value=0.99

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/BundleAdjustment Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorFlowEps Value=0.01

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorFlowIterations Value=30

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorFlowMaxLevel Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorFlowWinSize Value=16

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorGuessMatchToProjection Value=false

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorGuessWinSize Value=40

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorNNDR Value=0.8

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorNNType Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/CorType Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/DepthAsMask Value=true

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/EpipolarGeometryVar Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/EstimationType Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/FeatureType Value=6

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/ForwardEstOnly Value=true

[DEBUG] {29040} (2023-11-27 07:32:18) Registration.cpp:49::rtabmap::Registration::create() type=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/GridCols Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/GridRows Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/InlierDistance Value=0.1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/Iterations Value=300

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/MaxDepth Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/MaxFeatures Value=1000

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/MeanInliersDistance Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/MinDepth Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/MinInliers Value=20

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/MinInliersDistribution Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/PnPFlags Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/PnPMaxVariance Value=0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/PnPRefineIterations Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/PnPReprojError Value=2

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/RefineIterations Value=5

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/RoiRatios Value=0.0 0.0 0.0 0.0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/SubPixEps Value=0.02

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/SubPixIterations Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=Vis/SubPixWinSize Value=3

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=g2o/Baseline Value=0.075

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=g2o/Optimizer Value=0

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=g2o/PixelVariance Value=1

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=g2o/RobustKernelDelta Value=8

[DEBUG] {19240} (2023-11-27 07:32:18) MainWindow.cpp:4832::rtabmap::MainWindow::applyPrefSettings() Parameter changed: Key=g2o/Solver Value=0

[DEBUG] {29040} (2023-11-27 07:32:18) RegistrationIcp.cpp:158::rtabmap::RegistrationIcp::parseParameters() libpointmatcher enabled! config=""

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:552::rtabmap::Memory::parseParameters() 

[DEBUG] {29040} (2023-11-27 07:32:18) RegistrationIcp.cpp:158::rtabmap::RegistrationIcp::parseParameters() libpointmatcher enabled! config=""

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:165::rtabmap::Memory::init() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:552::rtabmap::Memory::parseParameters() 

[DEBUG] {29040} (2023-11-27 07:32:18) RegistrationIcp.cpp:158::rtabmap::RegistrationIcp::parseParameters() libpointmatcher enabled! config=""

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:1730::rtabmap::Memory::clear() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:6015::rtabmap::Memory::cleanUnusedWords() Removing 0 words (dictionary size=0)...

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:1786::rtabmap::Memory::clear() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:1810::rtabmap::Memory::clear() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:1816::rtabmap::Memory::clear() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:6015::rtabmap::Memory::cleanUnusedWords() Removing 0 words (dictionary size=0)...

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:694::rtabmap::VWDictionary::clear() 

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:52::rtabmap::FlannIndex::release() 

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:80::rtabmap::FlannIndex::release() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:1847::rtabmap::Memory::clear() 

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:62::rtabmap::DBDriverSqlite3::DBDriverSqlite3() treadSafe=1

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:200::rtabmap::DBDriverSqlite3::setDbInMemory() dbInMemory=0

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriver.cpp:88::rtabmap::DBDriver::openConnection() 

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:449::rtabmap::DBDriverSqlite3::disconnectDatabaseQuery() 

[ INFO] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:359::rtabmap::DBDriverSqlite3::connectDatabaseQuery() Using database "C:/Users/Hazel/Downloads/crashdemo/crashdemo.db" from the hard drive.

[ INFO] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:426::rtabmap::DBDriverSqlite3::connectDatabaseQuery() Database version = 0.21.0

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000005s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000004s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000002s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000002s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3536::rtabmap::DBDriverSqlite3::loadLastNodesQuery() 

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3579::rtabmap::DBDriverSqlite3::loadLastNodesQuery() Loading 2 signatures...

