A lot of loop closures rejected after graph optimization when processing old Tango databases

[matlabbe]

The problem is that odometry covariance in Tango version < 0.16.3 is set to 0.000001, most loop closures are rejected because RGBD/OptimizeMaxError is now a ratio, not absolute value. Since 0.16.3, the linear covariance is 0.0001 instead to work with new behavior of RGBD/OptimizeMaxError.

To fix this, we should update the covariance saved in odometry links of the database.

1. Get the version of the database:
   $ sqlite3 rtabmap.db "select version from Admin"
2. Edit linear covariance from 0.000001 to 0.0001:
   • If version >= 0.13.0:

   $ sqlite3 rtabmap.db "update Link Set information_matrix=x'000000000088C340000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000088C340000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000088C3400000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080842E410000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080842E410000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080842E41' where type=0"
   
   Note: 0x000000000088C340 is 10000, which means linear variance is 1/10000 = 0.0001
         0x0000000080842E41 is 1000000,  which means angular variance is 1/1000000 = 0.000001
   // To query information matrix already in a database in hex format:
   $ sqlite3 rtabmap.db "select hex(information_matrix) from Link where type=0"
   

   • If version < 0.13.0:

   $ sqlite3 rtabmap.db "update Link Set rot_variance=0.000001, trans_variance=0.0001 where type=0"
   

3. When reprocessing the database, if the parameters from the database are used, make sure to modify RGBD/OptimizeMaxError from 0.1 to 3. In the GUI, go the Preferences->Graph Optimization->"Reject loop closures if optimization error ratio...".

Example

Example with databases from Multi Session Mapping with RTAB Map Tango tutorial:

$ sqlite3 chalet1.db "select version from Admin"
0.12.3
$ sqlite3 chalet1.db "update Link Set rot_variance=0.000001, trans_variance=0.0001 where type=0"
$ sqlite3 chalet2.db "update Link Set rot_variance=0.000001, trans_variance=0.0001 where type=0"
$ sqlite3 chalet3.db "update Link Set rot_variance=0.000001, trans_variance=0.0001 where type=0"
$ sqlite3 chalet4.db "update Link Set rot_variance=0.000001, trans_variance=0.0001 where type=0"

To overwrite RGBD/OptimizeMaxError in the database, it is also possible by command line:

1. Get the parameters string:

   $ sqlite3 chalet1.db "select parameters from Info"
   

