-
Notifications
You must be signed in to change notification settings - Fork 787
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 =
72
False positive! id=62 with old=13 (p=0.08766)
False positive! id=345 with old=26 (p=0.083566)
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=344 with old=26 (p=0.073095)
False positive! id=95 with old=41 (p=0.071501)
False positive! id=276 with old=97 (p=0.0706)
False positive! id=285 with old=92 (p=0.070222)
False positive! id=197 with old=33 (p=0.070219)
Recall max (Precision=100%) = 97.2222% (p=0.090976), accepted=70
Recall max accepted (Precision=100%) = 81.9444% (p=0.11066), accepted=59
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 -createGT malaga2009_parking_6L
Deleted database "rtabmapconsole.db".
Avpd init time = 0.025003s
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)
Creating the ground truth matrix.
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=0.380030s/0.402485s
iteration(2) time=0.212190s/0.234555s
iteration(3) time=0.208989s/0.232088s
iteration(4) time=0.230016s/0.255900s
iteration(5) time=0.211319s/0.238872s
iteration(6) time=0.242848s/0.266484s
iteration(7) time=0.220848s/0.244140s
iteration(8) time=0.222370s/0.244925s
iteration(9) time=0.229120s/0.252292s
iteration(10) time=0.232522s/0.254921s
iteration(11) time=0.217119s/0.239974s
iteration(12) time=0.230972s/0.252910s
iteration(13) time=0.225462s/0.248425s
iteration(14) time=0.203620s/0.226310s
iteration(15) time=0.216866s/0.238655s
iteration(16) time=0.211202s/0.236097s
iteration(17) time=0.226363s/0.249652s
iteration(18) time=0.223969s/0.246676s
iteration(19) time=0.206850s/0.228679s
iteration(20) time=0.257385s/0.279520s
iteration(21) time=0.217312s/0.238538s
iteration(22) time=0.211614s/0.235163s
iteration(23) time=0.219643s/0.243218s
iteration(24) time=0.216981s/0.240714s
iteration(25) time=0.219752s/0.243073s
iteration(26) time=0.222125s/0.246763s
iteration(27) time=0.236951s/0.262483s
iteration(28) time=0.249225s/0.275228s
iteration(29) time=0.221352s/0.244316s
iteration(30) time=0.206070s/0.230499s
iteration(31) time=0.209038s/0.232172s
iteration(32) time=0.223678s/0.247923s
iteration(33) time=0.222840s/0.247245s
iteration(34) time=0.213845s/0.237974s
iteration(35) time=0.212589s/0.238073s
iteration(36) time=0.212971s/0.237098s
iteration(37) time=0.256098s/0.281271s
iteration(38) time=0.242767s/0.270409s
iteration(39) time=0.281225s/0.304360s
iteration(40) time=0.266678s/0.292938s
iteration(41) time=0.232216s/0.257541s
iteration(42) time=0.228615s/0.253959s
iteration(43) time=0.221394s/0.245154s
iteration(44) time=0.226317s/0.250734s
iteration(45) time=0.234123s/0.258445s
iteration(46) time=0.239008s/0.263098s
iteration(47) time=0.230325s/0.256292s
iteration(48) time=0.238356s/0.262845s
iteration(49) time=0.243250s/0.269038s
iteration(50) time=0.223637s/0.249880s
iteration(51) time=0.246735s/0.277824s
iteration(52) time=0.238609s/0.266531s
iteration(53) time=0.226584s/0.252271s
iteration(54) time=0.229404s/0.253557s
iteration(55) time=0.231982s/0.256030s
iteration(56) time=0.223540s/0.246877s
iteration(57) time=0.246733s/0.270754s
iteration(58) time=0.248467s/0.274833s
iteration(59) time=0.261578s/0.286622s
iteration(60) high(13) hyp(0.05) time=0.234123s/0.259265s
iteration(61) high(13) hyp(0.08) time=0.249812s/0.273800s
iteration(62) high(13) hyp(0.09) time=0.240204s/0.263486s