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2897::rtabmap::DBDriverSqlite3::loadSignaturesQuery() count=2

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3059::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Creating 1 (map=0, pose=xyz=0.000000,0.000000,0.000000 rpy=-0.098479,0.949550,-0.050647)

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3059::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Creating 3 (map=0, pose=xyz=-0.007161,-0.005629,0.004981 rpy=0.071973,0.981495,0.299510)

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3095::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time=0.000521s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3251::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Add 948 keypoints, 948 3d points and 948 descriptors to node 1

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3251::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Add 956 keypoints, 956 3d points and 956 descriptors to node 3

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3263::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time=0.011678s

[DEBUG] {29040} (2023-11-27 07:32:18) Signature.cpp:121::rtabmap::Signature::addLink() Add link 1 to 1 (type=9/Gravity var=1.000000,1.000000)

[DEBUG] {29040} (2023-11-27 07:32:18) Signature.cpp:121::rtabmap::Signature::addLink() Add link 3 to 1 (type=0/Neighbor var=0.000003,0.000356)

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4082::rtabmap::DBDriverSqlite3::loadLinksQuery() time=0.000273s, node=1, links.size=2

[DEBUG] {29040} (2023-11-27 07:32:18) Signature.cpp:121::rtabmap::Signature::addLink() Add link 1 to 3 (type=0/Neighbor var=0.000003,0.000356)

[DEBUG] {29040} (2023-11-27 07:32:18) Signature.cpp:121::rtabmap::Signature::addLink() Add link 3 to 3 (type=9/Gravity var=1.000000,1.000000)

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4082::rtabmap::DBDriverSqlite3::loadLinksQuery() time=0.000164s, node=3, links.size=2

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3266::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time load links=0.000458s

[DEBUG] {29040} (2023-11-27 07:32:18) CameraModel.cpp:557::rtabmap::CameraModel::deserialize() Header: 0 21 0 0 1280 720 9 8 9 12 12

[DEBUG] {29040} (2023-11-27 07:32:18) CameraModel.cpp:557::rtabmap::CameraModel::deserialize() Header: 0 21 0 0 1280 720 9 8 9 12 12

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3457::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time load 2 calibrations=0.001639s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3524::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time load 2 global descriptors=0.000282s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3581::rtabmap::DBDriverSqlite3::loadLastNodesQuery() loaded=2, Time=0.014995s

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:309::rtabmap::Memory::loadDataFromDb() Get labels

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2856::rtabmap::DBDriverSqlite3::getAllLabelsQuery() Time=0.000138

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:312::rtabmap::Memory::loadDataFromDb() Check if all nodes are in Working Memory

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:324::rtabmap::Memory::loadDataFromDb() allNodesInWM()=true

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:326::rtabmap::Memory::loadDataFromDb() update odomMaxInf vector

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:348::rtabmap::Memory::loadDataFromDb() update odomMaxInf vector, done!

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2626::rtabmap::DBDriverSqlite3::getLastIdQuery() get last id from table "Node"

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2657::rtabmap::DBDriverSqlite3::getLastIdQuery() Time=0.000150s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2626::rtabmap::DBDriverSqlite3::getLastIdQuery() get last id from table "Statistics"

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2657::rtabmap::DBDriverSqlite3::getLastIdQuery() Time=0.000118s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2626::rtabmap::DBDriverSqlite3::getLastIdQuery() get last map_id from table "Node"

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2657::rtabmap::DBDriverSqlite3::getLastIdQuery() Time=0.000132s

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:370::rtabmap::Memory::loadDataFromDb() Loading dictionary...

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:414::rtabmap::Memory::loadDataFromDb() load words

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3587::rtabmap::DBDriverSqlite3::loadQuery() 

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2626::rtabmap::DBDriverSqlite3::getLastIdQuery() get last id from table "Word"

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:2657::rtabmap::DBDriverSqlite3::getLastIdQuery() Time=0.000206s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:3668::rtabmap::DBDriverSqlite3::loadQuery() Time=0.002055s

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:418::rtabmap::Memory::loadDataFromDb() 681 words loaded!

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:470::rtabmap::VWDictionary::update() incremental=1

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:491::rtabmap::VWDictionary::update() Incremental FLANN: Removing 0 words...

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:500::rtabmap::VWDictionary::update() Incremental FLANN: Removing 0 words... done!

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:504::rtabmap::VWDictionary::update() Incremental FLANN: Inserting 681 words...

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:531::rtabmap::VWDictionary::update() Building FLANN index...

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:208::rtabmap::FlannIndex::buildKDTreeIndex() 

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:52::rtabmap::FlannIndex::release() 

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:80::rtabmap::FlannIndex::release() 

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:260::rtabmap::FlannIndex::buildKDTreeIndex() 

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:549::rtabmap::VWDictionary::update() Building FLANN index... done!

