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Example Malaga2009 Parking 6L
matlabbe edited this page Jul 19, 2015
·
3 revisions
Output of MATLAB for Precision/Recall:
--- getPrecisionRecall ---
Loading GroundTruth 'malaga2009_parking_6L.png' ...
GT_total_positives =
78
False positive! id=62 with old=13 (p=0.08766)
False positive! id=426 with old=134 (p=0.085643)
False positive! id=105 with old=49 (p=0.077813)
False positive! id=140 with old=73 (p=0.076627)
False positive! id=61 with old=13 (p=0.076487)
False positive! id=90 with old=22 (p=0.076243)
False positive! id=95 with old=41 (p=0.071501)
False positive! id=344 with old=26 (p=0.071073)
False positive! id=197 with old=33 (p=0.070219)
Recall max (Precision=100%) = 89.7436% (p=0.090303), accepted=70
Recall max accepted (Precision=100%) = 79.4872% (p=0.11104), accepted=62
ignored = 0
Output of rtabmap-console:
$ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700 /Volumes/SD-32GB/malaga2009_parking_6L
Deleted database "rtabmapconsole.db".
Avpd init time = 0.036709s
Parameters :
Data set : /Volumes/SD-32GB/malaga2009_parking_6L
Time threshold = 700.00 ms
Image rate = 0.00 s (inf Hz)
Repeating data set = false
Camera starts at image 1 (default 1)
INFO: All other parameters are set to defaults
Overwritten parameters :
Bayes/FullPredictionUpdate=true
Kp/BadSignRatio=0.25
Kp/TfIdfLikelihoodUsed=false
Kp/WordsPerImage=400
Mem/BadSignaturesIgnored=true
Mem/RecentWmRatio=0.2
Mem/RehearsalIdUpdatedToNewOne=true
Mem/RehearsalSimilarity=0.2
Mem/STMSize=30
RGBD/Enabled=false
Rtabmap/LoopRatio=0.0
Rtabmap/PublishStats=false
Rtabmap/StatisticLogged=true
Rtabmap/StatisticLoggedHeaders=false
Rtabmap/TimeThr=700
SURF/Extended=false
SURF/HessianThreshold=1000
Processing images...
iteration(1) time=0.369987s/1.035060s
iteration(2) time=0.209372s/0.226595s
iteration(3) time=0.210441s/0.226837s
iteration(4) time=0.205115s/0.223798s
iteration(5) time=0.205655s/0.224024s
iteration(6) time=0.209857s/0.227493s
iteration(7) time=0.213849s/0.232711s
iteration(8) time=0.209435s/0.226724s
iteration(9) time=0.220842s/0.240056s
iteration(10) time=0.223146s/0.239217s
iteration(11) time=0.212161s/0.229102s
iteration(12) time=0.224511s/0.239691s
iteration(13) time=0.215625s/0.231830s
iteration(14) time=0.202419s/0.219723s
iteration(15) time=0.214599s/0.231485s
iteration(16) time=0.200667s/0.215980s
iteration(17) time=0.207933s/0.223024s
iteration(18) time=0.212695s/0.228656s
iteration(19) time=0.201410s/0.215695s
iteration(20) time=0.212293s/0.228567s
iteration(21) time=0.215005s/0.231641s
iteration(22) time=0.210052s/0.227293s
iteration(23) time=0.215632s/0.235783s
iteration(24) time=0.207468s/0.224317s
iteration(25) time=0.216169s/0.234168s
iteration(26) time=0.224473s/0.240972s
iteration(27) time=0.242614s/0.262139s
iteration(28) time=0.234246s/0.250459s
iteration(29) time=0.215887s/0.232093s
iteration(30) time=0.207457s/0.223442s
iteration(31) time=0.211907s/0.230758s
iteration(32) time=0.221294s/0.240264s
iteration(33) time=0.212208s/0.231962s
iteration(34) time=0.211995s/0.229139s
iteration(35) time=0.210096s/0.226995s
iteration(36) time=0.209346s/0.228811s
iteration(37) time=0.223038s/0.240145s
iteration(38) time=0.228163s/0.248643s
iteration(39) time=0.251381s/0.271241s
iteration(40) time=0.227797s/0.248240s
iteration(41) time=0.224749s/0.243428s
iteration(42) time=0.238776s/0.259787s
iteration(43) time=0.219158s/0.234899s
iteration(44) time=0.224112s/0.242281s
iteration(45) time=0.232494s/0.251806s
iteration(46) time=0.233865s/0.255087s
iteration(47) time=0.226300s/0.245423s
iteration(48) time=0.266210s/0.284827s
iteration(49) time=0.352111s/0.372061s
iteration(50) time=0.360109s/0.381627s
iteration(51) time=0.281731s/0.299070s
