Wiki Link
vins-fusion-stereo with MH_05_difficult
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | F_threshold | 1.0 |
| algorithm-parameters | flow_back | 1 |
| algorithm-parameters | freq | 10 |
| algorithm-parameters | image1_topic | /cam1/image_raw |
| algorithm-parameters | keyframe_parallax | 10.0 |
| algorithm-parameters | max_cnt | 150 |
| algorithm-parameters | max_num_iterations | 8 |
| algorithm-parameters | max_solver_time | 0.04 |
| algorithm-parameters | min_dist | 30 |
| algorithm-parameters | show_track | 1 |
| dataset-frequency | /cam0/image_raw | 2 |
| dataset-frequency | /cam1/image_raw | 2 |
| dataset-parameters | body_T_cam0 | [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, 1] |
| dataset-parameters | body_T_cam1 | [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 0, 0, 0, 1] |
| dataset-parameters | cam0_calib | cam0_pinhole.yaml |
| dataset-parameters | cam0_cx | 146.886 |
| dataset-parameters | cam0_cy | 99.35 |
| dataset-parameters | cam0_fx | 183.4616 |
| dataset-parameters | cam0_fy | 182.9184 |
| dataset-parameters | cam0_k1 | -0.28340811 |
| dataset-parameters | cam0_k2 | 0.07395907 |
| dataset-parameters | cam0_p1 | 0.00019359 |
| dataset-parameters | cam0_p2 | 1.76187114e-05 |
| dataset-parameters | cam1_calib | cam1_pinhole.yaml |
| dataset-parameters | cam1_cx | 151.9996 |
| dataset-parameters | cam1_cy | 102.0952 |
| dataset-parameters | cam1_fx | 183.0348 |
| dataset-parameters | cam1_fy | 182.4536 |
| dataset-parameters | cam1_k1 | -0.28340811 |
| dataset-parameters | cam1_k2 | 0.07395907 |
| dataset-parameters | cam1_p1 | 0.00019359 |
| dataset-parameters | cam1_p2 | 1.76187114e-05 |
| dataset-parameters | estimate_extrinsic | 0 |
| dataset-parameters | estimate_td | 0 |
| dataset-parameters | image0_topic | /cam0/image_raw |
| dataset-parameters | image_frequency | 10 |
| dataset-parameters | image_height | 192 |
| dataset-parameters | image_width | 300 |
| dataset-parameters | td | 0.0 |
| dataset-resolution | /cam0/image_raw | 0.4 |
| dataset-resolution | /cam1/image_raw | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.6530197843687737 | 0.550690151817022 | 0.4691205784470779 | 0.35096323948354624 | 0.062454688453421794 | 1.2361209267533448 | 217.9082026150673 |
| RPE | 0.14530822261754892 | 0.09914208113948575 | 0.06610173365230163 | 0.10623242116982357 | 0.0036371022330812597 | 0.8118392255536157 | 9.036997251796054 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.2950575801380815 | 0.49126175475036493 | 588.90234375 |