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 1 -> 3

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 3 -> 7

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 7 -> 15

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 15 -> 31

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 31 -> 63

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 63 -> 127

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 127 -> 255

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Clearing memory...

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Clearing memory, done!

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Connecting to database "C:/Users/Hazel/Downloads/crashdemo/crashdemo.db"...

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Connecting to database "C:/Users/Hazel/Downloads/crashdemo/crashdemo.db", done!

[DEBUG] {29040} (2023-11-27 07:32:18) FlannIndex.cpp:405::rtabmap::FlannIndex::addPoints() Rebuilding FLANN index: 255 -> 511

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Loading last nodes to WM...

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Loading nodes to WM, done! (2 loaded)

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Loading dictionary...

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:564::rtabmap::VWDictionary::update() Incremental FLANN: Inserting 681 words... done!

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:681::rtabmap::VWDictionary::update() Dictionary updated! (size=0 added=681 removed=0)

[DEBUG] {29040} (2023-11-27 07:32:18) VWDictionary.cpp:689::rtabmap::VWDictionary::update() 

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:433::rtabmap::Memory::loadDataFromDb() node=1, word references=948

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:433::rtabmap::Memory::loadDataFromDb() node=3, word references=956

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:450::rtabmap::Memory::loadDataFromDb() Total word references added = 1000

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:470::rtabmap::Memory::loadDataFromDb() ids start with 13

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:471::rtabmap::Memory::loadDataFromDb() map ids start with 1

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:549::rtabmap::Rtabmap::parseParameters() 

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:4552::rtabmap::Rtabmap::setWorkingDirectory() Comparing new working directory path "C:/Users/Hazel/Documents/RTAB-Map" with "C:/Users/Hazel/Documents/RTAB-Map"

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:678::rtabmap::Rtabmap::parseParameters() new detector strategy 2

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:552::rtabmap::Memory::parseParameters() 

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000017s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000005s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000002s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:522::rtabmap::DBDriverSqlite3::executeNoResultQuery() Time=0.000002s

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:200::rtabmap::DBDriverSqlite3::setDbInMemory() dbInMemory=0

[DEBUG] {29040} (2023-11-27 07:32:18) RegistrationIcp.cpp:158::rtabmap::RegistrationIcp::parseParameters() libpointmatcher enabled! config=""

[DEBUG] {29040} (2023-11-27 07:32:18) BayesFilter.cpp:114::rtabmap::BayesFilter::setPredictionLC() predictionEpsilon = 0.000000

[DEBUG] {29040} (2023-11-27 07:32:18) BayesFilter.cpp:114::rtabmap::BayesFilter::setPredictionLC() predictionEpsilon = 0.000000

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4937::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() 

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4971::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() serializedIds=2

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4979::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() serializedPoses=24

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4990::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() Optimized pose 1: xyz=-0.000000,0.000000,-0.000000 rpy=-0.139313,0.959895,-0.052786

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:4990::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() Optimized pose 3: xyz=-0.006925,-0.005731,0.005193 rpy=0.038111,0.999397,0.302381

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:5002::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() lastlocalizationPose=xyz=-0.005441,-0.012712,0.055290 rpy=-0.034320,1.029070,0.202269

[DEBUG] {29040} (2023-11-27 07:32:18) DBDriverSqlite3.cpp:5012::rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery() Time=0.000472s

[DEBUG] {29040} (2023-11-27 07:32:18) Memory.cpp:6235::rtabmap::Memory::getMetricConstraints() 

[DEBUG] {29040} (2023-11-27 07:32:18) Rtabmap.cpp:289::rtabmap::Rtabmap::setupLogFiles() Log disabled!

[DEBUG] {29040} (2023-11-27 07:32:18) RtabmapThread.cpp:590::rtabmap::RtabmapThread::getData() 

[ INFO] {29040} (2023-11-27 07:32:18) RtabmapThread.cpp:592::rtabmap::RtabmapThread::getData() waiting for data

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Loading dictionary, done! (681 words)

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Adding word references...

[DEBUG] {19240} (2023-11-27 07:32:18) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Adding word references, done! (1000)

[ INFO] {19240} (2023-11-27 07:32:20) MainWindow.cpp:7261::rtabmap::MainWindow::downloadAllClouds() Download clouds...