2. Copy/paste the whole string in notepad, then modify RGBD/OptimizeMaxError value from 0.1 to 3.0:

   $ {...};RGBD/OptimizeMaxError:3.0;{...}
   

3. Update the parameters:

$ sqlite3 chalet1.db "update Info Set parameters='BRIEF/Bytes:64;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;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:true;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:4;FAST/GridRows:4;FAST/MaxThreshold:200;FAST/MinThreshold:1;FAST/NonmaxSuppression:true;FAST/Threshold:10;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:5;GFTT/QualityLevel:0.0001;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:false;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthMax:4.0;Grid/DepthMin:0.0;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/FromDepth:true;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:10;Grid/NormalsSegmentation:true;Grid/ProjRayTracing:false;Grid/Scan2dMaxFilledRange:4.0;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;Icp/CorrespondenceRatio:0.5;Icp/DownsamplingStep:1;Icp/Epsilon:0.001;Icp/Iterations:10;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.17;Icp/MaxTranslation:0.05;Icp/PointToPlane:true;Icp/PointToPlaneNormalNeighbors:20;Icp/VoxelSize:0.0;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:6;Kp/DictionaryPath:;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:10;Kp/MaxFeatures:200;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:false;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:false;Mem/GenerateIds:true;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.3;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:false;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:false;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:0.7;Odom/Strategy:0;Odom/VisKeyFrameThr:100;OdomF2M/BundleAdjustment:0;OdomF2M/BundleAdjustmentMaxFrames:0;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractRadius:0.05;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;Optimizer/Epsilon:0.00001;Optimizer/Iterations:10;Optimizer/Robust:false;Optimizer/Strategy:2;Optimizer/VarianceIgnored:false;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearUpdate:0.1;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/MaxLocalRetrieved:0;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:true;RGBD/OptimizeMaxError:3.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:false;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:0.5;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:false;Reg/Strategy:0;Reg/VarianceFromInliersCount:false;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate:1;Rtabmap/ImageBufferSize:1;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:1;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:false;Rtabmap/PublishPdf:false;Rtabmap/PublishStats:true;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:1000;Rtabmap/VhStrategy:0;Rtabmap/WorkingDirectory:;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;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/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128;Stereo/MaxLevel:3;Stereo/MinDisparity:1;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:0;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:0;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/InlierDistance:0.1;Vis/Iterations:100;Vis/MaxDepth:0;Vis/MaxFeatures:400;Vis/MinDepth:0;Vis/MinInliers:25;Vis/PnPFlags:0;Vis/PnPRefineIterations:1;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:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0'"
$ sqlite3 chalet2.db "update Info Set parameters='BRIEF/Bytes:64;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;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:true;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:4;FAST/GridRows:4;FAST/MaxThreshold:200;FAST/MinThreshold:1;FAST/NonmaxSuppression:true;FAST/Threshold:10;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:5;GFTT/QualityLevel:0.0001;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:false;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthMax:4.0;Grid/DepthMin:0.0;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/FromDepth:true;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:10;Grid/NormalsSegmentation:true;Grid/ProjRayTracing:false;Grid/Scan2dMaxFilledRange:4.0;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;Icp/CorrespondenceRatio:0.5;Icp/DownsamplingStep:1;Icp/Epsilon:0.001;Icp/Iterations:10;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.17;Icp/MaxTranslation:0.05;Icp/PointToPlane:true;Icp/PointToPlaneNormalNeighbors:20;Icp/VoxelSize:0.0;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:6;Kp/DictionaryPath:;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:10;Kp/MaxFeatures:200;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:false;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:false;Mem/GenerateIds:true;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.3;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:false;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:false;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:0.7;Odom/Strategy:0;Odom/VisKeyFrameThr:100;OdomF2M/BundleAdjustment:0;OdomF2M/BundleAdjustmentMaxFrames:0;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractRadius:0.05;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;Optimizer/Epsilon:0.00001;Optimizer/Iterations:10;Optimizer/Robust:false;Optimizer/Strategy:2;Optimizer/VarianceIgnored:false;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearUpdate:0.1;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/MaxLocalRetrieved:0;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:true;RGBD/OptimizeMaxError:3.