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orb-slam3-ros-stereo-inertial with MH_01_easy
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 | 10 |
dataset-parameters | width | 376 |
dataset-parameters | height | 240 |
dataset-parameters | fx | 217.602347986 |
dataset-parameters | fy | 217.602347986 |
dataset-parameters | cx | 183.725860596 |
dataset-parameters | cy | 126.10042572 |
dataset-parameters | k1 | 0.0 |
dataset-parameters | k2 | 0.0 |
dataset-parameters | p1 | 0.0 |
dataset-parameters | p2 | 0.0 |
dataset-parameters | RGB | 1 |
dataset-parameters | bf | 47.90639384423901 |
dataset-parameters | ThDepth | 35.0 |
dataset-parameters | LEFT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
dataset-parameters | LEFT_K | [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 0.0, 0.0, 1.0] |
dataset-parameters | LEFT_R | [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176] |
dataset-parameters | LEFT_P | [217.602347986, 0, 183.725860596, 0, 0, 217.602347986, 126.10042572, 0, 0, 0, 1, 0] |
dataset-parameters | bFishEye | 0 |
dataset-parameters | RIGHT_D | [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0] |
dataset-parameters | RIGHT_K | [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 1] |
dataset-parameters | RIGHT_R | [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644] |
dataset-parameters | RIGHT_P | [217.602347986, 0, 183.725860596, -47.90639384423901, 0, 217.602347986, 126.10042572, 0, 0, 0, 1, 0] |
dataset-parameters | NoiseGyro | 0.00017 |
dataset-parameters | NoiseAcc | 0.002 |
dataset-parameters | GyroWalk | 1.9393e-05 |
dataset-parameters | AccWalk | 0.003 |
dataset-parameters | T_b_c1 | [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] |
dataset-parameters | Frequency | 200 |
algorithm-remap | stereo_left | /camera/left/image_raw |
algorithm-remap | stereo_right | /camera/right/image_raw |
algorithm-remap | imu_topic | /imu |
dataset-remap | /camera/left/image_raw | /cam0/image_raw |
dataset-remap | /camera/right/image_raw | /cam1/image_raw |
dataset-remap | /imu | /imu0 |
dataset-frequency | /cam0/image_raw | 2 |
dataset-frequency | /imu0 | 1 |
dataset-frequency | /cam1/image_raw | 2 |
dataset-resolution | /cam0/image_raw | 0.5 |
dataset-resolution | /cam1/image_raw | 0.5 |
RMSE | Mean | Median | Std | Min | Max | SSE | |
---|---|---|---|---|---|---|---|
ATE | 3.531615302603396 | 2.882143222442523 | 2.273937574481222 | 2.040969644779438 | 0.2282602935612884 | 8.073769333458678 | 4415.196552536197 |
RPE | 4.167278449387336 | 3.6519622073322937 | 3.0453079353346917 | 2.0073319882233616 | 0.7726111136490762 | 7.984321141676457 | 5557.1870959129965 |
Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
---|---|---|
1.9509094677927832 | 1.4417842702197285 | 955.09765625 |