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Downloading the map (global=false ,optimized=true)...

[DEBUG] {10284} (2023-11-27 07:32:20) RtabmapThread.cpp:71::rtabmap::RtabmapThread::pushNewState() to 1

[ INFO] {29040} (2023-11-27 07:32:20) RtabmapThread.cpp:594::rtabmap::RtabmapThread::getData() wake-up

[DEBUG] {29040} (2023-11-27 07:32:20) RtabmapThread.cpp:278::rtabmap::RtabmapThread::mainLoop() CMD_PUBLISH_MAP

[DEBUG] {29040} (2023-11-27 07:32:20) RtabmapThread.cpp:131::rtabmap::RtabmapThread::publishMap() optimized=true, full=false, graphOnly=false

[DEBUG] {29040} (2023-11-27 07:32:20) Memory.cpp:2530::rtabmap::Memory::getLastWorkingSignature() 

[DEBUG] {29040} (2023-11-27 07:32:20) Memory.cpp:2530::rtabmap::Memory::getLastWorkingSignature() 

[ INFO] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:4915::rtabmap::Rtabmap::optimizeCurrentMap() Optimize map: around location 3 (lookInDatabase=false)

[ INFO] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:4924::rtabmap::Rtabmap::optimizeCurrentMap() get 2 ids time 0.000008 s

[DEBUG] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:4965::rtabmap::Rtabmap::optimizeGraph() ids=2

[DEBUG] {29040} (2023-11-27 07:32:20) Memory.cpp:6235::rtabmap::Memory::getMetricConstraints() 

[ INFO] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:4967::rtabmap::Rtabmap::optimizeGraph() get constraints (ids=2, 2 poses, 3 edges) time 0.000030 s

[DEBUG] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:5024::rtabmap::Rtabmap::optimizeGraph() use input guess poses

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:101::rtabmap::OptimizerGTSAM::optimize() Optimizing graph...

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:146::rtabmap::OptimizerGTSAM::optimize() hasGPSPrior=false

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:164::rtabmap::OptimizerGTSAM::optimize() fill poses to gtsam... rootId=1 (priorsIgnored=1 landmarksIgnored=0)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:223::rtabmap::OptimizerGTSAM::optimize() fill edges to gtsam...

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:495::rtabmap::OptimizerGTSAM::optimize() create optimizer

