Wiki Link
Total mapping tasks number: 38
Contains (mapping task id, evaluation id): [ (1050, 629), (1196, 851), (1197, 852), (1198, 853), (1199, 854), (1200, 855), (1201, 856), (1202, 857), (1203, 858), (1204, 859), (1205, 860), (1206, 861), (1207, 862), (1208, 863), (1209, 864), (1210, 865), (1211, 866), (1951, 1395), (1954, 1398), (1957, 1400), (1960, 1403), (1963, 1404), (1966, 1407), (2338, 1735), (2339, 1736), (2340, 1737), (2341, 1738), (2342, 1739), (2388, 1776), (2389, 1777), (2390, 1778), (2391, 1779), (2392, 1780), (2438, 1816), (2439, 1817), (2440, 1818), (2441, 1819), (2442, 1820) ]
Current mappingtask id: 1050
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.474267 | 0.401457 | 0.333627 | 0.252509 | 0.0861457 | 1.12497 | 74.9013 |
| RPE | 1.18121 | 1.14107 | 1.23621 | 0.30531 | 0.136723 | 1.58061 | 312.539 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.40243 | 0.964081 | 1014.6 |
Current mappingtask id: 1196
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.591689 | 0.472433 | 0.382739 | 0.356234 | 0.0534932 | 1.57751 | 105.029 |
| RPE | 1.18367 | 1.15234 | 1.19431 | 0.270527 | 0.479619 | 1.71426 | 267.605 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.53251 | 1.0882 | 1010.01 |
Current mappingtask id: 1197
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.382503 | 0.339211 | 0.312264 | 0.176762 | 0.0323431 | 0.735503 | 38.1866 |
| RPE | 1.18925 | 1.16395 | 1.21719 | 0.24401 | 0.514936 | 1.52462 | 190.934 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.30122 | 0.782825 | 803.477 |
Current mappingtask id: 1198
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.906406 | 0.721081 | 0.69022 | 0.549193 | 0.115875 | 2.08295 | 221.003 |
| RPE | 1.15772 | 1.11127 | 1.13561 | 0.324657 | 0.0495788 | 1.7897 | 219.813 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.16928 | 0.782439 | 882.191 |
Current mappingtask id: 1199
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.545251 | 0.491254 | 0.470019 | 0.236576 | 0.0826174 | 1.17425 | 75.5138 |
| RPE | 1.17855 | 1.14675 | 1.22878 | 0.271926 | 0.439108 | 1.53032 | 175.013 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.11714 | 0.626235 | 782.746 |
Current mappingtask id: 1200
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0510081 | 0.0441105 | 0.0374335 | 0.0256142 | 0.00803914 | 0.202974 | 0.520365 |
| RPE | 1.09088 | 1.05155 | 1.13287 | 0.290268 | 0.225842 | 1.50558 | 121.381 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.72975 | 1.15072 | 840.789 |
Current mappingtask id: 1201
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 5.37467 | 4.69793 | 4.0634 | 2.61084 | 0.438953 | 12.8566 | 6817.34 |
| RPE | 5.85702 | 4.93374 | 5.02044 | 3.15639 | 0.565403 | 9.86963 | 5969.01 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.42089 | 0.804729 | 831.648 |
Current mappingtask id: 1202
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0834996 | 0.075002 | 0.0727995 | 0.0366999 | 0.01202 | 0.182714 | 1.33169 |
| RPE | 1.08673 | 1.04486 | 1.09265 | 0.298755 | 0.0544608 | 1.46657 | 116.917 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.39366 | 0.915738 | 835.332 |
Current mappingtask id: 1203
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 3.93287 | 3.54422 | 3.40463 | 1.70469 | 0.688319 | 9.75413 | 3511.12 |
| RPE | 1.41067 | 1.32333 | 1.23336 | 0.488653 | 0.476566 | 2.86049 | 177.109 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.17405 | 0.681201 | 875.609 |
Current mappingtask id: 1204
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.591716 | 0.547932 | 0.619827 | 0.223381 | 0.100808 | 0.841995 | 123.595 |
| RPE | 1.18759 | 1.16417 | 1.21758 | 0.234671 | 0.22482 | 1.53651 | 332.847 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.50868 | 1.07923 | 990.539 |
Current mappingtask id: 1205
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.40643 | 1.15759 | 1.14031 | 0.798765 | 0.0480748 | 2.84238 | 551.876 |
| RPE | 1.34181 | 1.29924 | 1.2929 | 0.335281 | 0.575267 | 2.20012 | 244.861 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.26296 | 0.854536 | 895.301 |
Current mappingtask id: 1206
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.253316 | 0.235975 | 0.218128 | 0.0921128 | 0.0605002 | 0.432078 | 16.6839 |
