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vins-fusion-stereo with MH_03_medium
Parameter type | Parameter name | Parameter value |
---|---|---|
algorithm-parameters | max_cnt | 150 |
algorithm-parameters | min_dist | 30 |
algorithm-parameters | freq | 10 |
algorithm-parameters | F_threshold | 1.0 |
algorithm-parameters | max_solver_time | 0.04 |
algorithm-parameters | max_num_iterations | 8 |
algorithm-parameters | keyframe_parallax | 10.0 |
algorithm-parameters | show_track | 1 |
algorithm-parameters | flow_back | 1 |
algorithm-parameters | image1_topic | /cam1/image_raw |
dataset-parameters | image_width | 752 |
dataset-parameters | image_height | 480 |
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 | estimate_td | 0 |
dataset-parameters | td | 0.0 |
dataset-parameters | image0_topic | /cam0/image_raw |
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 | cam0_calib | cam0_pinhole.yaml |
dataset-parameters | estimate_extrinsic | 0 |
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 | cam1_calib | cam1_pinhole.yaml |
dataset-parameters | cam1_p1 | 0.00019359 |
dataset-parameters | cam1_p2 | 1.76187114e-05 |
dataset-parameters | cam1_k1 | -0.28340811 |
dataset-parameters | cam1_k2 | 0.07395907 |
dataset-parameters | image_frequency | 20 |
dataset-parameters | cam0_fx | 458.654 |
dataset-parameters | cam0_fy | 457.296 |
dataset-parameters | cam0_cx | 367.215 |
dataset-parameters | cam0_cy | 248.375 |
dataset-parameters | cam1_fx | 457.587 |
dataset-parameters | cam1_fy | 456.134 |
dataset-parameters | cam1_cx | 379.999 |
dataset-parameters | cam1_cy | 255.238 |
dataset-frequency | /cam0/image_raw | 1 |
dataset-frequency | /cam1/image_raw | 1 |
dataset-resolution | /cam0/image_raw | 1.0 |
dataset-resolution | /cam1/image_raw | 1.0 |
RMSE | Mean | Median | Std | Min | Max | SSE | |
---|---|---|---|---|---|---|---|
ATE | 0.0463786214265693 | 0.041906469362926156 | 0.039093222966604 | 0.019870187491897614 | 0.0032700945384130722 | 0.12605855061663912 | 1.9487847320387042 |
RPE | 0.03173087440663192 | 0.026680524416084032 | 0.023218451624221877 | 0.017175506033074894 | 0.0016040924512538384 | 0.1106902082061111 | 0.8447457997213272 |
Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
---|---|---|
2.5837202087082045 | 1.6602030235219385 | 1223.83203125 |