iteration(52) time=0.212202s/0.227494s
iteration(53) time=0.211520s/0.228054s
iteration(54) time=0.217588s/0.233361s
iteration(55) time=0.215312s/0.231448s
iteration(56) time=0.207745s/0.222888s
iteration(57) time=0.232206s/0.249908s
iteration(58) time=0.273695s/0.289437s
iteration(59) time=0.230449s/0.247815s
iteration(60) high(13) hyp(0.05) time=0.228212s/0.244214s
iteration(61) high(13) hyp(0.08) time=0.234011s/0.252892s
iteration(62) high(13) hyp(0.09) time=0.226890s/0.241840s
iteration(63) high(18) hyp(0.03) time=0.242008s/0.257223s
iteration(64) high(18) hyp(0.02) time=0.229393s/0.248709s
iteration(65) high(24) hyp(0.04) time=0.208097s/0.228102s
iteration(66) high(22) hyp(0.04) time=0.226592s/0.241618s
iteration(67) high(13) hyp(0.04) time=0.221527s/0.236174s
iteration(68) high(13) hyp(0.05) time=0.213898s/0.228537s
iteration(69) high(13) hyp(0.06) time=0.222643s/0.237955s
iteration(70) high(13) hyp(0.10) time=0.211260s/0.226347s
iteration(71) loop(13) hyp(0.12) time=0.234312s/0.249412s *
iteration(72) high(18) hyp(0.10) time=0.247872s/0.262398s
iteration(73) high(18) hyp(0.10) time=0.238208s/0.252671s
iteration(74) high(18) hyp(0.10) time=0.232349s/0.246659s
iteration(75) high(18) hyp(0.10) time=0.243136s/0.257625s
iteration(76) loop(18) hyp(0.12) time=0.233803s/0.248121s *
iteration(77) loop(18) hyp(0.16) time=0.233523s/0.247792s *
iteration(78) loop(18) hyp(0.19) time=0.223378s/0.240150s *
iteration(79) loop(18) hyp(0.22) time=0.209081s/0.226294s *
iteration(80) loop(18) hyp(0.24) time=0.229682s/0.248030s *
iteration(81) loop(22) hyp(0.23) time=0.204564s/0.222065s *
iteration(82) loop(22) hyp(0.23) time=0.237666s/0.253362s *
iteration(83) loop(22) hyp(0.25) time=0.219609s/0.239441s *
iteration(84) loop(22) hyp(0.27) time=0.241526s/0.259632s *
iteration(85) loop(22) hyp(0.31) time=0.216068s/0.234859s *
iteration(86) loop(22) hyp(0.35) time=0.251303s/0.271044s *
iteration(87) loop(22) hyp(0.30) time=0.225942s/0.245096s *
iteration(88) loop(22) hyp(0.20) time=0.228799s/0.244143s *
iteration(89) loop(26) hyp(0.13) time=0.228525s/0.243897s *
iteration(90) high(22) hyp(0.08) time=0.260313s/0.275753s
iteration(91) high(29) hyp(0.06) time=0.266249s/0.282836s
iteration(92) high(47) hyp(0.07) time=0.226954s/0.247411s
iteration(93) high(41) hyp(0.06) time=0.254990s/0.271131s
iteration(94) high(41) hyp(0.07) time=0.260112s/0.275253s
iteration(95) high(41) hyp(0.07) time=0.257868s/0.275696s
iteration(96) high(26) hyp(0.07) time=0.222520s/0.242971s
iteration(97) high(26) hyp(0.07) time=0.241700s/0.259933s
iteration(98) high(39) hyp(0.06) time=0.200176s/0.221677s
iteration(99) high(40) hyp(0.06) time=0.235913s/0.251881s
count = 100, loop closures = 15, max time (at 1) = 0.369987s
WM(30)=[13,0;18,0;22,0;24,1;26,0;27,0;29,1;31,1;33,1;35,1;37,1;38,0;39,0;40,0;41,0;42,0;43,0;45,1;47,1;49,1;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0]
iteration(100) high(40) hyp(0.06) time=0.247562s/0.266436s
iteration(101) high(47) hyp(0.06) time=0.235704s/0.251955s
iteration(102) high(50) hyp(0.04) time=0.257818s/0.273310s
iteration(103) high(33) hyp(0.05) time=0.249666s/0.264834s
iteration(104) high(49) hyp(0.07) time=0.247301s/0.267901s
iteration(105) high(49) hyp(0.08) time=0.254090s/0.273051s
iteration(106) high(42) hyp(0.07) time=0.216567s/0.237193s
iteration(107) high(42) hyp(0.06) time=0.253111s/0.273898s
iteration(108) high(42) hyp(0.06) time=0.223780s/0.243263s
iteration(109) high(49) hyp(0.07) time=0.253191s/0.269223s
iteration(110) high(49) hyp(0.07) time=0.249097s/0.268664s
iteration(111) high(45) hyp(0.07) time=0.216432s/0.235815s
iteration(112) high(42) hyp(0.06) time=0.261699s/0.277898s
iteration(113) high(57) hyp(0.06) time=0.266959s/0.287647s