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:520::rtabmap::OptimizerGTSAM::optimize() GTSAM optimizing begin (max iterations=20, robust=0)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 1 error =454541827194638866205169837699413444678847540814523729143869114960082224716387602208179027434505576081005884612773966776946758780603439276172803478057387288291969325914089235311368563969779299098490898329712369337911232281613816848235934143065440203024517718953090742800119857323949686784.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 2 error =221037920311172607048510917171649804284595990554508697069570658652936266666748463488998375816241801966661371214420879013194956473138794367811317751295005765941765195630572660540988304631749851716493085554878824407180566268716799955092147684683793864641503622855504630149255762907459911168479461376.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:606::rtabmap::OptimizerGTSAM::optimize() Negative improvement?! Ignore and continue optimizing... (-221037919856630782884617881053258775982019534891364433214236980659485229424742370704691430628361834722939557090461879180328306374404562555871541688802990504951550553269696780072218466287678918085837497761165177075134890164421980953630833037348800013107058419617680840356235392818996623585197424640.000000 < 0.000010)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 3 error =168270353299397923113435769612991861774484879715992104209705004840645239463094043269416987406842687577405814492106198480420895013996117453136438898322603626274834258014351873236168930883281056702590513239290228322324595240558721106534091954426025882341045864827331326382912679728609803370496.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 4 error =1218758332425479803546136970070603902283712752735566774842006122727824432409860697380662820003627785915289536295209801126007609028643097476771449969664222708983727820738076441642139125572301060672488548466521689785099843115898324237725677357495908909237650030222352853712048818042172166111232.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:606::rtabmap::OptimizerGTSAM::optimize() Negative improvement?! Ignore and continue optimizing... (-1050487979126081880432701200457612040509227873019574670632301117887179192946766654111245832596785098337883721803103602645586714014646980023635011071341619082708893562723724568405970194689020003969898035227231461462775247875339603131191585403069883026896604165395021527329136138313562362740736.000000 < 0.000010)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 5 error =51784647392412383741036906400089270100579380162952185611598955091504711564722876159230189418240087883136578984765379963380645177595108213855389415207235650646274391352546926742664914815226570650879811015399401188391236435724736624543444581829795850042151026110440263003786630975826427904.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 6 error =6622701027448034697506073471655911756708590700909763947294802363078002229135779157616203721305770565713891264824367988897928982726117554208041706442806432926331555482990681241697844056714508610338600383095211332753826279019259415478511967669630529217430337144178200462994167948250185728.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 7 error =1327098422522671975393166893067298156935023457666499380756896698378160161110625080849151800279424737595321858332296150084147323915814666468726210264796967722605372896414547868095433734513845818924113570223633360593849467939899752532927564447221857373376367087402232585808484065345536.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 8 error =34201460840942714212990597083887525622251063018564843282980024245970196211393059440257154644495592417567080507494824552425005645301808833253811573962707572495871827223845776892110427013128739059135397336080610066623558238083430773191679319000570719977911957435297143556175770419200.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 9 error =16776505335753093492412984949379642239275912897083399439867913938616098879629979167942804985472376678416046963168091091869170923889211030041302688876078646436799503916781086044912895361336270577655076612019086357530452490016003093655372973157005209576337947600762979009809088512.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 10 error =139598883826849492549904053853741728591850823059629320663210470692409383414044745872955390894330662877934378896472174043246870849368954753149388705303557614156868797972415278428165081790186120846422274251065032397609249934890606735768466310514134495082862965213865537414627328.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 11 error =763605068071827327816552665724642292047450747769594158954972927820747167978976491086597247251662772006818925913839335271882819408064098579663291715246040631869407423988286077862795659916271717964594445510521567815475472998171581660309523751238936524566846787885221810274304.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 12 error =1065759752768458845454629927132037410474364779726490624994281207345078805027428770883851509375685709783980654797904202247534930455060479194803270029676014544762936494010326343069212525040681944537622244819924383397564357872188017550688400450261510699882740165531901110517760.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:606::rtabmap::OptimizerGTSAM::optimize() Negative improvement?! Ignore and continue optimizing... (-302154684696631517638077261407395118426914031956896466039308279524331637048452279797254262124022937777161728884064866975652111046996380615139978314429973912893529070022040265206416865124410226573027799309402815582088884874016435890378876699022574175315893377646679300243456.000000 < 0.000010)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 13 error =806819580956108526262292892696945312014623186500694682662636404698872675279133150675741499036878353145404161623006170006548910879206126734514320713008326924953992710000664876779408563680021530626889288383075073995223683429723790093105660399623519745534226061038547124617216.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 14 error =799534565596028939846254538814736964110451725606913120982825314774897658932430969921255907275547224116991018387551553117298290575606296984738373568202437732215587862150594337404312374025999382316772849656798519530346718142445491521471296308593391982675057221403234304786432.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:600::rtabmap::OptimizerGTSAM::optimize() iteration 15 error =799534565596028939846254538814736964110451725606913120982825314774897658932430969921255907275547224116991018387551553117298290575606296984738373568202437732215587862150594337404312374025999382316772849656798519530346718142445491521471296308593391982675057221403234304786432.000000

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:610::rtabmap::OptimizerGTSAM::optimize() Stop optimizing, not enough improvement (0.000000 < 0.000010)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:630::rtabmap::OptimizerGTSAM::optimize() GTSAM optimizing end (15 iterations done, error=799534565596028939846254538814736964110451725606913120982825314774897658932430969921255907275547224116991018387551553117298290575606296984738373568202437732215587862150594337404312374025999382316772849656798519530346718142445491521471296308593391982675057221403234304786432.000000 (initial=9239484841614819573143131738452596317193479974235229208661693133489807705146687339660349108194918367072273088418119877608145029450409608021773112937713643041521072789143246544070299606286947280654294726126251332013062023749054402762095744640865547927570482289228461131771538577208637390848.000000 final=799534565596028939846254538814736964110451725606913120982825314774897658932430969921255907275547224116991018387551553117298290575606296984738373568202437732215587862150594337404312374025999382316772849656798519530346718142445491521471296308593391982675057221403234304786432.000000), time=0.002752 s)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:689::rtabmap::OptimizerGTSAM::optimize() Computing marginals...

