orb-slam3-ros-stereo with MH_05_difficult

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	150
dataset-parameters	height	96
dataset-parameters	fx	87.58649156
dataset-parameters	fy	87.58649156
dataset-parameters	cx	73.19220734
dataset-parameters	cy	51.58329344
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	9.604166136
dataset-parameters	ThDepth	200.0
dataset-parameters	LEFT_D	[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters	LEFT_K	[91.7308, 0.0, 73.443, 0.0, 91.4592, 49.675, 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	[87.58649156, 0, 73.19220734, 0, 0, 87.58649156, 51.58329344, 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	[91.5174, 0.0, 75.9998, 0.0, 91.2268, 51.0476, 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	[87.58649156, 0, 73.19220734, -9.64133199, 0, 87.58649156, 51.58329344, 0, 0, 0, 1, 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	4
dataset-frequency	/cam1/image_raw	4
dataset-resolution	/cam0/image_raw	0.2
dataset-resolution	/cam1/image_raw	0.2

Computing resource usage

Max CPU (core)	Mean CPU (core)	Max Memory (MB)
1.030145260703418	0.15726167534898325	580.875