iteration(114) high(52) hyp(0.05) time=0.267127s/0.290361s
iteration(115) high(52) hyp(0.05) time=0.277073s/0.292981s
iteration(116) high(53) hyp(0.06) time=0.268507s/0.285361s
iteration(117) high(27) hyp(0.06) time=0.313556s/0.333421s
iteration(118) high(55) hyp(0.06) time=0.238976s/0.254076s
iteration(119) high(52) hyp(0.06) time=0.258804s/0.279068s
iteration(120) high(43) hyp(0.06) time=0.258499s/0.273809s
iteration(121) high(26) hyp(0.06) time=0.272245s/0.292225s
iteration(122) high(53) hyp(0.06) time=0.260020s/0.275373s
iteration(123) high(57) hyp(0.05) time=0.264089s/0.279336s
iteration(124) high(59) hyp(0.05) time=0.266064s/0.287221s
iteration(125) high(57) hyp(0.05) time=0.270031s/0.285444s
iteration(126) high(29) hyp(0.06) time=0.282771s/0.297875s
iteration(127) high(26) hyp(0.06) time=0.273342s/0.289363s
iteration(128) high(80) hyp(0.04) time=0.271356s/0.292863s
iteration(129) high(89) hyp(0.05) time=0.282068s/0.302942s
iteration(130) high(86) hyp(0.06) time=0.281392s/0.296565s
iteration(131) high(37) hyp(0.06) time=0.291742s/0.306527s
iteration(132) high(56) hyp(0.06) time=0.270733s/0.286115s
iteration(133) high(95) hyp(0.05) time=0.278800s/0.294510s
iteration(134) high(100) hyp(0.05) time=0.294456s/0.310286s
iteration(135) high(47) hyp(0.06) time=0.292040s/0.307516s
iteration(136) high(24) hyp(0.06) time=0.287701s/0.307828s
iteration(137) high(67) hyp(0.06) time=0.287365s/0.307930s
iteration(138) high(51) hyp(0.05) time=0.292146s/0.307348s
iteration(139) high(71) hyp(0.07) time=0.304666s/0.324063s
iteration(140) high(73) hyp(0.08) time=0.294754s/0.314563s
iteration(141) high(74) hyp(0.07) time=0.304067s/0.324830s
iteration(142) high(61) hyp(0.05) time=0.308848s/0.329457s
iteration(143) high(62) hyp(0.06) time=0.317469s/0.332570s
iteration(144) high(62) hyp(0.06) time=0.312197s/0.331133s
iteration(145) high(45) hyp(0.06) time=0.314026s/0.333089s
iteration(146) high(66) hyp(0.06) time=0.314712s/0.329774s
iteration(147) high(49) hyp(0.05) time=0.312341s/0.332220s
iteration(148) high(72) hyp(0.05) time=0.312426s/0.333857s
iteration(149) high(33) hyp(0.06) time=0.319013s/0.340131s
iteration(150) high(71) hyp(0.05) time=0.318252s/0.337653s
iteration(151) high(84) hyp(0.05) time=0.337101s/0.357521s
iteration(152) high(73) hyp(0.06) time=0.328147s/0.348399s
iteration(153) high(110) hyp(0.06) time=0.339013s/0.359334s
iteration(154) high(108) hyp(0.05) time=0.314924s/0.334824s
iteration(155) high(80) hyp(0.05) time=0.340175s/0.360158s
iteration(156) high(72) hyp(0.06) time=0.314971s/0.334795s
iteration(157) high(61) hyp(0.06) time=0.339812s/0.358324s
iteration(158) high(71) hyp(0.06) time=0.328468s/0.347141s
iteration(159) high(75) hyp(0.06) time=0.326899s/0.346875s
iteration(160) high(110) hyp(0.05) time=0.348520s/0.367424s
iteration(161) high(93) hyp(0.06) time=0.323017s/0.343365s
iteration(162) high(70) hyp(0.06) time=0.324139s/0.343292s
iteration(163) high(71) hyp(0.06) time=0.332248s/0.351733s
iteration(164) high(87) hyp(0.05) time=0.342181s/0.360530s
iteration(165) high(123) hyp(0.05) time=0.341957s/0.361254s
iteration(166) high(69) hyp(0.06) time=0.346734s/0.365961s
iteration(167) high(67) hyp(0.06) time=0.342139s/0.362462s
iteration(168) high(84) hyp(0.06) time=0.347696s/0.366063s
iteration(169) high(86) hyp(0.06) time=0.345809s/0.366209s
iteration(170) high(131) hyp(0.06) time=0.342640s/0.362727s
iteration(171) high(70) hyp(0.06) time=0.338688s/0.357512s
iteration(172) high(133) hyp(0.05) time=0.341618s/0.362000s
iteration(173) high(127) hyp(0.06) time=0.341056s/0.355807s
iteration(174) high(101) hyp(0.05) time=0.350009s/0.369091s
iteration(175) high(142) hyp(0.05) time=0.356307s/0.375667s
iteration(176) high(115) hyp(0.06) time=0.356250s/0.372811s