iteration(63) high(18) hyp(0.03) time=0.256700s/0.280831s
iteration(64) high(18) hyp(0.02) time=0.234952s/0.258940s
iteration(65) high(24) hyp(0.04) time=0.215204s/0.238376s
iteration(66) high(22) hyp(0.04) time=0.236770s/0.260733s
iteration(67) high(13) hyp(0.04) time=0.246522s/0.268848s
iteration(68) high(13) hyp(0.05) time=0.227441s/0.249284s
iteration(69) high(13) hyp(0.06) time=0.231354s/0.254778s
iteration(70) high(13) hyp(0.10) time=0.219775s/0.243263s
iteration(71) loop(13) hyp(0.12) time=0.245311s/0.268240s *
iteration(72) high(18) hyp(0.10) time=0.257785s/0.279826s
iteration(73) high(18) hyp(0.10) time=0.242175s/0.263110s
iteration(74) high(18) hyp(0.10) time=0.268009s/0.292451s
iteration(75) high(18) hyp(0.10) time=0.276480s/0.298849s
iteration(76) loop(18) hyp(0.12) time=0.247935s/0.270695s *
iteration(77) loop(18) hyp(0.16) time=0.264188s/0.285314s *
iteration(78) loop(18) hyp(0.19) time=0.253474s/0.274694s *
iteration(79) loop(18) hyp(0.22) time=0.215291s/0.236831s *
iteration(80) loop(18) hyp(0.24) time=0.243966s/0.266340s *
iteration(81) loop(22) hyp(0.23) time=0.214631s/0.236509s *
iteration(82) loop(22) hyp(0.23) time=0.248682s/0.270312s *
iteration(83) loop(22) hyp(0.25) time=0.230238s/0.252087s *
iteration(84) loop(22) hyp(0.27) time=0.255982s/0.278964s *
iteration(85) loop(22) hyp(0.31) time=0.239695s/0.263236s *
iteration(86) loop(22) hyp(0.35) time=0.281952s/0.302681s *
iteration(87) loop(22) hyp(0.30) time=0.236216s/0.260020s *
iteration(88) loop(22) hyp(0.20) time=0.243087s/0.266705s *
iteration(89) loop(26) hyp(0.13) time=0.242776s/0.266711s *
iteration(90) high(22) hyp(0.08) time=0.277159s/0.301207s
iteration(91) high(29) hyp(0.06) time=0.277433s/0.302387s
iteration(92) high(47) hyp(0.07) time=0.236202s/0.259965s
iteration(93) high(41) hyp(0.06) time=0.281636s/0.306434s
iteration(94) high(41) hyp(0.07) time=0.269518s/0.294717s
iteration(95) high(41) hyp(0.07) time=0.275024s/0.298603s
iteration(96) high(26) hyp(0.07) time=0.267732s/0.294592s
iteration(97) high(26) hyp(0.07) time=0.266776s/0.291003s
iteration(98) high(39) hyp(0.06) time=0.211428s/0.237427s
iteration(99) high(40) hyp(0.06) time=0.244628s/0.269821s
count = 100, loop closures = 15, max time (at 1) = 0.380030s
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=0.274185s/0.298566s
iteration(101) high(47) hyp(0.06) time=0.249405s/0.274364s
iteration(102) high(50) hyp(0.04) time=0.266011s/0.290514s
iteration(103) high(33) hyp(0.05) time=0.271989s/0.296756s
iteration(104) high(49) hyp(0.07) time=0.258730s/0.283877s
iteration(105) high(49) hyp(0.08) time=0.264540s/0.289466s
iteration(106) high(42) hyp(0.07) time=0.224641s/0.250276s
iteration(107) high(42) hyp(0.06) time=0.316775s/0.346314s
iteration(108) high(42) hyp(0.06) time=0.236402s/0.261801s
iteration(109) high(49) hyp(0.07) time=0.284972s/0.309560s
iteration(110) high(49) hyp(0.07) time=0.273456s/0.298387s
iteration(111) high(45) hyp(0.07) time=0.228242s/0.254111s
iteration(112) high(42) hyp(0.06) time=0.278873s/0.312614s
iteration(113) high(57) hyp(0.06) time=0.422024s/0.450819s
iteration(114) high(52) hyp(0.05) time=0.354605s/0.383059s
iteration(115) high(52) hyp(0.05) time=0.291913s/0.316550s
iteration(116) high(53) hyp(0.06) time=0.322930s/0.348222s
iteration(117) high(27) hyp(0.06) time=0.255505s/0.278746s
iteration(118) high(55) hyp(0.06) time=0.243311s/0.266879s