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:false;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:0.5;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:false;Reg/Strategy:0;Reg/VarianceFromInliersCount:false;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate:1;Rtabmap/ImageBufferSize:1;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:1;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:false;Rtabmap/PublishPdf:false;Rtabmap/PublishStats:true;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:1000;Rtabmap/VhStrategy:0;Rtabmap/WorkingDirectory:;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;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/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128;Stereo/MaxLevel:3;Stereo/MinDisparity:1;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:0;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:0;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/InlierDistance:0.1;Vis/Iterations:100;Vis/MaxDepth:0;Vis/MaxFeatures:400;Vis/MinDepth:0;Vis/MinInliers:25;Vis/PnPFlags:0;Vis/PnPRefineIterations:1;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:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0'"
$ sqlite3 chalet3.db "update Info Set parameters='BRIEF/Bytes:64;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;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:true;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:4;FAST/GridRows:4;FAST/MaxThreshold:200;FAST/MinThreshold:1;FAST/NonmaxSuppression:true;FAST/Threshold:10;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:5;GFTT/QualityLevel:0.0001;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:false;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthMax:4.0;Grid/DepthMin:0.0;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/FromDepth:true;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:10;Grid/NormalsSegmentation:true;Grid/ProjRayTracing:false;Grid/Scan2dMaxFilledRange:4.0;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;Icp/CorrespondenceRatio:0.5;Icp/DownsamplingStep:1;Icp/Epsilon:0.001;Icp/Iterations:10;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.17;Icp/MaxTranslation:0.05;Icp/PointToPlane:true;Icp/PointToPlaneNormalNeighbors:20;Icp/VoxelSize:0.0;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:6;Kp/DictionaryPath:;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:10;Kp/MaxFeatures:200;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:false;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:false;Mem/GenerateIds:true;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.3;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:false;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:false;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:0.7;Odom/Strategy:0;Odom/VisKeyFrameThr:100;OdomF2M/BundleAdjustment:0;OdomF2M/BundleAdjustmentMaxFrames:0;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractRadius:0.05;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;Optimizer/Epsilon:0.00001;Optimizer/Iterations:10;Optimizer/Robust:false;Optimizer/Strategy:2;Optimizer/VarianceIgnored:false;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearUpdate:0.1;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/MaxLocalRetrieved:0;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:true;RGBD/OptimizeMaxError:3.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:false;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:0.5;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:false;Reg/Strategy:0;Reg/VarianceFromInliersCount:false;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate:1;Rtabmap/ImageBufferSize:1;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:1;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:false;Rtabmap/PublishPdf:false;Rtabmap/PublishStats:true;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:1000;Rtabmap/VhStrategy:0;Rtabmap/WorkingDirectory:;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;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/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128;Stereo/MaxLevel:3;Stereo/MinDisparity:1;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:0;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:0;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/InlierDistance:0.1;Vis/Iterations:100;Vis/MaxDepth:0;Vis/MaxFeatures:400;Vis/MinDepth:0;Vis/MinInliers:25;Vis/PnPFlags:0;Vis/PnPRefineIterations:1;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:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0'"