iteration(177) high(62) hyp(0.05) time=0.360525s/0.376861s
iteration(178) high(52) hyp(0.05) time=0.361147s/0.378423s
iteration(179) high(135) hyp(0.06) time=0.354327s/0.373525s
iteration(180) high(128) hyp(0.06) time=0.369575s/0.384954s
iteration(181) high(130) hyp(0.06) time=0.359911s/0.380296s
iteration(182) high(40) hyp(0.05) time=0.368354s/0.388946s
iteration(183) high(132) hyp(0.06) time=0.376308s/0.398042s
iteration(184) high(135) hyp(0.06) time=0.377412s/0.397991s
iteration(185) high(135) hyp(0.07) time=0.376117s/0.395267s
iteration(186) high(149) hyp(0.06) time=0.228711s/0.248840s
iteration(187) high(149) hyp(0.05) time=0.389623s/0.409279s
iteration(188) high(38) hyp(0.06) time=0.234341s/0.253652s
iteration(189) high(43) hyp(0.06) time=0.383747s/0.403637s
iteration(190) high(43) hyp(0.06) time=0.381753s/0.399504s
iteration(191) high(43) hyp(0.06) time=0.225960s/0.245978s
iteration(192) high(43) hyp(0.06) time=0.385392s/0.402177s
iteration(193) high(43) hyp(0.06) time=0.382365s/0.400835s
iteration(194) high(129) hyp(0.06) time=0.387719s/0.408744s
iteration(195) high(42) hyp(0.06) time=0.382453s/0.402332s
iteration(196) high(100) hyp(0.06) time=0.388046s/0.409449s
iteration(197) high(33) hyp(0.07) time=0.393550s/0.413090s
iteration(198) high(102) hyp(0.07) time=0.392264s/0.412828s
iteration(199) high(39) hyp(0.06) time=0.385120s/0.405575s
count = 200, loop closures = 15, max time (at 197) = 0.393550s
WM(124)=[13,0;18,0;22,0;24,1;26,0;27,0;29,1;31,1;33,1;35,1;37,1;38,0;39,0;40,0;41,0;42,0;43,0;45,1;47,1;49,1;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;64,1;65,0;66,0;67,0;69,1;70,0;71,12;72,0;73,0;74,0;75,0;76,4;78,1;80,1;82,4;84,1;86,1;87,0;88,0;89,1;91,1;92,0;93,0;95,1;97,1;98,0;100,1;101,0;102,0;103,0;105,1;107,1;108,0;110,1;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0]
iteration(200) high(37) hyp(0.06) time=0.392010s/0.413837s
iteration(201) high(131) hyp(0.05) time=0.395388s/0.416105s
iteration(202) high(112) hyp(0.05) time=0.411961s/0.432110s
iteration(203) high(88) hyp(0.06) time=0.409000s/0.429229s
iteration(204) high(122) hyp(0.05) time=0.466874s/0.486308s
iteration(205) high(125) hyp(0.06) time=0.416206s/0.436179s
iteration(206) high(122) hyp(0.06) time=0.400814s/0.420879s
iteration(207) high(158) hyp(0.05) time=0.405075s/0.420830s
iteration(208) high(105) hyp(0.06) time=0.411495s/0.432328s
iteration(209) high(45) hyp(0.06) time=0.412663s/0.434279s
iteration(210) high(123) hyp(0.06) time=0.414244s/0.434164s
iteration(211) high(121) hyp(0.06) time=0.414830s/0.430884s
iteration(212) high(174) hyp(0.05) time=0.421532s/0.443635s
iteration(213) high(56) hyp(0.05) time=0.423566s/0.445320s
iteration(214) high(51) hyp(0.06) time=0.428677s/0.448553s
iteration(215) high(92) hyp(0.05) time=0.430966s/0.451701s
iteration(216) high(55) hyp(0.05) time=0.426036s/0.447639s
iteration(217) high(130) hyp(0.05) time=0.429958s/0.451967s
iteration(218) high(151) hyp(0.05) time=0.434215s/0.455973s
iteration(219) high(55) hyp(0.06) time=0.421437s/0.441497s
iteration(220) high(56) hyp(0.06) time=0.438677s/0.459242s
iteration(221) high(47) hyp(0.06) time=0.433992s/0.453253s
iteration(222) high(134) hyp(0.06) time=0.436173s/0.456996s
iteration(223) high(134) hyp(0.05) time=0.439906s/0.460915s
iteration(224) high(112) hyp(0.05) time=0.439601s/0.458567s
iteration(225) high(134) hyp(0.05) time=0.435007s/0.455131s
iteration(226) high(181) hyp(0.06) time=0.433721s/0.454910s
iteration(227) high(146) hyp(0.05) time=0.439088s/0.459742s
iteration(228) high(128) hyp(0.06) time=0.440388s/0.463389s
iteration(229) high(126) hyp(0.05) time=0.445816s/0.462121s
iteration(230) high(53) hyp(0.05) time=0.449673s/0.468962s
iteration(231) high(57) hyp(0.06) time=0.425268s/0.445342s
