orb-slam3-ros-mono-inertial with MH_02_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	2
dataset-parameters	width	300
dataset-parameters	height	192
dataset-parameters	newWidth	240
dataset-parameters	newHeight	140
dataset-parameters	fx	183.4616
dataset-parameters	fy	182.9184
dataset-parameters	cx	146.886
dataset-parameters	cy	99.35
dataset-parameters	k1	-0.28340811
dataset-parameters	k2	0.07395907
dataset-parameters	p1	0.00019359
dataset-parameters	p2	1.76187114e-05
dataset-parameters	RGB	1
dataset-parameters	useNewWidth	Camera.newWidth
dataset-parameters	useNewHeight	Camera.newHeight
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	mono_topic	/camera/image_raw
algorithm-remap	imu_topic	/imu
dataset-remap	/camera/image_raw	/cam0/image_raw
dataset-remap	/imu	/imu0
dataset-frequency	/cam0/image_raw	10
dataset-frequency	/imu0	1
dataset-resolution	/cam0/image_raw	0.4

Computing resource usage

Max CPU (core)	Mean CPU (core)	Max Memory (MB)
1.0414323988570955	0.25200345443763267	650.71875