iteration(119) high(52) hyp(0.06) time=0.261728s/0.285455s
iteration(120) high(43) hyp(0.06) time=0.282687s/0.306198s
iteration(121) high(26) hyp(0.06) time=0.291408s/0.315783s
iteration(122) high(53) hyp(0.06) time=0.272592s/0.298183s
iteration(123) high(57) hyp(0.05) time=0.285054s/0.308847s
iteration(124) high(59) hyp(0.05) time=0.278184s/0.302236s
iteration(125) high(57) hyp(0.05) time=0.284746s/0.308164s
iteration(126) high(29) hyp(0.06) time=0.292022s/0.316389s
iteration(127) high(26) hyp(0.06) time=0.281657s/0.304034s
iteration(128) high(80) hyp(0.04) time=0.279454s/0.302983s
iteration(129) high(89) hyp(0.05) time=0.323003s/0.347930s
iteration(130) high(86) hyp(0.06) time=0.402534s/0.436362s
iteration(131) high(37) hyp(0.06) time=0.371244s/0.394410s
iteration(132) high(56) hyp(0.06) time=0.302302s/0.327478s
iteration(133) high(95) hyp(0.05) time=0.353148s/0.377654s
iteration(134) high(100) hyp(0.05) time=0.390937s/0.424278s
iteration(135) high(47) hyp(0.06) time=0.318480s/0.342793s
iteration(136) high(24) hyp(0.06) time=0.363657s/0.389317s
iteration(137) high(67) hyp(0.06) time=0.284612s/0.308737s
iteration(138) high(51) hyp(0.05) time=0.318411s/0.341567s
iteration(139) high(71) hyp(0.07) time=0.290320s/0.313343s
iteration(140) high(73) hyp(0.08) time=0.328038s/0.353212s
iteration(141) high(74) hyp(0.07) time=0.322681s/0.346862s
iteration(142) high(61) hyp(0.05) time=0.343449s/0.371783s
iteration(143) high(62) hyp(0.06) time=0.583670s/0.610690s
iteration(144) high(62) hyp(0.06) time=0.356039s/0.380454s
iteration(145) high(45) hyp(0.06) time=0.372606s/0.395937s
iteration(146) high(66) hyp(0.06) time=0.401369s/0.424780s
iteration(147) high(49) hyp(0.05) time=0.363052s/0.394942s
iteration(148) high(72) hyp(0.05) time=0.436028s/0.461270s
iteration(149) high(33) hyp(0.06) time=0.333913s/0.357923s
iteration(150) high(71) hyp(0.05) time=0.339167s/0.362307s
iteration(151) high(84) hyp(0.05) time=0.317783s/0.339724s
iteration(152) high(73) hyp(0.06) time=0.318798s/0.341442s
iteration(153) high(110) hyp(0.06) time=0.353914s/0.376939s
iteration(154) high(108) hyp(0.05) time=0.308393s/0.331065s
iteration(155) high(80) hyp(0.05) time=0.364857s/0.387046s
iteration(156) high(72) hyp(0.06) time=0.375703s/0.397994s
iteration(157) high(61) hyp(0.06) time=0.332322s/0.354257s
iteration(158) high(71) hyp(0.06) time=0.348289s/0.370154s
iteration(159) high(75) hyp(0.06) time=0.372222s/0.393947s
iteration(160) high(110) hyp(0.05) time=0.349377s/0.371229s
iteration(161) high(93) hyp(0.06) time=0.368004s/0.390148s
iteration(162) high(70) hyp(0.06) time=0.336653s/0.362920s
iteration(163) high(71) hyp(0.06) time=0.489960s/0.513701s
iteration(164) high(87) hyp(0.05) time=0.423594s/0.446714s
iteration(165) high(123) hyp(0.05) time=0.351662s/0.374244s
iteration(166) high(69) hyp(0.06) time=0.393920s/1.071504s
iteration(167) high(67) hyp(0.06) time=0.375510s/0.996007s
iteration(168) high(84) hyp(0.06) time=0.375635s/0.400746s
iteration(169) high(86) hyp(0.06) time=0.361021s/0.383123s
iteration(170) high(131) hyp(0.06) time=0.377793s/0.399881s
iteration(171) high(70) hyp(0.06) time=0.356385s/0.378769s
iteration(172) high(133) hyp(0.05) time=0.392177s/0.416217s
iteration(173) high(127) hyp(0.06) time=0.389261s/0.411347s
iteration(174) high(101) hyp(0.05) time=0.374300s/0.397254s
iteration(175) high(142) hyp(0.05) time=0.384870s/0.406769s