iteration(232) high(57) hyp(0.06) time=0.447787s/0.469195s
iteration(233) loop(57) hyp(0.11) time=0.455753s/0.471527s *
iteration(234) loop(57) hyp(0.22) time=0.447984s/0.463788s *
iteration(235) loop(58) hyp(0.48) time=0.452901s/0.468669s *
iteration(236) loop(59) hyp(0.80) time=0.461416s/0.482234s *
iteration(237) loop(60) hyp(0.94) time=0.453022s/0.474838s *
iteration(238) loop(61) hyp(0.97) time=0.477222s/0.497118s *
iteration(239) loop(62) hyp(0.97) time=0.462607s/0.477623s *
iteration(240) loop(64) hyp(0.97) time=0.461762s/0.482244s *
iteration(241) loop(64) hyp(0.97) time=0.465063s/0.480239s *
iteration(242) loop(65) hyp(0.97) time=0.464309s/0.484005s *
iteration(243) loop(65) hyp(0.97) time=0.472234s/0.493002s *
iteration(244) loop(66) hyp(0.97) time=0.483930s/0.502534s *
iteration(245) loop(67) hyp(0.96) time=0.446615s/0.461150s *
iteration(246) loop(69) hyp(0.96) time=0.465489s/0.486714s *
iteration(247) loop(69) hyp(0.94) time=0.467539s/0.482114s *
iteration(248) loop(70) hyp(0.93) time=0.470788s/0.491161s *
iteration(249) loop(71) hyp(0.92) time=0.493476s/0.514071s *
iteration(250) loop(73) hyp(0.90) time=0.484921s/0.503792s *
iteration(251) loop(74) hyp(0.91) time=0.487516s/0.507425s *
iteration(252) loop(75) hyp(0.92) time=0.484192s/0.502324s *
iteration(253) loop(78) hyp(0.91) time=0.488068s/0.506956s *
iteration(254) loop(80) hyp(0.84) time=0.486770s/0.507148s *
iteration(255) loop(80) hyp(0.75) time=0.477809s/0.495861s *
iteration(256) loop(82) hyp(0.62) time=0.485763s/0.505689s *
iteration(257) loop(84) hyp(0.45) time=0.481528s/0.499461s *
iteration(258) loop(84) hyp(0.31) time=0.480056s/0.498473s *
iteration(259) loop(22) hyp(0.19) time=0.496569s/0.516001s *
iteration(260) loop(22) hyp(0.14) time=0.495001s/0.512931s *
iteration(261) high(82) hyp(0.09) time=0.496483s/0.516075s
iteration(262) high(84) hyp(0.06) time=0.496776s/0.514690s
iteration(263) high(86) hyp(0.06) time=0.496304s/0.514885s
iteration(264) high(167) hyp(0.06) time=0.510325s/0.524666s
iteration(265) high(22) hyp(0.07) time=0.505328s/0.524374s
iteration(266) high(84) hyp(0.06) time=0.510881s/0.532506s
iteration(267) high(88) hyp(0.05) time=0.503357s/0.522710s
iteration(268) high(89) hyp(0.06) time=0.587204s/0.608375s
iteration(269) high(116) hyp(0.06) time=0.509902s/0.530807s
iteration(270) high(116) hyp(0.06) time=0.519860s/0.535819s
iteration(271) high(88) hyp(0.07) time=0.228783s/0.247151s
iteration(272) high(130) hyp(0.07) time=0.508465s/0.527779s
iteration(273) high(37) hyp(0.06) time=0.520981s/0.541613s
iteration(274) high(93) hyp(0.07) time=0.521785s/0.536961s
iteration(275) high(93) hyp(0.07) time=0.520678s/0.540773s
iteration(276) high(93) hyp(0.07) time=0.244019s/0.262085s
iteration(277) high(97) hyp(0.10) time=0.528031s/0.548773s
iteration(278) loop(95) hyp(0.15) time=0.536523s/0.557423s *
iteration(279) loop(92) hyp(0.18) time=0.536679s/0.553021s *
iteration(280) loop(92) hyp(0.13) time=0.553964s/0.575878s *
iteration(281) loop(91) hyp(0.17) time=0.550326s/0.572039s *
iteration(282) loop(91) hyp(0.20) time=0.543157s/0.561873s *
iteration(283) loop(91) hyp(0.17) time=0.267472s/0.287917s *
iteration(284) loop(91) hyp(0.14) time=0.546439s/0.565612s *
iteration(285) high(92) hyp(0.08) time=0.241846s/0.260331s
iteration(286) high(128) hyp(0.06) time=0.543026s/0.563319s
iteration(287) high(128) hyp(0.05) time=0.532759s/0.552093s
iteration(288) high(220) hyp(0.05) time=0.251738s/0.271353s
iteration(289) high(199) hyp(0.05) time=0.550868s/0.572291s
iteration(290) high(199) hyp(0.05) time=0.545692s/0.563467s
iteration(291) high(197) hyp(0.05) time=0.254665s/0.276485s
iteration(292) high(52) hyp(0.05) time=0.542064s/0.558131s
iteration(293) high(111) hyp(0.05) time=0.563882s/0.583406s
