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orb-slam3-ros-stereo-inertial with MH_01_easy
Current mappingtask id: 733
No evaluation task now.
CPU Type: Intel(R) Core(TM) i7-7700 CPU @ 3.60GHz
CPU cores: 8
| 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 | 601 |
| dataset-parameters | height | 384 |
| dataset-parameters | fx | 349.09731801 |
| dataset-parameters | fy | 349.09731801 |
| dataset-parameters | cx | 291.74860382 |
| dataset-parameters | cy | 205.61695862 |
| 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 | 38.42787944 |
| dataset-parameters | ThDepth | 35.0 |
| dataset-parameters | LEFT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| dataset-parameters | LEFT_K | [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 0.0, 0.0, 1.0] |
| dataset-parameters | LEFT_R | [0.999997256, 0.00231206719, 0.000376008102, -0.00231713572, 0.999898049, 0.0140898358, -0.000343393121, -0.0140906685, 0.999900663] |
| dataset-parameters | LEFT_P | [349.09731801, 0, 291.74860382, 0, 0, 349.09731801, 205.61695862, 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 | [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 0.0, 0.0, 1.0] |
| dataset-parameters | RIGHT_R | [0.999997256, 0.00231206719, 0.000376008102, -0.00231713572, 0.999898049, 0.0140898358, -0.000343393121, -0.0140906685, 0.999900663] |
| dataset-parameters | RIGHT_P | [349.09731801, 0, 291.74860382, -38.42787944, 0, 349.09731801, 205.61695862, 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-resolution | /cam0/image_raw | 0.8 |
| dataset-resolution | /cam1/image_raw | 0.8 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.7110026959376183 | 1.2318950474343022 | 1210.92578125 |