SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo with MH_04_difficult

Current configuration id: 886
  
Current mappingtask id: 3479
evaluation task id: 2728
  



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 2000
algorithm-parameters scaleFactor 1.2
algorithm-parameters nLevels 8
algorithm-parameters iniThFAST 20
algorithm-parameters minThFAST 7
dataset-parameters fps 20
dataset-parameters width 752
dataset-parameters height 480
dataset-parameters fx 436.24429564
dataset-parameters fy 436.24429564
dataset-parameters cx 364.44123459
dataset-parameters cy 256.95167542
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 48.02083068
dataset-parameters ThDepth 60.0
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 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 [436.24429564, 0.0, 364.44123459, 0.0, 0.0, 436.24429564, 256.95167542, 0.0, 0.0, 0.0, 1.0, 0.0]
dataset-parameters bFishEye 0
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
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 [436.24429564, 0.0, 364.44123459, -48.02083068, 0.0, 436.24429564, 256.95167542, 0.0, 0.0, 0.0, 1.0, 0.0]
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 1
dataset-frequency /cam1/image_raw 1
dataset-resolution /cam0/image_raw 1.0
dataset-resolution /cam1/image_raw 1.0
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.249259440947589 1.3327458272737314 1248.1171875
No map results!

No grid map!