| RPE | 1.09491 | 1.04213 | 1.15229 | 0.335825 | 0.052196 | 1.53071 | 171.431 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.168 | 0.757732 | 769.867 |
Current mappingtask id: 1207
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 4.69366 | 4.25755 | 3.86478 | 1.97577 | 1.1272 | 10.8251 | 6344.77 |
| RPE | 4.83128 | 3.08883 | 1.59686 | 3.71489 | 0.478483 | 13.5362 | 3944.68 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.10447 | 0.578027 | 771.184 |
Current mappingtask id: 1208
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.930564 | 0.783439 | 0.657896 | 0.502168 | 0.319455 | 2.55947 | 189.643 |
| RPE | 1.06152 | 1.02353 | 1.07994 | 0.281439 | 0.06054 | 1.45001 | 116.062 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.60401 | 1.07983 | 832.027 |
Current mappingtask id: 1209
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 6.12591 | 5.39079 | 5.35805 | 2.90967 | 1.6347 | 13.9087 | 9832.01 |
| RPE | 2.44285 | 2.01551 | 1.59354 | 1.38031 | 0.349719 | 7.86545 | 1068.19 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.54624 | 0.892671 | 972.57 |
Current mappingtask id: 1210
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.21335 | 0.19656 | 0.172129 | 0.0829605 | 0.0431288 | 0.376813 | 8.92156 |
| RPE | 1.04553 | 0.997255 | 1.0702 | 0.314034 | 0.267629 | 1.53627 | 114.779 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.38213 | 0.889974 | 848.73 |
Current mappingtask id: 1211
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 2000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam1/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 6.62823 | 5.83567 | 5.65223 | 3.14299 | 0.889922 | 12.8723 | 13355.8 |
| RPE | 7.88393 | 5.72954 | 3.46079 | 5.41559 | 0.220446 | 21.2339 | 14606.7 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.06477 | 0.646157 | 906.383 |
Current mappingtask id: 1951
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 5 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0552381 | 0.048769 | 0.0450657 | 0.0259391 | 0.00250502 | 0.185778 | 0.710942 |
| RPE | 1.13912 | 1.11263 | 1.16847 | 0.244236 | 0.342649 | 1.49996 | 168.688 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.09223 | 0.609979 | 754.504 |
Current mappingtask id: 1954
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 5 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 2.28558 | 2.08116 | 2.17418 | 0.944807 | 0.398386 | 4.9976 | 1426.12 |
| RPE | 1.1823 | 1.14494 | 1.13968 | 0.29485 | 0.227393 | 1.7794 | 209.673 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.72615 | 0.589584 | 943.855 |
Current mappingtask id: 1957
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 2 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.209284 | 0.125024 | 0.0838656 | 0.167836 | 0.0271765 | 0.773577 | 1.18259 |
| RPE | 1.02528 | 0.982594 | 0.991645 | 0.292754 | 0.559083 | 1.43985 | 5.25598 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.04198 | 0.240519 | 660.785 |
Current mappingtask id: 1960
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 2 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.359305 | 0.254317 | 0.199694 | 0.253817 | 0.0404146 | 1.70302 | 6.19681 |
| RPE | 0.975809 | 0.942961 | 0.960762 | 0.251053 | 0.461878 | 1.31764 | 18.0919 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.04445 | 0.212488 | 635.973 |
Current mappingtask id: 1963
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 1 |
| width | 752 |
| height | 480 |
| newWidth | 600 |
| newHeight | 350 |
| fx | 458.654 |
| fy | 457.296 |
| cx | 367.215 |
| cy | 248.375 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.00794744 | 0.00712675 | 0.00583061 | 0.00351729 | 0.00165749 | 0.0132931 | 0.000442133 |
| RPE | 0.643726 | 0.631192 | 0.568428 | 0.126412 | 0.517606 | 0.807541 | 1.24315 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.03866 | 0.206566 | 606.133 |
Current mappingtask id: 1966
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 1 |
| width | 376 |
| height | 240 |
| newWidth | 300 |
| newHeight | 175 |
| fx | 229.327 |
| fy | 228.648 |
| cx | 183.6075 |
| cy | 124.1875 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0336923 | 0.0318786 | 0.0276102 | 0.0109051 | 0.0155328 | 0.0526034 | 0.00794617 |