iteration(176) high(115) hyp(0.06) time=0.445453s/0.469861s
iteration(177) high(62) hyp(0.05) time=0.437691s/0.462741s
iteration(178) high(52) hyp(0.05) time=0.376663s/0.405007s
iteration(179) high(135) hyp(0.06) time=0.404751s/0.432239s
iteration(180) high(128) hyp(0.06) time=0.424070s/0.447200s
iteration(181) high(130) hyp(0.06) time=0.373242s/0.397141s
iteration(182) high(40) hyp(0.05) time=0.400926s/0.427528s
iteration(183) high(132) hyp(0.06) time=0.400044s/0.425582s
iteration(184) high(135) hyp(0.06) time=0.510364s/0.538157s
iteration(185) high(135) hyp(0.07) time=0.501162s/0.527720s
iteration(186) high(149) hyp(0.06) time=0.281030s/0.305358s
iteration(187) high(149) hyp(0.05) time=0.391820s/0.420702s
iteration(188) high(38) hyp(0.06) time=0.253837s/0.277639s
iteration(189) high(43) hyp(0.06) time=0.458879s/0.484603s
iteration(190) high(43) hyp(0.06) time=0.523696s/0.552211s
iteration(191) high(43) hyp(0.06) time=0.339843s/0.364415s
iteration(192) high(43) hyp(0.06) time=0.457979s/0.483880s
iteration(193) high(43) hyp(0.06) time=0.434179s/0.458538s
iteration(194) high(129) hyp(0.06) time=0.526532s/0.552276s
iteration(195) high(42) hyp(0.06) time=0.475096s/0.501895s
iteration(196) high(100) hyp(0.06) time=0.481413s/0.506293s
iteration(197) high(33) hyp(0.07) time=0.531136s/0.557034s
iteration(198) high(102) hyp(0.07) time=0.547347s/0.572251s
iteration(199) high(39) hyp(0.06) time=0.559070s/0.588832s
count = 200, loop closures = 15, max time (at 143) = 0.583670s
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=0.498870s/0.528159s
iteration(201) high(131) hyp(0.05) time=0.545771s/0.569480s
iteration(202) high(112) hyp(0.05) time=0.539405s/0.565009s
iteration(203) high(88) hyp(0.06) time=0.499790s/0.524539s
iteration(204) high(122) hyp(0.05) time=0.499903s/0.524257s
iteration(205) high(125) hyp(0.06) time=0.491284s/0.515005s
iteration(206) high(122) hyp(0.06) time=0.534381s/0.558882s
iteration(207) high(158) hyp(0.05) time=0.521057s/0.544850s
iteration(208) high(105) hyp(0.06) time=0.532208s/0.557582s
iteration(209) high(45) hyp(0.06) time=0.530452s/0.556890s
iteration(210) high(123) hyp(0.06) time=0.554515s/0.580986s
iteration(211) high(121) hyp(0.06) time=0.528144s/0.555978s
iteration(212) high(174) hyp(0.05) time=0.569526s/0.594854s
iteration(213) high(56) hyp(0.05) time=0.542430s/0.568573s
iteration(214) high(51) hyp(0.06) time=0.559975s/0.589900s
iteration(215) high(92) hyp(0.05) time=0.631250s/0.655961s
iteration(216) high(55) hyp(0.05) time=0.539791s/0.567665s
iteration(217) high(130) hyp(0.05) time=0.552501s/0.576824s
iteration(218) high(151) hyp(0.05) time=0.572541s/0.598467s
iteration(219) high(55) hyp(0.06) time=0.520698s/0.545552s
iteration(220) high(56) hyp(0.06) time=0.536758s/0.561558s
iteration(221) high(47) hyp(0.06) time=0.532367s/0.559371s
iteration(222) high(134) hyp(0.06) time=0.632476s/0.657230s
iteration(223) high(134) hyp(0.05) time=0.583816s/0.608711s
iteration(224) high(112) hyp(0.05) time=0.563943s/0.586774s
iteration(225) high(134) hyp(0.05) time=0.575897s/0.600070s
iteration(226) high(181) hyp(0.06) time=0.557469s/0.581009s
iteration(227) high(146) hyp(0.05) time=0.546218s/0.570673s
iteration(228) high(128) hyp(0.06) time=0.581218s/0.605912s
iteration(229) high(126) hyp(0.05) time=0.617149s/0.644048s
iteration(230) high(53) hyp(0.05) time=0.603271s/0.626970s
