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mapping task ID: 3259 |
Mapping Task Configuration 2464 Details Information
mapping task ID: 3259 |
Algorihtm & Dataset
Algorithm Selection
Algorithm ImageTag: orb-slam2-ros-rgbd
Algorihtm name: orb-slam2
Dataset Selection:
Dataset Sequence Name: rgbd_dataset_freiburg2_desk
Dataset name: tum
Configuration Information
Mapping Task Configuration Name: orb-slam2-ros-rgbd+rgbd_dataset_freiburg2_desk-5
Mapping Task Configuration Description:
Algorithm: ORB-SLAM2-ros-rgbd Dataset: rgbd_dataset_freiburg2_desk Use default parameter nFeatures: 250;500;750;...2500 Totally: 10 Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB)
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-slam2 | nFeatures | int | 1500 |
| 346 | ORB+scaleFactor | Scale factor between levels in the scale pyramid |
Algorithm | orb-slam2 | scaleFactor | float | 1.2 |
| 347 | ORB+nLevels | Number of levels in the scale pyramid |
Algorithm | orb-slam2 | nLevels | int | 8 |
| 348 | ORB+iniThFAST | Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST |
Algorithm | orb-slam2 | iniThFAST | int | 20 |
| 349 | ORB+minThFAST | You can lower these values if your images have low contrast |
Algorithm | orb-slam2 | minThFAST | int | 7 |
| 350 | general+image_frequency | frequency of image data |
Dataset | tum | fps | float | 30.0 |
| 351 | general+image_width | image data size. |
Dataset | tum | width | int | 640 |
| 352 | general+image_height | image data size. |
Dataset | tum | height | int | 480 |
| 436 | general+fx | intrinsic(pinhole) |
Dataset | tum | fx | float | 520.90862 |
| 437 | general+fy | intrinsic(pinhole) |
Dataset | tum | fy | float | 521.007327 |
| 438 | general+cx | intrinsic(pinhole) |
Dataset | tum | cx | float | 325.141442 |
| 439 | general+cy | intrinsic(pinhole) |
Dataset | tum | cy | float | 249.701764 |
| 440 | general+k1 | intrinsic(pinhole mei) |
Dataset | tum | k1 | float | 0.231222 |
| 441 | general+k2 | intrinsic(pinhole mei) |
Dataset | tum | k2 | float | -0.784899 |
| 442 | general+p1 | intrinsic(pinhole mei) |
Dataset | tum | p1 | float | -0.003257 |
| 443 | general+p2 | intrinsic(pinhole mei) |
Dataset | tum | p2 | float | -0.000105 |
| 444 | general+k3 | intrinsic(rgbd pinhole?) |
Dataset | euroc | k3 | float | 0.917205 |
| 445 | ORB+RGB | RGB or BGR |
Dataset | tum | RGB | int | 1 |
| 448 | general+bf | extrinsic |
Dataset | tum | bf | float | 40.0 |
| 449 | general+ThDepth | extrinsic |
Dataset | tum | ThDepth | float | 40.0 |
| 467 | general+DepthMapFactor | intrinsic |
Dataset | tum | DepthMapFactor | float | 1.0 |
| 468 | ORB+rgb_topic | remap |
Algorithm remap | orb-slam2 | rgb_topic | string | /slamhive/camera/rgb |
| 469 | ORB+dep_topic | remap |
Algorithm remap | orb-slam2 | dep_topic | string | /slamhive/camera/depth |
| 470 | ORB+/slamhive/camera/rgb | remap |
Dataset remap | tum | /slamhive/camera/rgb | string | /camera/rgb/image_color |
| 471 | ORB+/slamhive/camera/depth | remap |
Dataset remap | tum | /slamhive/camera/depth | string | /camera/depth/image |