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mapping task ID: 2347 |
Mapping Task Configuration 1550 Details Information
mapping task ID: 2347 |
Algorihtm & Dataset
Algorithm Selection
Algorithm ImageTag: orb-slam3-ros-mono
Algorihtm name: orb-slam3
Dataset Selection:
Dataset Sequence Name: MH_05_difficult
Dataset name: euroc
Configuration Information
Mapping Task Configuration Name: orb-slam3-ros-mono+MH_05_difficult+Image_comb_test-25
Mapping Task Configuration Description:
Algorithm: orb-slam3-ros-mono Dataset: MH_05_difficult Experiments to explore the parameter space. image frequency: 20 | 10 | 5 | 2 | 1 image resolution: 1 | 0.8 | 0.6 | 0.5 | 0.4 | 0.2 Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB) Totally: 5*6 = 30
Corresponding Parameters Infomation
| ID | Name | Description | parameter Type | Algo/Dataset Name | Key | Value Type | Value |
|---|---|---|---|---|---|---|---|
| 345 | ORB+nFeatures | Number of features per image |
Algorithm | orb-slam3 | nFeatures | int | 1000 |
| 346 | ORB+scaleFactor | Scale factor between levels in the scale pyramid |
Algorithm | orb-slam3 | scaleFactor | float | 1.2 |
| 347 | ORB+nLevels | Number of levels in the scale pyramid |
Algorithm | orb-slam3 | nLevels | int | 8 |
| 348 | ORB+iniThFAST | Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST |
Algorithm | orb-slam3 | iniThFAST | int | 20 |
| 349 | ORB+minThFAST | You can lower these values if your images have low contrast |
Algorithm | orb-slam3 | minThFAST | int | 7 |
| 350 | general+image_frequency | frequency of image data |
Dataset | euroc | fps | int | 1 |
| 351 | general+image_width | image data size. |
Dataset | euroc | width | int | 601 |
| 352 | general+image_height | image data size. |
Dataset | euroc | height | int | 384 |
| 353 | ORB+newWidth | Image size after distortion removal |
Dataset | euroc | newWidth | int | 480 |
| 354 | ORB+newHeight | Image size after distortion removal |
Dataset | euroc | newHeight | int | 280 |
| 436 | general+fx | intrinsic(pinhole) |
Dataset | euroc | fx | float | 366.9232 |
| 437 | general+fy | intrinsic(pinhole) |
Dataset | euroc | fy | float | 365.8368 |
| 438 | general+cx | intrinsic(pinhole) |
Dataset | euroc | cx | float | 293.772 |
| 439 | general+cy | intrinsic(pinhole) |
Dataset | euroc | cy | float | 198.7 |
| 440 | general+k1 | intrinsic(pinhole mei) |
Dataset | euroc | k1 | float | -0.28340811 |
| 441 | general+k2 | intrinsic(pinhole mei) |
Dataset | euroc | k2 | float | 0.07395907 |
| 442 | general+p1 | intrinsic(pinhole mei) |
Dataset | euroc | p1 | float | 0.00019359 |
| 443 | general+p2 | intrinsic(pinhole mei) |
Dataset | euroc | p2 | float | 1.76187114e-05 |
| 445 | ORB+RGB | RGB or BGR |
Dataset | euroc | RGB | int | 1 |
| 446 | ORB+mono_topic | remap |
Algorithm remap | orb-slam2 | mono_topic | string | /camera/image_raw |
| 447 | ORB+/camera/image_raw | remap |
Dataset remap | euroc | /camera/image_raw | string | /cam0/image_raw |
| 472 | ORB+useNewWidth | In order to input the formatting parameters in the yaml file |
Dataset | euroc | useNewWidth | string | Camera.newWidth |
| 473 | ORB+useNewHeight | In order to input the formatting parameters in the yaml file |
Dataset | euroc | useNewHeight | string | Camera.newHeight |
| 588 | dataset_frequency+image0_frequency | using for dataset frequency reset. |
Dataset frequency | General | /cam0/image_raw | int | 20 |
| 591 | dataset_resolution+image0_resolution | using for dataset image resolution reset. |
Dataset resolution | General | /cam0/image_raw | float | 0.8 |
| 592 | dataset_resolution_size+image0_width | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution size | General | width | string | /cam0/image_raw |
| 593 | dataset_resolution_size+image0_height | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution size | General | height | string | /cam0/image_raw |
| 594 | dataset_resolution_intrinsic+cam0_fx | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | fx | string | /cam0/image_raw |
| 595 | dataset_resolution_intrinsic+cam0_fy | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | fy | string | /cam0/image_raw |
| 596 | dataset_resolution_intrinsic+cam0_cx | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cx | string | /cam0/image_raw |
| 597 | dataset_resolution_intrinsic+cam0_cy | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution intrinsic | General | cy | string | /cam0/image_raw |
| 604 | dataset_frequency_remap+image0_frequency | Using for frequency; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset frequency remap | General | fps | string | /cam0/image_raw |
| 608 | dataset_resolution_size+image1_width | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution size | General | newWidth | string | /cam0/image_raw |
| 609 | dataset_resolution_size+image1_height | Using for image resolution; to show the relationship between key(parameter key that its value needs to be changed) and value(topic) |
Dataset resolution size | General | newHeight | string | /cam0/image_raw |