SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-stereo with MH_04_difficult

Current configuration id: 1660
  
Current mappingtask id: 2100
evaluation task id: 1516
  



CPU Type: Intel(R) Core(TM) i7-7700 CPU @ 3.60GHz
CPU cores: 8

Algorithm parameters
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 5.0
dataset-parameters Camera_width 376
dataset-parameters Camera_height 240
dataset-parameters fx 218.32162852
dataset-parameters fy 218.32162852
dataset-parameters cx 182.34145927
dataset-parameters cy 128.59058762
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 24.03237374
dataset-parameters ThDepth 120
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 [0.99996635, -0.00142274, 0.00807958, 0.00136574, 0.99997418, 0.00705563, -0.00808941, -0.00704436, 0.99994247]
dataset-parameters LEFT_P [218.32162852, 0, 182.34145927, 0, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 0.5]
dataset-parameters RIGHT_R [0.99996335, -0.00362581, 0.00775544, 0.0036804, 0.99996848, -0.00703585, -0.00772969, 0.00706413, 0.99994517]
dataset-parameters RIGHT_P [218.32162852, 0, 182.34145927, -24.03237374, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
algorithm-remap stereo_left /camera/left/image_raw
algorithm-remap stereo_right /camera/right/image_raw
dataset-remap /camera/left/image_raw /cam0/image_raw
dataset-remap /camera/right/image_raw /cam1/image_raw
dataset-frequency /cam0/image_raw 4
dataset-frequency /cam1/image_raw 4
dataset-resolution /cam0/image_raw 0.5
dataset-resolution /cam1/image_raw 0.5
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.212549821426055 0.8710078341829296 755.66015625
No map results!

No grid map!