iteration(294) high(120) hyp(0.05) time=0.558631s/0.579540s
iteration(295) high(143) hyp(0.05) time=0.562742s/0.584510s
iteration(296) high(141) hyp(0.05) time=0.560749s/0.581527s
iteration(297) high(105) hyp(0.05) time=0.571054s/0.591880s
iteration(298) high(120) hyp(0.04) time=0.570847s/0.586830s
iteration(299) high(47) hyp(0.05) time=0.564159s/0.586884s
count = 300, loop closures = 50, max time (at 268) = 0.587204s
WM(218)=[13,0;18,0;22,0;24,1;26,0;27,0;29,1;31,1;33,1;35,1;37,1;38,0;39,0;40,0;41,0;42,0;43,0;45,1;47,1;49,1;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;64,0;65,0;66,0;67,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,4;78,0;80,0;82,0;84,0;86,1;87,0;88,0;89,1;91,0;92,0;93,0;95,0;97,1;98,0;100,1;101,0;102,0;103,0;105,1;107,1;108,0;110,1;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;185,1;187,1;188,0;190,1;191,0;192,0;193,0;194,0;195,0;196,0;197,0;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;228,0;229,0;230,0;231,0;232,0;233,0;234,0;235,0;236,0;237,0;238,0;239,0;240,1;241,0;242,0;243,0;244,0;245,0;246,1;247,0;248,0;249,12;250,0;251,0;252,0;253,1;254,1;255,0;256,4;257,1;258,0;259,0;260,0;261,0;262,0;263,0;264,0]
iteration(300) high(201) hyp(0.05) time=0.573242s/0.595609s
iteration(301) high(43) hyp(0.04) time=0.576388s/0.597711s
iteration(302) high(43) hyp(0.04) time=0.558714s/0.578855s
iteration(303) high(214) hyp(0.05) time=0.245380s/0.264448s
iteration(304) high(256) hyp(0.05) time=0.567889s/0.589773s
iteration(305) high(115) hyp(0.04) time=0.562087s/0.581584s
iteration(306) high(134) hyp(0.05) time=0.565762s/0.586466s
iteration(307) high(225) hyp(0.05) time=0.582409s/0.603646s
iteration(308) high(126) hyp(0.05) time=0.576805s/0.598008s
iteration(309) high(103) hyp(0.05) time=0.573836s/0.593563s
iteration(310) high(114) hyp(0.05) time=0.563003s/0.583199s
iteration(311) high(178) hyp(0.04) time=0.579855s/0.599773s
iteration(312) high(140) hyp(0.05) time=0.580042s/0.594788s
iteration(313) high(165) hyp(0.05) time=0.574780s/0.593490s
iteration(314) high(171) hyp(0.04) time=0.578521s/0.599950s
iteration(315) high(171) hyp(0.04) time=0.578502s/0.595969s
iteration(316) high(224) hyp(0.05) time=0.248512s/0.267359s
iteration(317) high(224) hyp(0.05) time=0.585386s/0.603185s
iteration(318) high(273) hyp(0.05) time=0.242305s/0.260321s
iteration(319) high(273) hyp(0.04) time=0.585723s/0.604252s
iteration(320) high(123) hyp(0.05) time=0.236055s/0.255212s
iteration(321) high(123) hyp(0.05) time=0.584226s/0.601649s
iteration(322) high(263) hyp(0.04) time=0.240550s/0.258750s
iteration(323) high(263) hyp(0.04) time=0.587015s/0.605493s
iteration(324) high(257) hyp(0.05) time=0.246521s/0.265851s
iteration(325) high(257) hyp(0.05) time=0.595867s/0.611556s
iteration(326) high(137) hyp(0.05) time=0.256000s/0.275164s
iteration(327) high(137) hyp(0.05) time=0.593810s/0.611839s
iteration(328) high(254) hyp(0.04) time=0.322070s/0.338695s
iteration(329) high(254) hyp(0.04) time=0.600578s/0.617842s
iteration(330) high(152) hyp(0.05) time=0.261631s/0.278851s
iteration(331) high(152) hyp(0.05) time=0.598509s/0.617072s
iteration(332) high(172) hyp(0.05) time=0.259449s/0.276873s
iteration(333) high(172) hyp(0.05) time=0.605300s/0.620063s
iteration(334) high(267) hyp(0.05) time=0.239966s/0.257588s
iteration(335) high(267) hyp(0.05) time=0.600234s/0.616008s
iteration(336) high(168) hyp(0.05) time=0.249864s/0.267691s
iteration(337) high(167) hyp(0.05) time=0.604306s/0.620890s
iteration(338) high(205) hyp(0.05) time=0.245208s/0.264090s
iteration(339) high(205) hyp(0.05) time=0.595806s/0.614258s
iteration(340) high(174) hyp(0.05) time=0.258737s/0.276928s
iteration(341) high(50) hyp(0.04) time=0.618213s/0.638360s
iteration(342) high(259) hyp(0.05) time=0.602734s/0.622400s