iteration(231) high(57) hyp(0.06) time=0.453006s/0.478347s
iteration(232) high(57) hyp(0.06) time=0.669442s/0.694873s
iteration(233) loop(57) hyp(0.11) time=0.659642s/0.686519s *
iteration(234) loop(57) hyp(0.22) time=0.616076s/0.644455s *
iteration(235) loop(58) hyp(0.48) time=0.598946s/0.631055s *
iteration(236) loop(59) hyp(0.80) time=0.595160s/0.620344s *
iteration(237) loop(60) hyp(0.94) time=0.622593s/0.649101s *
iteration(238) loop(61) hyp(0.97) time=0.617485s/0.642268s *
iteration(239) loop(62) hyp(0.97) time=0.685080s/0.707141s *
iteration(240) loop(64) hyp(0.97) time=0.590066s/0.616878s *
iteration(241) loop(64) hyp(0.97) time=0.630087s/0.655640s *
iteration(242) loop(65) hyp(0.97) time=0.631950s/0.656518s *
iteration(243) loop(65) hyp(0.97) time=0.598028s/0.622705s *
iteration(244) loop(66) hyp(0.97) time=0.585595s/0.608953s *
iteration(245) loop(67) hyp(0.96) time=0.628583s/0.651274s *
iteration(246) loop(69) hyp(0.96) time=0.594544s/0.619769s *
iteration(247) loop(69) hyp(0.94) time=0.600714s/0.623604s *
iteration(248) loop(70) hyp(0.93) time=0.655161s/0.681189s *
iteration(249) loop(71) hyp(0.92) time=0.634814s/0.660474s *
iteration(250) loop(73) hyp(0.90) time=0.644550s/0.666434s *
iteration(251) loop(74) hyp(0.91) time=0.599850s/0.622284s *
iteration(252) loop(75) hyp(0.92) time=0.611221s/0.637733s *
iteration(253) loop(78) hyp(0.91) time=0.620029s/0.644839s *
iteration(254) loop(80) hyp(0.84) time=0.602570s/0.624563s *
iteration(255) loop(80) hyp(0.75) time=0.575782s/0.597427s *
iteration(256) loop(82) hyp(0.62) time=0.614540s/0.637115s *
iteration(257) loop(84) hyp(0.45) time=0.614667s/0.635919s *
iteration(258) loop(84) hyp(0.31) time=0.495732s/0.517089s *
iteration(259) loop(22) hyp(0.19) time=0.537801s/0.558688s *
iteration(260) loop(22) hyp(0.14) time=0.531719s/0.553133s *
iteration(261) high(82) hyp(0.09) time=0.545507s/0.567281s
iteration(262) high(84) hyp(0.06) time=0.519790s/0.542025s
iteration(263) high(86) hyp(0.06) time=0.515499s/0.536810s
iteration(264) high(167) hyp(0.06) time=0.519183s/0.541297s
iteration(265) high(22) hyp(0.07) time=0.504591s/0.527158s
iteration(266) high(84) hyp(0.06) time=0.556419s/0.580455s
iteration(267) high(88) hyp(0.05) time=0.541890s/0.566597s
iteration(268) high(89) hyp(0.06) time=0.585637s/0.615139s
iteration(269) high(116) hyp(0.06) time=0.619339s/0.643704s
iteration(270) high(116) hyp(0.06) time=0.636287s/0.661958s
iteration(271) high(88) hyp(0.07) time=0.252739s/0.278773s
iteration(272) high(130) hyp(0.07) time=0.653706s/0.679249s
iteration(273) high(37) hyp(0.06) time=0.788837s/0.813951s
iteration(274) high(93) hyp(0.06) time=0.684196s/0.706367s
iteration(275) high(93) hyp(0.07) time=0.689958s/0.713281s
iteration(276) high(97) hyp(0.07) time=0.326979s/0.349631s
iteration(277) high(95) hyp(0.10) time=0.744091s/0.771618s
iteration(278) loop(95) hyp(0.12) time=0.673992s/0.700648s *
iteration(279) loop(92) hyp(0.14) time=0.660929s/0.685276s *
iteration(280) high(92) hyp(0.09) time=0.706527s/0.733978s
iteration(281) loop(91) hyp(0.13) time=0.673790s/0.698526s *
iteration(282) loop(91) hyp(0.15) time=1.026969s/1.051319s *
iteration(283) loop(91) hyp(0.13) time=0.594096s/0.624193s *
iteration(284) loop(91) hyp(0.11) time=0.755249s/0.781585s *
iteration(285) high(92) hyp(0.07) time=0.738691s/0.766985s
iteration(286) high(190) hyp(0.05) time=0.794279s/0.816342s
