ORBSLAM performance test on Thermal images

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requires source YOUR_PATH/catkin_orb/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel/setup.bash • Sensor: A65, FLIR • For other more data, see https://irap.kaist.ac.kr/publications... / Sparse Depth Enhanced Direct Thermal-infrared SLAM Beyond the Visible Spectrum, RAL 2019 • w, h = 640 512 • Camera calibration and distortion parameters (OpenCV) • Camera.fx: 449.856 • Camera.fy: 450.856 • Camera.cx: 329.192 • Camera.cy: 240.215 • Camera.k1: -0.406290 • Camera.k2: 0.125974 • Camera.p1: 0.001216 • Camera.p2: 0.0017541

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