orb-slam3-ros-stereo-inertial with MH_01_easy

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
dataset-parameters	width	376
dataset-parameters	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	120.0
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	bFishEye	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]
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-frequency	/cam0/image_raw	4
dataset-frequency	/imu0	1
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)
1.9922649490480755	1.4365110316835812	831.1484375