iteration(287) high(165) hyp(0.05) time=0.678928s/0.699837s
iteration(288) high(165) hyp(0.05) time=0.722272s/0.743403s
iteration(289) high(226) hyp(0.05) time=0.752946s/0.777867s
iteration(290) high(226) hyp(0.05) time=0.712227s/0.737990s
iteration(291) high(201) hyp(0.05) time=0.709826s/0.735549s
iteration(292) high(40) hyp(0.05) time=0.736019s/0.754350s
iteration(293) high(111) hyp(0.04) time=0.696055s/0.718015s
iteration(294) high(141) hyp(0.04) time=0.711571s/0.731088s
iteration(295) high(223) hyp(0.05) time=0.704936s/0.730586s
iteration(296) high(41) hyp(0.05) time=0.687234s/0.705569s
iteration(297) high(101) hyp(0.05) time=0.766033s/0.794192s
iteration(298) high(209) hyp(0.05) time=0.665592s/0.689253s
iteration(299) high(210) hyp(0.05) time=0.698542s/0.719524s
count = 300, loop closures = 49, max time (at 282) = 1.026969s
WM(193)=[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;76,4;86,1;89,1;91,0;92,0;93,0;95,0;97,1;98,0;100,1;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;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]
iteration(300) high(42) hyp(0.05) time=0.704442s/0.731134s
iteration(301) high(42) hyp(0.05) time=0.721138s/0.748088s
iteration(302) high(191) hyp(0.05) time=0.679505s/0.696894s
iteration(303) high(110) hyp(0.05) time=0.592794s/0.610799s
iteration(304) high(220) hyp(0.05) time=0.570259s/0.586639s
iteration(305) high(149) hyp(0.05) time=0.604595s/0.621344s
iteration(306) high(227) hyp(0.05) time=0.647009s/0.663698s
iteration(307) high(49) hyp(0.05) time=0.596642s/0.618517s
iteration(308) high(119) hyp(0.05) time=0.597428s/0.614556s
iteration(309) high(52) hyp(0.05) time=0.604594s/0.622438s
iteration(310) high(52) hyp(0.05) time=0.624720s/0.642255s
iteration(311) high(218) hyp(0.05) time=0.586652s/0.602745s
iteration(312) high(245) hyp(0.05) time=0.607759s/0.623523s
iteration(313) high(165) hyp(0.05) time=0.639787s/0.660512s
iteration(314) high(170) hyp(0.05) time=0.766939s/0.785290s
iteration(315) high(61) hyp(0.05) time=0.823341s/0.841144s
iteration(316) high(160) hyp(0.05) time=0.780736s/0.808350s
iteration(317) high(160) hyp(0.05) time=0.758382s/0.783459s
iteration(318) high(273) hyp(0.05) time=0.757760s/0.774798s
iteration(319) high(273) hyp(0.05) time=0.810685s/0.830223s
iteration(320) high(57) hyp(0.04) time=0.795696s/0.814401s
iteration(321) high(57) hyp(0.04) time=0.775305s/0.797963s
iteration(322) high(76) hyp(0.05) time=0.787742s/0.814337s
iteration(323) high(76) hyp(0.05) time=0.828493s/0.850541s
iteration(324) high(257) hyp(0.05) time=0.790958s/0.813281s
iteration(325) high(257) hyp(0.05) time=0.823359s/0.844331s
iteration(326) high(82) hyp(0.05) time=0.851620s/0.872978s
iteration(327) high(82) hyp(0.05) time=0.724491s/0.742980s
iteration(328) high(244) hyp(0.05) time=0.605888s/0.623466s
iteration(329) high(244) hyp(0.05) time=0.680574s/0.697455s
iteration(330) high(152) hyp(0.05) time=0.302624s/0.319900s
iteration(331) high(152) hyp(0.05) time=0.746349s/0.766797s
iteration(332) high(255) hyp(0.05) time=0.589656s/0.604931s
iteration(333) high(205) hyp(0.05) time=0.591547s/0.607885s
iteration(334) high(228) hyp(0.04) time=0.244578s/0.261790s
iteration(335) high(228) hyp(0.04) time=0.635159s/0.655401s
iteration(336) high(158) hyp(0.04) time=0.277486s/0.297257s
iteration(337) high(158) hyp(0.05) time=0.677846s/0.694893s
iteration(338) high(258) hyp(0.05) time=0.299790s/0.317230s
