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orb-slam2-ros-rgbd with rgbd_dataset_freiburg2_desk
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | nFeatures | 1000 |
| algorithm-parameters | scaleFactor | 1.2 |
| algorithm-parameters | nLevels | 8 |
| algorithm-parameters | iniThFAST | 20 |
| algorithm-parameters | minThFAST | 7 |
| dataset-parameters | fps | 30.0 |
| dataset-parameters | width | 640 |
| dataset-parameters | height | 480 |
| dataset-parameters | fx | 520.90862 |
| dataset-parameters | fy | 521.007327 |
| dataset-parameters | cx | 325.141442 |
| dataset-parameters | cy | 249.701764 |
| dataset-parameters | k1 | 0.231222 |
| dataset-parameters | k2 | -0.784899 |
| dataset-parameters | p1 | -0.003257 |
| dataset-parameters | p2 | -0.000105 |
| dataset-parameters | k3 | 0.917205 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | bf | 40.0 |
| dataset-parameters | ThDepth | 40.0 |
| dataset-parameters | DepthMapFactor | 1.0 |
| algorithm-remap | rgb_topic | /slamhive/camera/rgb |
| algorithm-remap | dep_topic | /slamhive/camera/depth |
| dataset-remap | /slamhive/camera/rgb | /camera/rgb/image_color |
| dataset-remap | /slamhive/camera/depth | /camera/depth/image |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.007268990436631319 | 0.006740541553582654 | 0.006552674205680559 | 0.0027209045430266606 | 0.0006609090265263143 | 0.018889892250456026 | 0.11201703057181567 |
| RPE | 0.011356324993235417 | 0.010367829702412715 | 0.010058855090219554 | 0.004634028982834707 | 0.0005153131096511229 | 0.03284316118435616 | 0.2419404361523208 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.9974033284542156 | 1.4668061392493246 | 2676.265625 |