| RPE | 0.66848 | 0.662299 | 0.662299 | 0.0906929 | 0.571607 | 0.752992 | 0.893732 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.02142 | 0.179634 | 595.848 |
Current mappingtask id: 2338
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 601 |
| height | 384 |
| newWidth | 480 |
| newHeight | 280 |
| fx | 366.9232 |
| fy | 365.8368 |
| cx | 293.772 |
| cy | 198.7 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.156362 | 0.13891 | 0.134705 | 0.0717858 | 0.0193836 | 0.28816 | 6.4546 |
| RPE | 1.12219 | 1.08409 | 1.15179 | 0.28991 | 0.371312 | 1.53945 | 209.045 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.4277 | 0.945536 | 788.203 |
Current mappingtask id: 2339
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 601 |
| height | 384 |
| newWidth | 480 |
| newHeight | 280 |
| fx | 366.9232 |
| fy | 365.8368 |
| cx | 293.772 |
| cy | 198.7 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0818592 | 0.0759446 | 0.0766264 | 0.0305507 | 0.0192324 | 0.185187 | 1.68864 |
| RPE | 1.11641 | 1.08369 | 1.16347 | 0.268305 | 0.0776371 | 1.51533 | 171.998 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.16875 | 0.753415 | 787.035 |
Current mappingtask id: 2340
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 5 |
| width | 601 |
| height | 384 |
| newWidth | 480 |
| newHeight | 280 |
| fx | 366.9232 |
| fy | 365.8368 |
| cx | 293.772 |
| cy | 198.7 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.052227 | 0.0492499 | 0.0475872 | 0.017381 | 0.0116949 | 0.149833 | 0.630088 |
| RPE | 1.1515 | 1.12313 | 1.18253 | 0.254021 | 0.131119 | 1.51388 | 167.069 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.04965 | 0.629719 | 753.582 |
Current mappingtask id: 2341
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 2 |
| width | 601 |
| height | 384 |
| newWidth | 480 |
| newHeight | 280 |
| fx | 366.9232 |
| fy | 365.8368 |
| cx | 293.772 |
| cy | 198.7 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.130514 | 0.0976427 | 0.0808246 | 0.0866019 | 0.0105327 | 0.570873 | 0.834666 |
| RPE | 1.07011 | 1.00483 | 1.15111 | 0.368036 | 0.163946 | 1.50542 | 24.0477 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.02297 | 0.256722 | 664.492 |
Current mappingtask id: 2342
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 1 |
| width | 601 |
| height | 384 |
| newWidth | 480 |
| newHeight | 280 |
| fx | 366.9232 |
| fy | 365.8368 |
| cx | 293.772 |
| cy | 198.7 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0325387 | 0.0295754 | 0.0280964 | 0.013567 | 0.0113238 | 0.0484443 | 0.0063526 |
| RPE | 1.47436 | 1.47436 | 1.47436 | 0.0 | 1.47436 | 1.47436 | 2.17375 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.02242 | 0.187626 | 609.352 |
Current mappingtask id: 2388
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 451 |
| height | 288 |
| newWidth | 360 |
| newHeight | 210 |
| fx | 275.1924 |
| fy | 274.3776 |
| cx | 220.329 |
| cy | 149.025 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.990068 | 0.915398 | 0.850365 | 0.377201 | 0.180795 | 2.17859 | 288.189 |
| RPE | 1.21057 | 1.1637 | 1.21104 | 0.333574 | 0.104805 | 2.12272 | 259.389 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.33889 | 0.903169 | 934.934 |
Current mappingtask id: 2389
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 451 |
| height | 288 |
| newWidth | 360 |
| newHeight | 210 |
| fx | 275.1924 |
| fy | 274.3776 |
| cx | 220.329 |
| cy | 149.025 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.382052 | 0.34485 | 0.311594 | 0.164444 | 0.10188 | 0.851354 | 36.4909 |
| RPE | 1.15702 | 1.12481 | 1.19013 | 0.271107 | 0.418197 | 1.59438 | 172.692 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.14075 | 0.687913 | 785.574 |
Current mappingtask id: 2390
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 5 |
| width | 451 |
| height | 288 |
| newWidth | 360 |
| newHeight | 210 |
| fx | 275.1924 |
| fy | 274.3776 |
| cx | 220.329 |
| cy | 149.025 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.44405 | 1.22822 | 1.00746 | 0.759437 | 0.371318 | 3.87697 | 533.83 |
| RPE | 1.18564 | 1.16119 | 1.23653 | 0.239552 | 0.445163 | 1.53585 | 215.08 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.02211 | 0.489275 | 730.781 |