iteration(339) high(205) hyp(0.05) time=0.737587s/0.754274s
iteration(340) high(174) hyp(0.05) time=0.678371s/0.694616s
iteration(341) high(268) hyp(0.05) time=0.696426s/0.720157s
iteration(342) high(259) hyp(0.05) time=0.684546s/0.700032s
iteration(343) high(26) hyp(0.07) time=0.678597s/0.694648s
iteration(344) high(26) hyp(0.07) time=0.684146s/0.702793s
iteration(345) high(26) hyp(0.08) time=0.303334s/0.319209s
iteration(346) high(26) hyp(0.09) time=0.680657s/0.704084s
iteration(347) loop(26) hyp(0.12) time=0.758107s/0.781154s *
iteration(348) loop(26) hyp(0.15) time=0.622043s/0.640551s *
iteration(349) loop(26) hyp(0.17) time=0.606197s/0.625437s *
iteration(350) loop(27) hyp(0.19) time=0.371879s/0.389616s *
iteration(351) loop(27) hyp(0.20) time=0.621545s/0.639202s *
iteration(352) loop(27) hyp(0.15) time=0.654108s/0.673021s *
iteration(353) high(27) hyp(0.10) time=0.729522s/0.750104s
iteration(354) high(27) hyp(0.06) time=0.759878s/0.788285s
iteration(355) high(27) hyp(0.05) time=0.787540s/1.681245s
iteration(356) high(213) hyp(0.05) time=0.814458s/0.842880s
iteration(357) high(295) hyp(0.04) time=0.843102s/0.869582s
iteration(358) high(107) hyp(0.05) time=0.854721s/0.884948s
iteration(359) high(255) hyp(0.05) time=0.711982s/0.746513s
iteration(360) high(160) hyp(0.04) time=0.848961s/0.877550s
iteration(361) high(108) hyp(0.05) time=0.798759s/0.826260s
iteration(362) high(108) hyp(0.05) time=0.672446s/0.698845s
iteration(363) high(41) hyp(0.05) time=0.627611s/0.652139s
iteration(364) high(196) hyp(0.04) time=0.687517s/0.713548s
iteration(365) high(194) hyp(0.04) time=0.706341s/0.730705s
iteration(366) high(305) hyp(0.05) time=0.654458s/0.682268s
iteration(367) high(194) hyp(0.04) time=0.606865s/0.628402s
iteration(368) high(201) hyp(0.04) time=0.598858s/0.623327s
iteration(369) high(208) hyp(0.03) time=0.675151s/0.698242s
iteration(370) high(180) hyp(0.04) time=0.695151s/0.718428s
iteration(371) high(172) hyp(0.05) time=0.722924s/0.747337s
iteration(372) high(175) hyp(0.05) time=0.684127s/0.707389s
iteration(373) high(170) hyp(0.05) time=0.750088s/0.771158s
iteration(374) high(303) hyp(0.05) time=0.658195s/0.680558s
iteration(375) high(154) hyp(0.05) time=0.657183s/0.680580s
iteration(376) high(156) hyp(0.05) time=0.659809s/0.682425s
iteration(377) high(165) hyp(0.05) time=0.709877s/0.736151s
iteration(378) high(290) hyp(0.05) time=0.683867s/0.713287s
iteration(379) high(137) hyp(0.05) time=0.672431s/0.695678s
iteration(380) high(112) hyp(0.05) time=0.694211s/0.718873s
iteration(381) high(325) hyp(0.05) time=0.669239s/0.693959s
iteration(382) high(117) hyp(0.05) time=0.709204s/0.736857s
iteration(383) high(282) hyp(0.05) time=0.820607s/0.845388s
iteration(384) high(210) hyp(0.04) time=0.703699s/0.728846s
iteration(385) high(114) hyp(0.04) time=0.747878s/0.774910s
iteration(386) high(56) hyp(0.04) time=0.647393s/0.686291s
iteration(387) high(204) hyp(0.04) time=0.741019s/0.765337s
iteration(388) high(204) hyp(0.04) time=0.710590s/0.735291s
iteration(389) high(273) hyp(0.04) time=0.670729s/0.694527s
iteration(390) high(273) hyp(0.04) time=0.798684s/0.825920s
iteration(391) high(123) hyp(0.04) time=0.743360s/0.769300s
iteration(392) high(179) hyp(0.04) time=0.690613s/0.716843s
iteration(393) high(45) hyp(0.04) time=0.759471s/0.784319s
iteration(394) high(180) hyp(0.04) time=0.866486s/0.896067s
