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Total mapping tasks number: 3
Contains (mapping task id, evaluation id): [ (705, 348), (706, 349), (707, 416) ]
Current mappingtask id: 705
orb-slam3-ros-stereo-inertial with MH_01_easy
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1500 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 451 |
| height | 288 |
| fx | 261.122817583 |
| fy | 261.122817583 |
| cx | 220.471032715 |
| cy | 151.320510864 |
| k1 | 0.0 |
| k2 | 0.0 |
| p1 | 0.0 |
| p2 | 0.0 |
| RGB | 1 |
| bf | 47.90639384423901 |
| ThDepth | 35.0 |
| LEFT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| LEFT_K | [275.1924, 0.0, 220.329, 0.0, 274.3776, 149.025, 0.0, 0.0, 1.0] |
| LEFT_R | [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176] |
| LEFT_P | [261.122817583, 0, 220.471032715, 0, 0, 261.122817583, 151.320510864, 0, 0, 0, 1, 0] |
| bFishEye | 0 |
| RIGHT_D | [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0] |
| RIGHT_K | [275.1924, 0.0, 220.329, 0.0, 274.3776, 149.025, 0.0, 0.0, 1.0] |
| RIGHT_R | [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176] |
| RIGHT_P | [261.122817583, 0, 220.471032715, -47.90639384423901, 0, 261.122817583, 151.320510864, 0, 0, 0, 1, 0] |
| NoiseGyro | 0.00017 |
| NoiseAcc | 0.002 |
| GyroWalk | 1.9393e-05 |
| AccWalk | 0.003 |
| 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] |
| Frequency | 200 |
| Parameter name | Parameter value |
|---|---|
| stereo_left | /camera/left/image_raw |
| stereo_right | /camera/right/image_raw |
| imu_topic | /imu |
| Parameter name | Parameter value |
|---|---|
| /camera/left/image_raw | /cam0/image_raw |
| /camera/right/image_raw | /cam1/image_raw |
| /imu | /imu0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.94531 | 1.61984 | 1.32215 | 1.0772 | 0.21244 | 5.19142 | 594.125 |
| RPE | 3.52196 | 2.85577 | 2.35091 | 2.06126 | 0.687132 | 9.10292 | 1860.63 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.72969 | 1.19017 | 851.195 |