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:693::rtabmap::OptimizerGTSAM::optimize() Computed marginals = 0.000841s (key=3)

[DEBUG] {29040} (2023-11-27 07:32:20) OptimizerGTSAM.cpp:742::rtabmap::OptimizerGTSAM::optimize() Optimizing graph...end!

[ INFO] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:5039::rtabmap::Rtabmap::optimizeGraph() Optimization time 0.009628 s

[ INFO] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:4927::rtabmap::Rtabmap::optimizeCurrentMap() optimize time 0.009676 s

[ INFO] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:4936::rtabmap::Rtabmap::optimizeCurrentMap() Correction (from node 1) xyz=0.000000,0.000000,0.000000 rpy=-0.019974,0.008708,0.027286

[DEBUG] {29040} (2023-11-27 07:32:20) Rtabmap.cpp:5288::rtabmap::Rtabmap::getGraph() _optimizedPoses=2 poses=2

[DEBUG] {29040} (2023-11-27 07:32:20) DBDriverSqlite3.cpp:1298::rtabmap::DBDriverSqlite3::loadNodeDataQuery() load data for 1 signatures images=1 scan=1 userData=1, grid=1

[DEBUG] {29040} (2023-11-27 07:32:20) DBDriverSqlite3.cpp:1438::rtabmap::DBDriverSqlite3::loadNodeDataQuery() Loading data for 1...

[DEBUG] {29040} (2023-11-27 07:32:20) CameraModel.cpp:557::rtabmap::CameraModel::deserialize() Header: 0 21 0 0 1280 720 9 8 9 12 12

[DEBUG] {29040} (2023-11-27 07:32:20) SensorData.cpp:451::rtabmap::SensorData::setOccupancyGrid() ground=0 obstacles=0 empty=0

[DEBUG] {29040} (2023-11-27 07:32:20) DBDriverSqlite3.cpp:1855::rtabmap::DBDriverSqlite3::loadNodeDataQuery() Time=0.000545s

[DEBUG] {29040} (2023-11-27 07:32:20) Signature.cpp:121::rtabmap::Signature::addLink() Add link 1 to 1 (type=9/Gravity var=1.000000,1.000000)

[DEBUG] {29040} (2023-11-27 07:32:20) Signature.cpp:121::rtabmap::Signature::addLink() Add link 3 to 1 (type=0/Neighbor var=0.000003,0.000356)

[DEBUG] {29040} (2023-11-27 07:32:20) DBDriverSqlite3.cpp:1298::rtabmap::DBDriverSqlite3::loadNodeDataQuery() load data for 1 signatures images=1 scan=1 userData=1, grid=1

[DEBUG] {29040} (2023-11-27 07:32:20) DBDriverSqlite3.cpp:1438::rtabmap::DBDriverSqlite3::loadNodeDataQuery() Loading data for 3...

[DEBUG] {29040} (2023-11-27 07:32:20) CameraModel.cpp:557::rtabmap::CameraModel::deserialize() Header: 0 21 0 0 1280 720 9 8 9 12 12

[DEBUG] {29040} (2023-11-27 07:32:20) SensorData.cpp:451::rtabmap::SensorData::setOccupancyGrid() ground=0 obstacles=0 empty=0

[DEBUG] {29040} (2023-11-27 07:32:20) DBDriverSqlite3.cpp:1855::rtabmap::DBDriverSqlite3::loadNodeDataQuery() Time=0.000353s

[DEBUG] {29040} (2023-11-27 07:32:20) Signature.cpp:121::rtabmap::Signature::addLink() Add link 1 to 3 (type=0/Neighbor var=0.000003,0.000356)

[DEBUG] {29040} (2023-11-27 07:32:20) Signature.cpp:121::rtabmap::Signature::addLink() Add link 3 to 3 (type=9/Gravity var=1.000000,1.000000)

[DEBUG] {29040} (2023-11-27 07:32:20) RtabmapThread.cpp:590::rtabmap::RtabmapThread::getData() 

[ INFO] {29040} (2023-11-27 07:32:20) RtabmapThread.cpp:592::rtabmap::RtabmapThread::getData() waiting for data

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Downloading the map... done.

[ INFO] {19240} (2023-11-27 07:32:20) MainWindow.cpp:4569::rtabmap::MainWindow::processRtabmapEvent3DMap() Received map!