$ sqlite3 chalet4.db "update Info Set parameters='BRIEF/Bytes:64;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;DbSqlite3/CacheSize:10000;DbSqlite3/InMemory:true;DbSqlite3/JournalMode:3;DbSqlite3/Synchronous:0;DbSqlite3/TempStore:2;FAST/Gpu:false;FAST/GpuKeypointsRatio:0.05;FAST/GridCols:4;FAST/GridRows:4;FAST/MaxThreshold:200;FAST/MinThreshold:1;FAST/NonmaxSuppression:true;FAST/Threshold:10;FREAK/NOctaves:4;FREAK/OrientationNormalized:true;FREAK/PatternScale:22;FREAK/ScaleNormalized:true;GFTT/BlockSize:3;GFTT/K:0.04;GFTT/MinDistance:5;GFTT/QualityLevel:0.0001;GFTT/UseHarrisDetector:false;GTSAM/Optimizer:1;Grid/3D:false;Grid/CellSize:0.05;Grid/ClusterRadius:0.1;Grid/DepthDecimation:4;Grid/DepthMax:4.0;Grid/DepthMin:0.0;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/FromDepth:true;Grid/GroundIsObstacle:false;Grid/MapFrameProjection:false;Grid/MaxGroundAngle:45;Grid/MaxGroundHeight:0.0;Grid/MaxObstacleHeight:0.0;Grid/MinClusterSize:10;Grid/MinGroundHeight:0.0;Grid/NoiseFilteringMinNeighbors:5;Grid/NoiseFilteringRadius:0.0;Grid/NormalK:10;Grid/NormalsSegmentation:true;Grid/ProjRayTracing:false;Grid/Scan2dMaxFilledRange:4.0;Grid/Scan2dUnknownSpaceFilled:false;Grid/ScanDecimation:1;Icp/CorrespondenceRatio:0.5;Icp/DownsamplingStep:1;Icp/Epsilon:0.001;Icp/Iterations:10;Icp/MaxCorrespondenceDistance:0.05;Icp/MaxRotation:0.17;Icp/MaxTranslation:0.05;Icp/PointToPlane:true;Icp/PointToPlaneNormalNeighbors:20;Icp/VoxelSize:0.0;Kp/BadSignRatio:0.5;Kp/DetectorStrategy:6;Kp/DictionaryPath:;Kp/IncrementalDictionary:true;Kp/IncrementalFlann:true;Kp/MaxDepth:10;Kp/MaxFeatures:200;Kp/MinDepth:0;Kp/NNStrategy:1;Kp/NewWordsComparedTogether:true;Kp/NndrRatio:0.8;Kp/Parallelized:false;Kp/RoiRatios:0.0 0.0 0.0 0.0;Kp/SubPixEps:0.02;Kp/SubPixIterations:0;Kp/SubPixWinSize:3;Kp/TfIdfLikelihoodUsed:true;Mem/BadSignaturesIgnored:false;Mem/BinDataKept:true;Mem/CompressionParallelized:false;Mem/GenerateIds:true;Mem/ImageKept:false;Mem/ImagePostDecimation:1;Mem/ImagePreDecimation:1;Mem/IncrementalMemory:true;Mem/InitWMWithAllNodes:false;Mem/LaserScanDownsampleStepSize:1;Mem/LaserScanNormalK:0;Mem/MapLabelsAdded:true;Mem/NotLinkedNodesKept:true;Mem/RawDescriptorsKept:true;Mem/RecentWmRatio:0.2;Mem/ReduceGraph:false;Mem/RehearsalIdUpdatedToNewOne:false;Mem/RehearsalSimilarity:0.3;Mem/RehearsalWeightIgnoredWhileMoving:false;Mem/STMSize:10;Mem/SaveDepth16Format:false;Mem/TransferSortingByWeightId:false;Mem/UseOdomFeatures:false;ORB/EdgeThreshold:31;ORB/FirstLevel:0;ORB/Gpu:false;ORB/NLevels:8;ORB/PatchSize:31;ORB/ScaleFactor:1.2;ORB/ScoreType:0;ORB/WTA_K:2;Odom/AlignWithGround:false;Odom/FillInfoData:true;Odom/FilteringStrategy:0;Odom/GuessMotion:false;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:0.7;Odom/Strategy:0;Odom/VisKeyFrameThr:100;OdomF2M/BundleAdjustment:0;OdomF2M/BundleAdjustmentMaxFrames:0;OdomF2M/MaxNewFeatures:0;OdomF2M/MaxSize:2000;OdomF2M/ScanMaxSize:2000;OdomF2M/ScanSubtractRadius:0.05;OdomMono/InitMinFlow:100;OdomMono/InitMinTranslation:0.1;OdomMono/MaxVariance:0.01;OdomMono/MinTranslation:0.02;Optimizer/Epsilon:0.00001;Optimizer/Iterations:10;Optimizer/Robust:false;Optimizer/Strategy:2;Optimizer/VarianceIgnored:false;RGBD/AngularUpdate:0.1;RGBD/CreateOccupancyGrid:false;RGBD/Enabled:true;RGBD/GoalReachedRadius:0.5;RGBD/GoalsSavedInUserData:false;RGBD/LinearUpdate:0.1;RGBD/LocalImmunizationRatio:0.25;RGBD/LocalRadius:10;RGBD/LoopClosureReextractFeatures:false;RGBD/MaxLocalRetrieved:0;RGBD/NeighborLinkRefining:false;RGBD/NewMapOdomChangeDistance:0;RGBD/OptimizeFromGraphEnd:true;RGBD/OptimizeMaxError:3.0;RGBD/PlanAngularVelocity:0;RGBD/PlanLinearVelocity:0;RGBD/PlanStuckIterations:0;RGBD/ProximityAngle:45;RGBD/ProximityBySpace:false;RGBD/ProximityByTime:false;RGBD/ProximityMaxGraphDepth:50;RGBD/ProximityMaxPaths:3;RGBD/ProximityPathFilteringRadius:0.5;RGBD/ProximityPathMaxNeighbors:0;RGBD/ProximityPathRawPosesUsed:true;RGBD/ScanMatchingIdsSavedInLinks:true;Reg/Force3DoF:false;Reg/Strategy:0;Reg/VarianceFromInliersCount:false;Rtabmap/CreateIntermediateNodes:false;Rtabmap/DetectionRate:1;Rtabmap/ImageBufferSize:1;Rtabmap/LoopRatio:0;Rtabmap/LoopThr:0.11;Rtabmap/MaxRetrieved:1;Rtabmap/MemoryThr:0;Rtabmap/PublishLastSignature:true;Rtabmap/PublishLikelihood:false;Rtabmap/PublishPdf:false;Rtabmap/PublishStats:true;Rtabmap/StartNewMapOnLoopClosure:false;Rtabmap/StatisticLogged:false;Rtabmap/StatisticLoggedHeaders:true;Rtabmap/StatisticLogsBufferedInRAM:true;Rtabmap/TimeThr:1000;Rtabmap/VhStrategy:0;Rtabmap/WorkingDirectory:;SIFT/ContrastThreshold:0.04;SIFT/EdgeThreshold:10;SIFT/NFeatures:0;SIFT/NOctaveLayers:3;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/Eps:0.01;Stereo/Iterations:30;Stereo/MaxDisparity:128;Stereo/MaxLevel:3;Stereo/MinDisparity:1;Stereo/OpticalFlow:true;Stereo/SSD:true;Stereo/WinHeight:3;Stereo/WinWidth:15;StereoBM/BlockSize:15;StereoBM/MinDisparity:0;StereoBM/NumDisparities:128;StereoBM/PreFilterCap:31;StereoBM/PreFilterSize:9;StereoBM/SpeckleRange:4;StereoBM/SpeckleWindowSize:100;StereoBM/TextureThreshold:10;StereoBM/UniquenessRatio:15;VhEp/MatchCountMin:8;VhEp/RansacParam1:3;VhEp/RansacParam2:0.99;Vis/BundleAdjustment:0;Vis/CorFlowEps:0.01;Vis/CorFlowIterations:30;Vis/CorFlowMaxLevel:3;Vis/CorFlowWinSize:16;Vis/CorGuessWinSize:20;Vis/CorNNDR:0.6;Vis/CorNNType:1;Vis/CorType:0;Vis/EpipolarGeometryVar:0.02;Vis/EstimationType:0;Vis/FeatureType:6;Vis/ForwardEstOnly:true;Vis/InlierDistance:0.1;Vis/Iterations:100;Vis/MaxDepth:0;Vis/MaxFeatures:400;Vis/MinDepth:0;Vis/MinInliers:25;Vis/PnPFlags:0;Vis/PnPRefineIterations:1;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:1.0;g2o/RobustKernelDelta:8;g2o/Solver:0'"

EDIT (October 16 2018): updated to set linear variance to 0.0001 and angular variance to 0.000001