Current mappingtask id: 2391
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 2 |
| width | 451 |
| height | 288 |
| newWidth | 360 |
| newHeight | 210 |
| fx | 275.1924 |
| fy | 274.3776 |
| cx | 220.329 |
| cy | 149.025 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.330728 | 0.274752 | 0.160572 | 0.184099 | 0.0294083 | 0.888856 | 4.92214 |
| RPE | 1.00702 | 0.935175 | 0.862173 | 0.373537 | 0.389803 | 1.7893 | 20.2816 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0432 | 0.224865 | 646.68 |
Current mappingtask id: 2392
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 1 |
| width | 451 |
| height | 288 |
| newWidth | 360 |
| newHeight | 210 |
| fx | 275.1924 |
| fy | 274.3776 |
| cx | 220.329 |
| cy | 149.025 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0168179 | 0.0156151 | 0.0148451 | 0.00624571 | 0.00680837 | 0.0264659 | 0.00226273 |
| RPE | 0.65226 | 0.641415 | 0.567494 | 0.118446 | 0.548198 | 0.808553 | 1.27633 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.03665 | 0.191166 | 603.504 |
Current mappingtask id: 2438
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 20 |
| width | 300 |
| height | 192 |
| newWidth | 240 |
| newHeight | 140 |
| fx | 183.4616 |
| fy | 182.9184 |
| cx | 146.886 |
| cy | 99.35 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 5.60585 | 4.783 | 4.84099 | 2.92378 | 0.451147 | 14.6209 | 9490.52 |
| RPE | 7.41472 | 5.44172 | 3.00113 | 5.03643 | 0.221588 | 18.109 | 13634.6 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.01384 | 0.726155 | 849.289 |
Current mappingtask id: 2439
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 10 |
| width | 300 |
| height | 192 |
| newWidth | 240 |
| newHeight | 140 |
| fx | 183.4616 |
| fy | 182.9184 |
| cx | 146.886 |
| cy | 99.35 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 4.46344 | 3.80531 | 3.16577 | 2.33279 | 0.186016 | 11.6401 | 5379.03 |
| RPE | 1.91484 | 1.7503 | 1.70947 | 0.776573 | 0.465343 | 4.36819 | 579.324 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.07558 | 0.56879 | 821.98 |
Current mappingtask id: 2440
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 5 |
| width | 300 |
| height | 192 |
| newWidth | 240 |
| newHeight | 140 |
| fx | 183.4616 |
| fy | 182.9184 |
| cx | 146.886 |
| cy | 99.35 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.37073 | 0.330584 | 0.298026 | 0.167795 | 0.109181 | 1.0716 | 21.5782 |
| RPE | 1.17288 | 1.1459 | 1.18971 | 0.250118 | 0.440455 | 1.77002 | 104.55 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.01968 | 0.429776 | 708.047 |
Current mappingtask id: 2441
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 2 |
| width | 300 |
| height | 192 |
| newWidth | 240 |
| newHeight | 140 |
| fx | 183.4616 |
| fy | 182.9184 |
| cx | 146.886 |
| cy | 99.35 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0681519 | 0.0610362 | 0.0518194 | 0.0303193 | 0.0194099 | 0.125796 | 0.0603808 |
| RPE | 0.876532 | 0.813793 | 0.651883 | 0.325652 | 0.64344 | 1.46502 | 3.84154 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0345 | 0.196389 | 608.859 |
Current mappingtask id: 2442
orb-slam3-ros-mono with MH_04_difficult
| Parameter name | Parameter value |
|---|---|
| nFeatures | 1000 |
| scaleFactor | 1.2 |
| nLevels | 8 |
| iniThFAST | 20 |
| minThFAST | 7 |
| Parameter name | Parameter value |
|---|---|
| fps | 1 |
| width | 300 |
| height | 192 |
| newWidth | 240 |
| newHeight | 140 |
| fx | 183.4616 |
| fy | 182.9184 |
| cx | 146.886 |
| cy | 99.35 |
| k1 | -0.28340811 |
| k2 | 0.07395907 |
| p1 | 0.00019359 |
| p2 | 1.76187114e-05 |
| RGB | 1 |
| useNewWidth | Camera.newWidth |
| useNewHeight | Camera.newHeight |
| Parameter name | Parameter value |
|---|---|
| mono_topic | /camera/image_raw |
| Parameter name | Parameter value |
|---|---|
| /camera/image_raw | /cam0/image_raw |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0173075 | 0.0162149 | 0.0152255 | 0.00605205 | 0.00956321 | 0.031009 | 0.00239639 |
| RPE | 0.622892 | 0.611295 | 0.529248 | 0.119636 | 0.524176 | 0.780461 | 1.16398 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.02996 | 0.168647 | 591.516 |