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText()  poses = 2

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText()  constraints = 3

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Inserting data in the cache (2 signatures downloaded)...

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Inserted 2 new signatures.

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Inserting data in the cache... done.

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Updating the 3D map cloud...

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:2710::rtabmap::MainWindow::updateMapCloud() nodes=2 landmarks=0 constraints=3 mapIdsIn=2 labelsIn=1

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:2842::rtabmap::MainWindow::updateMapCloud() Update map with 2 locations

[DEBUG] {19240} (2023-11-27 07:32:20) SensorData.cpp:550::rtabmap::SensorData::uncompressData() 1 data(1,1,0,0,0,0,0)

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:1075::rtabmap::util3d::cloudRGBFromSensorData() 

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1162::rtabmap::util2d::computeRoi() roi ratios = 0.050000, 0.050000, 0.050000, 0.050000

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1163::rtabmap::util2d::computeRoi() roi = 0, 0, 1280, 720

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1190::rtabmap::util2d::computeRoi() roi = 64, 36, 1152, 648

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1162::rtabmap::util2d::computeRoi() roi ratios = 0.050000, 0.050000, 0.050000, 0.050000

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1163::rtabmap::util2d::computeRoi() roi = 0, 0, 1280, 720

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1190::rtabmap::util2d::computeRoi() roi = 64, 36, 1152, 648

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:443::rtabmap::util3d::cloudFromDepthRGB() 

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:554::rtabmap::util3d::cloudFromDepthRGB() rgb=1152x648 depth=1152x648 fx=608.378296 fy=608.312927 cx=574.055115 cy=329.923584 (depth factors=1.000000 1.000000) decimation=4

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:607::rtabmap::util3d::cloudFromDepthRGB() 

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Updated cloud 1 (1/2)

[DEBUG] {19240} (2023-11-27 07:32:20) SensorData.cpp:550::rtabmap::SensorData::uncompressData() 3 data(1,1,0,0,0,0,0)

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:1075::rtabmap::util3d::cloudRGBFromSensorData() 

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1162::rtabmap::util2d::computeRoi() roi ratios = 0.050000, 0.050000, 0.050000, 0.050000

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1163::rtabmap::util2d::computeRoi() roi = 0, 0, 1280, 720

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1190::rtabmap::util2d::computeRoi() roi = 64, 36, 1152, 648

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1162::rtabmap::util2d::computeRoi() roi ratios = 0.050000, 0.050000, 0.050000, 0.050000

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1163::rtabmap::util2d::computeRoi() roi = 0, 0, 1280, 720

[DEBUG] {19240} (2023-11-27 07:32:20) util2d.cpp:1190::rtabmap::util2d::computeRoi() roi = 64, 36, 1152, 648

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:443::rtabmap::util3d::cloudFromDepthRGB() 

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:554::rtabmap::util3d::cloudFromDepthRGB() rgb=1152x648 depth=1152x648 fx=608.378296 fy=608.312927 cx=574.055115 cy=329.923584 (depth factors=1.000000 1.000000) decimation=4

[DEBUG] {19240} (2023-11-27 07:32:20) util3d.cpp:607::rtabmap::util3d::cloudFromDepthRGB() 

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Updated cloud 3 (2/2)

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3092::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3238::rtabmap::MainWindow::updateMapCloud() timerGraph=0.001011s

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3241::rtabmap::MainWindow::updateMapCloud() labels.size()=1

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3267::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) CloudViewer.cpp:1315::rtabmap::CloudViewer::removeOctomap() 

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3307::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3402::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3410::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3490::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) MainWindow.cpp:3492::rtabmap::MainWindow::updateMapCloud() 

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Updating the 3D map cloud... done.

[DEBUG] {19240} (2023-11-27 07:32:20) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() 2 locations are updated to/inserted in the cache.

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Copied cloud 1 from cache with 46656 points and 41199 indices (1/2).

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Copied cloud 3 from cache with 46656 points and 42585 indices (2/2).

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:1694::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:1716::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:1790::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:1849::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Assembling 2 clouds...

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Assembled cloud 1, total=41199 (1/2).

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Assembled cloud 3, total=83784 (2/2).

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Voxelize cloud (83784 points, voxel size = 0.01 m)...