iteration(343) high(26) hyp(0.07) time=0.606670s/0.622056s
iteration(344) high(26) hyp(0.07) time=0.617971s/0.636545s
iteration(345) high(26) hyp(0.08) time=0.265614s/0.284347s
iteration(346) high(26) hyp(0.09) time=0.632574s/0.652771s
iteration(347) loop(26) hyp(0.11) time=0.618292s/0.639633s *
iteration(348) loop(26) hyp(0.14) time=0.621676s/0.636374s *
iteration(349) loop(26) hyp(0.16) time=0.638407s/0.655592s *
iteration(350) loop(27) hyp(0.18) time=0.275474s/0.295234s *
iteration(351) loop(27) hyp(0.21) time=0.629319s/0.645223s *
iteration(352) loop(27) hyp(0.15) time=0.623252s/0.644523s *
iteration(353) loop(27) hyp(0.11) time=0.617453s/0.637310s *
iteration(354) high(27) hyp(0.07) time=0.634553s/0.655673s
iteration(355) high(27) hyp(0.06) time=0.630911s/0.648337s
iteration(356) high(266) hyp(0.05) time=0.267342s/0.287812s
iteration(357) high(266) hyp(0.05) time=0.641894s/0.660707s
iteration(358) high(26) hyp(0.05) time=0.259133s/0.279418s
iteration(359) high(302) hyp(0.05) time=0.636459s/0.657648s
iteration(360) high(127) hyp(0.04) time=0.639185s/0.658624s
iteration(361) high(126) hyp(0.05) time=0.640083s/0.660223s
iteration(362) high(126) hyp(0.05) time=0.652297s/0.669460s
iteration(363) high(181) hyp(0.04) time=0.260469s/0.279772s
iteration(364) high(181) hyp(0.04) time=0.645641s/0.663962s
iteration(365) high(194) hyp(0.04) time=0.281010s/0.298878s
iteration(366) high(218) hyp(0.05) time=0.643977s/0.665032s
iteration(367) high(306) hyp(0.05) time=0.636436s/0.654148s
iteration(368) high(89) hyp(0.05) time=0.617594s/0.637325s
iteration(369) high(121) hyp(0.03) time=0.619914s/0.638843s
iteration(370) high(117) hyp(0.03) time=0.650235s/0.669748s
iteration(371) high(171) hyp(0.05) time=0.657149s/0.674844s
iteration(372) high(170) hyp(0.05) time=0.640590s/0.657342s
iteration(373) high(170) hyp(0.05) time=0.669171s/0.685713s
iteration(374) high(162) hyp(0.04) time=0.652678s/0.670774s
iteration(375) high(161) hyp(0.05) time=0.649281s/0.663022s
iteration(376) high(207) hyp(0.05) time=0.661184s/0.681017s
iteration(377) high(329) hyp(0.04) time=0.659758s/0.680541s
iteration(378) high(39) hyp(0.04) time=0.657683s/0.677998s
iteration(379) high(300) hyp(0.04) time=0.666809s/0.686363s
iteration(380) high(42) hyp(0.05) time=0.678083s/0.697839s
iteration(381) high(107) hyp(0.05) time=0.719108s/0.740492s
iteration(382) high(112) hyp(0.05) time=0.713604s/0.730596s
iteration(383) high(177) hyp(0.04) time=0.672438s/0.695583s
iteration(384) high(148) hyp(0.05) time=0.674308s/0.693636s
iteration(385) high(211) hyp(0.05) time=0.677607s/0.698498s
iteration(386) high(216) hyp(0.04) time=0.677673s/0.696786s
iteration(387) high(204) hyp(0.04) time=0.684525s/0.704365s
iteration(388) high(143) hyp(0.04) time=0.692064s/0.712829s
iteration(389) high(255) hyp(0.04) time=0.696155s/0.716643s
iteration(390) high(255) hyp(0.04) time=0.713258s/0.730561s
iteration(391) high(123) hyp(0.04) time=0.678046s/0.696906s
iteration(392) high(45) hyp(0.05) time=0.704790s/0.722176s
iteration(393) high(86) hyp(0.04) time=0.697657s/0.717841s
iteration(394) high(180) hyp(0.05) time=0.696756s/0.715553s
iteration(395) high(187) hyp(0.05) time=0.691979s/0.712702s
iteration(396) high(187) hyp(0.05) time=0.699611s/0.718250s
iteration(397) high(37) hyp(0.05) time=0.297602s/0.314666s
iteration(398) high(268) hyp(0.04) time=0.699789s/0.714243s
iteration(399) high(187) hyp(0.05) time=0.699738s/0.715080s
count = 400, loop closures = 57, max time (at 381) = 0.719108s
