slam-hive-algorithm: orb-slam2-ros-rgbd
slam-hive-dataset: rgbd_dataset_freiburg2_desk
algorithm-parameters:
  nFeatures: 750
  scaleFactor: 1.2
  nLevels: 8
  iniThFAST: 20
  minThFAST: 7
dataset-parameters:
  fps: 30.0
  width: 640
  height: 480
  fx: 520.90862
  fy: 521.007327
  cx: 325.141442
  cy: 249.701764
  k1: 0.231222
  k2: -0.784899
  p1: -0.003257
  p2: -0.000105
  k3: 0.917205
  RGB: 1
  bf: 40.0
  ThDepth: 40.0
  DepthMapFactor: 1.0
algorithm-remap:
  rgb_topic: /slamhive/camera/rgb
  dep_topic: /slamhive/camera/depth
dataset-remap:
  /slamhive/camera/rgb: /camera/rgb/image_color
  /slamhive/camera/depth: /camera/depth/image
dataset-frequency:
dataset-resolution:
general-parameter:
algorithm-attribute: 
dataset-attribute: 