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Voxelize cloud (83784 points, voxel size = 0.01 m)...done! (22533 points)

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:1966::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:2066::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:38) ExportCloudsDialog.cpp:2080::rtabmap::ExportCloudsDialog::getExportedClouds() Meshing=1

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Poisson surface reconstruction...

[DEBUG] {19240} (2023-11-27 07:32:38) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Poisson depth resolution chosen is 7, map size (m) = 2x3x0

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Mesh 0 created with 14361 polygons (1/1).

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Transferring color from point cloud to mesh...

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressState.h:42::rtabmap::ProgressState::callback() msg=Transferring color from point cloud to mesh...

[DEBUG] {19240} (2023-11-27 07:32:39) ExportCloudsDialog.cpp:2954::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:39) ExportCloudsDialog.cpp:3122::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:39) ExportCloudsDialog.cpp:3129::rtabmap::ExportCloudsDialog::getExportedClouds() texture mapping=1

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Texturing...

[DEBUG] {19240} (2023-11-27 07:32:39) ExportCloudsDialog.cpp:3387::rtabmap::ExportCloudsDialog::getExportedClouds() Texture by projection

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:663::rtabmap::util3d::createTextureCameras() 0.000000

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:664::rtabmap::util3d::createTextureCameras() 720.000000

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:665::rtabmap::util3d::createTextureCameras() 1280.000000

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:666::rtabmap::util3d::createTextureCameras() cam.pose=xyz=-0.000000,0.000000,-0.000000 rpy=-2.535258,-0.079737,-1.509224

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:663::rtabmap::util3d::createTextureCameras() 0.000000

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:664::rtabmap::util3d::createTextureCameras() 720.000000

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:665::rtabmap::util3d::createTextureCameras() 1280.000000

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:666::rtabmap::util3d::createTextureCameras() cam.pose=xyz=-0.006925,-0.005731,0.005193 rpy=-2.570524,0.020608,-1.300478

[ INFO] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1081::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Computing visible faces per cam (5459 faces, 2 cams)

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Computing visible faces per cam (5459 faces, 2 cams)

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressState.h:42::rtabmap::ProgressState::callback() msg=Computing visible faces per cam (5459 faces, 2 cams)

[DEBUG] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1090::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Texture camera 0...

[ INFO] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1284::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Processed camera 1/2: 325 occluded and 112 spurious polygons out of 4475

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Processed camera 1/2: 325 occluded and 112 spurious polygons out of 4475

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressState.h:42::rtabmap::ProgressState::callback() msg=Processed camera 1/2: 325 occluded and 112 spurious polygons out of 4475

[DEBUG] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1090::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Texture camera 1...

[ INFO] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1284::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Processed camera 2/2: 348 occluded and 114 spurious polygons out of 4207

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Processed camera 2/2: 348 occluded and 114 spurious polygons out of 4207

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressState.h:42::rtabmap::ProgressState::callback() msg=Processed camera 2/2: 348 occluded and 114 spurious polygons out of 4207

[ INFO] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1294::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Texturing 5459 polygons...

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Texturing 5459 polygons...

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressState.h:42::rtabmap::ProgressState::callback() msg=Texturing 5459 polygons...

[ INFO] {19240} (2023-11-27 07:32:39) texture_mapping.hpp:1432::pcl::TextureMapping<struct pcl::PointXYZ>::textureMeshwithMultipleCameras2() Process 5459 polygons...done! (4813 textured)

[DEBUG] {19240} (2023-11-27 07:32:39) util3d_surface.cpp:877::rtabmap::util3d::cleanTextureMesh() minClusterSize=0

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Cleaned texture mesh: 5459 -> 4813 polygons

[DEBUG] {19240} (2023-11-27 07:32:39) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() TextureMesh 0 created [cameras=2] (1/1).

[DEBUG] {19240} (2023-11-27 07:32:39) ExportCloudsDialog.cpp:3533::rtabmap::ExportCloudsDialog::getExportedClouds() 

[DEBUG] {19240} (2023-11-27 07:32:49) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Saving the mesh (with 2 textures)...

[DEBUG] {19240} (2023-11-27 07:32:49) ProgressDialog.cpp:104::rtabmap::ProgressDialog::appendText() Merging textures...

[DEBUG] {19240} (2023-11-27 07:32:49) util3d_surface.cpp:1515::rtabmap::util3d::mergeTextures(