WM(290)=[13,0;18,0;22,0;24,1;26,0;27,0;29,1;31,1;33,1;35,1;37,1;38,0;39,0;40,0;41,0;42,0;45,1;47,1;49,1;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0;59,0;60,0;61,0;62,0;64,0;69,0;70,0;71,0;72,0;73,0;74,0;75,0;76,4;78,0;80,0;82,0;84,0;86,1;87,0;88,0;89,1;91,0;92,0;93,0;95,0;97,1;98,0;100,1;101,0;102,0;103,0;105,1;107,1;108,0;110,1;111,0;112,0;113,0;114,0;115,0;116,0;117,0;118,0;119,0;120,0;121,0;122,0;123,0;124,0;125,0;126,0;127,0;128,0;129,0;130,0;131,0;132,0;133,0;134,0;135,0;136,0;137,0;138,0;139,0;140,0;141,0;142,0;143,0;144,0;145,0;146,0;147,0;148,0;149,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;170,0;171,0;172,0;173,0;174,0;175,0;176,0;177,0;178,0;179,0;180,0;181,0;182,0;183,0;185,1;187,1;188,0;190,1;191,0;192,0;193,0;194,0;195,0;196,0;197,0;198,0;199,0;200,0;201,0;202,0;203,0;204,0;205,0;206,0;207,0;208,0;209,0;210,0;211,0;212,0;213,0;214,0;215,0;216,0;217,0;218,0;219,0;220,0;221,0;222,0;223,0;224,0;225,0;226,0;227,0;228,0;229,0;230,0;231,0;232,0;233,0;234,0;235,0;236,0;237,0;238,0;239,0;240,1;241,0;242,0;243,0;244,0;245,0;246,1;247,0;248,0;249,12;250,0;251,0;252,0;253,1;254,1;255,0;256,4;257,1;258,0;259,0;260,0;261,0;262,0;263,0;264,0;265,0;266,0;267,0;268,0;270,1;271,0;272,0;273,0;275,1;276,0;277,0;278,1;279,0;280,0;282,2;284,1;285,0;287,1;288,0;290,1;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;300,0;302,1;303,0;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;315,1;317,1;319,1;321,1;323,1;325,1;327,1;329,1;331,1;333,1;335,1;337,1;339,1;340,0;341,0;342,0;344,1;345,0;346,0;347,0;349,1;350,0;351,0;352,0;353,0;355,1;357,1;358,0;359,0;360,0;362,1;364,1;365,0;366,0]
iteration(400) high(187) hyp(0.05) time=0.707191s/0.723504s
iteration(401) high(291) hyp(0.05) time=0.696562s/0.713899s
iteration(402) high(291) hyp(0.04) time=0.717501s/0.733702s
iteration(403) high(190) hyp(0.05) time=0.692319s/0.710003s
iteration(404) high(188) hyp(0.04) time=0.707663s/0.725667s
iteration(405) high(166) hyp(0.04) time=0.704807s/0.723089s
iteration(406) high(188) hyp(0.04) time=0.690274s/0.707495s
iteration(407) high(185) hyp(0.04) time=0.702249s/0.719385s
iteration(408) high(192) hyp(0.05) time=0.693236s/0.712643s
iteration(409) high(212) hyp(0.05) time=0.710839s/0.728908s
iteration(410) high(193) hyp(0.05) time=0.697150s/0.717266s
iteration(411) high(193) hyp(0.05) time=0.700182s/0.720364s
iteration(412) high(194) hyp(0.06) time=0.705692s/0.722409s
iteration(413) high(194) hyp(0.06) time=0.688368s/0.707953s
iteration(414) high(195) hyp(0.06) time=0.706449s/0.723623s
iteration(415) high(39) hyp(0.06) time=0.729088s/0.746705s
iteration(416) high(41) hyp(0.05) time=0.726082s/0.743496s
iteration(417) high(41) hyp(0.04) time=0.720704s/0.738866s
iteration(418) high(37) hyp(0.04) time=0.724809s/0.746942s
iteration(419) high(179) hyp(0.04) time=0.703246s/0.720124s
iteration(420) high(39) hyp(0.04) time=0.719409s/0.737093s
iteration(421) high(43) hyp(0.04) time=0.723932s/0.741773s
iteration(422) high(54) hyp(0.04) time=0.714321s/0.731370s
iteration(423) high(216) hyp(0.04) time=0.690867s/0.708904s
iteration(424) high(216) hyp(0.04) time=0.755830s/0.772913s
iteration(425) high(217) hyp(0.05) time=0.695308s/0.713426s
iteration(426) high(134) hyp(0.09) time=0.714391s/0.729997s
iteration(427) loop(134) hyp(0.15) time=0.709035s/0.725511s *
iteration(428) loop(135) hyp(0.29) time=0.700053s/0.717501s *
iteration(429) loop(135) hyp(0.38) time=0.686480s/0.705868s *
iteration(430) loop(135) hyp(0.39) time=0.693525s/0.714063s *
iteration(431) loop(134) hyp(0.20) time=0.720042s/0.736591s *
iteration(432) high(135) hyp(0.08) time=0.690715s/0.707701s
iteration(433) high(132) hyp(0.06) time=0.724963s/0.741690s
iteration(434) high(132) hyp(0.05) time=0.688744s/0.705399s
iteration(435) high(132) hyp(0.04) time=0.255041s/0.255671s
Processing images completed. Loop closures found = 62
Total time = 189.397257s
Cleanup time = 3.505378s
Database ("rtabmapconsole.db") and log files saved to current directory.