iteration(395) high(190) hyp(0.04) time=0.807505s/0.834069s
iteration(396) high(187) hyp(0.04) time=0.730338s/0.755271s
iteration(397) high(192) hyp(0.05) time=0.684190s/0.706823s
iteration(398) high(268) hyp(0.05) time=0.680088s/0.703249s
iteration(399) high(113) hyp(0.05) time=0.337910s/0.360831s
count = 400, loop closures = 55, max time (at 394) = 0.866486s
WM(252)=[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;135,0;136,0;137,0;138,0;139,0;150,0;151,0;152,0;153,0;154,0;155,0;156,0;157,0;158,0;159,0;160,0;161,0;169,0;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;214,0;215,0;216,0;217,0;218,0;219,0;220,0;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;278,2;279,0;280,0;282,2;284,1;285,0;286,0;288,1;290,1;291,0;292,0;293,0;294,0;295,0;296,0;297,0;298,0;299,0;301,1;303,1;304,0;305,0;306,0;307,0;308,0;309,0;310,0;311,0;312,0;313,0;314,0;315,0;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;363,0;364,0;365,0]
iteration(400) high(113) hyp(0.05) time=0.684792s/0.709296s
iteration(401) high(291) hyp(0.05) time=0.269002s/0.295703s
iteration(402) high(291) hyp(0.05) time=0.681239s/0.706307s
iteration(403) high(190) hyp(0.05) time=0.308392s/0.334490s
iteration(404) high(190) hyp(0.05) time=0.764503s/0.790727s
iteration(405) high(190) hyp(0.05) time=0.707420s/0.737427s
iteration(406) high(187) hyp(0.05) time=0.985176s/1.013835s
iteration(407) high(193) hyp(0.05) time=0.854232s/0.889399s
iteration(408) high(193) hyp(0.05) time=0.979598s/1.018205s
iteration(409) high(193) hyp(0.05) time=1.095423s/1.126202s
iteration(410) high(193) hyp(0.06) time=1.084036s/1.117832s
iteration(411) high(193) hyp(0.05) time=0.892114s/0.920581s
iteration(412) high(193) hyp(0.06) time=0.765180s/0.791992s
iteration(413) high(193) hyp(0.06) time=0.651200s/0.676289s
iteration(414) high(37) hyp(0.06) time=0.275342s/0.301653s
iteration(415) high(194) hyp(0.06) time=0.702234s/0.727782s
iteration(416) high(187) hyp(0.04) time=0.676071s/0.701254s
iteration(417) high(118) hyp(0.05) time=0.726657s/0.751559s
iteration(418) high(41) hyp(0.04) time=0.698702s/0.724360s
iteration(419) high(206) hyp(0.04) time=0.748690s/0.778934s
iteration(420) high(294) hyp(0.04) time=0.690767s/0.715042s
iteration(421) high(293) hyp(0.04) time=0.794457s/0.822434s
iteration(422) high(54) hyp(0.05) time=0.756071s/0.799302s
iteration(423) high(154) hyp(0.05) time=0.811483s/0.840134s
iteration(424) high(154) hyp(0.05) time=0.803473s/0.833699s
iteration(425) high(335) hyp(0.05) time=0.762633s/0.788386s
iteration(426) high(135) hyp(0.05) time=0.709213s/0.744261s
iteration(427) high(134) hyp(0.11) time=0.803081s/0.832342s
iteration(428) loop(135) hyp(0.18) time=0.688895s/0.712542s *
iteration(429) loop(135) hyp(0.22) time=0.777851s/0.807196s *
iteration(430) loop(135) hyp(0.23) time=0.807617s/0.833337s *
iteration(431) loop(134) hyp(0.12) time=0.714278s/0.739975s *
iteration(432) high(134) hyp(0.07) time=0.670609s/0.693238s
iteration(433) high(136) hyp(0.06) time=0.661284s/0.683739s
iteration(434) high(136) hyp(0.05) time=0.689537s/0.713571s
iteration(435) high(385) hyp(0.05) time=0.259186s/0.259816s
Processing images completed. Loop closures found = 59
Total time = 226.467193s
Generate ground truth to file GroundTruth_generated.bmp, size of 435
Creating ground truth file = 0.000993s
Cleanup time = 3.924632s
Database ("rtabmapconsole.db") and log files saved to current directory.