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mapping task ID: 726 |
Mapping Task Configuration 376 Details Information
mapping task ID: 726 |
Algorihtm & Dataset
Algorithm Selection
Algorithm ImageTag: orb-slam3-ros-stereo-inertial
Algorihtm name: orb-slam3
Dataset Selection:
Dataset Sequence Name: MH_01_easy
Dataset name: euroc
Configuration Information
Mapping Task Configuration Name: orb-slam3-ros-stereo-inertial+MH_01_easy+test_new_intrinsic
Mapping Task Configuration Description:
感觉orb里给的那一组intrinsic不对 自己算一个试试
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 | 20 |
| 351 | general+image_width | image data size. |
Dataset | euroc | width | int | 752 |
| 352 | general+image_height | image data size. |
Dataset | euroc | height | int | 480 |
| 436 | general+fx | intrinsic(pinhole) |
Dataset | euroc | fx | float | 458.654 |
| 437 | general+fy | intrinsic(pinhole) |
Dataset | euroc | fy | float | 457.296 |
| 438 | general+cx | intrinsic(pinhole) |
Dataset | euroc | cx | float | 367.215 |
| 439 | general+cy | intrinsic(pinhole) |
Dataset | euroc | cy | float | 248.375 |
| 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 |
| 448 | general+bf | extrinsic |
Dataset | euroc | bf | float | 47.90639384423901 |
| 449 | general+ThDepth | extrinsic |
Dataset | euroc | ThDepth | float | 60.0 |
| 450 | ORB+stereo_left | remap |
Algorithm remap | orb-slam3 | stereo_left | string | /camera/left/image_raw |
| 451 | ORB+stereo_right | remap |
Algorithm remap | orb-slam3 | stereo_right | string | /camera/right/image_raw |
| 452 | ORB+/camera/left/image_raw | remap |
Dataset remap | euroc | /camera/left/image_raw | string | /cam0/image_raw |
| 453 | ORB+/camera/right/image_raw | remap |
Dataset remap | euroc | /camera/right/image_raw | string | /cam1/image_raw |
| 454 | general+LEFT_D | intrinsic |
Dataset matrix | euroc | LEFT_D | matrix | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| 455 | general+LEFT_K | intrinsic |
Dataset matrix | euroc | LEFT_K | matrix | [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0] |
| 456 | general+LEFT_R | intrinsic |
Dataset matrix | euroc | LEFT_R | matrix | [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176] |
| 457 | general+LEFT_P | intrinsic |
Dataset matrix | euroc | LEFT_P | matrix | [458.654, 0, 367.215, 0, 0, 457.296, 248.375, 0, 0, 0, 1, 0] |
| 481 | ORB+bFishEye | bFishEye |
Dataset | euroc | bFishEye | int | 0 |
| 571 | general+RIGHT_D | intrinsic |
Dataset matrix | euroc | RIGHT_D | matrix | [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0] |
| 572 | general+RIGHT_K | intrinsic |
Dataset matrix | euroc | RIGHT_K | matrix | [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1] |
| 573 | general+RIGHT_R | intrinsic |
Dataset matrix | euroc | RIGHT_R | matrix | [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644] |
| 574 | general+RIGHT_P | intrinsic |
Dataset matrix | euroc | RIGHT_P | matrix | [457.587, 0, 379.999, -47.90639384423901, 0, 456.134, 255.238, 0, 0, 0, 1, 0] |
| 474 | ORB+imu_topic | imu_topic |
Algorithm remap | orb-slam2 | imu_topic | string | /imu |
| 475 | ORB+/imu | imu_topic |
Dataset remap | euroc | /imu | string | /imu0 |
| 476 | general+NoiseGyro | NoiseGyro |
Dataset | euroc | NoiseGyro | float | 0.00017 |
| 477 | general+NoiseAcc | NoiseAcc |
Dataset | euroc | NoiseAcc | float | 0.002 |
| 478 | general+GyroWalk | GyroWalk |
Dataset | euroc | GyroWalk | float | 1.9393e-05 |
| 479 | general+AccWalk | AccWalk |
Dataset | euroc | AccWalk | float | 0.003 |
| 480 | ORB+T_b_c1 | T_b_c1 |
Dataset matrix | euroc | T_b_c1 | matrix | [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0.0, 0.0, 0.0, 1.0] |
| 575 | general+imu_frequency | frequency of imu data |
Dataset | euroc | Frequency | int | 200 |