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	217.602347986
dataset-parameters	fy	217.602347986
dataset-parameters	cx	183.725860596
dataset-parameters	cy	126.10042572
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	47.90639384423901
dataset-parameters	ThDepth	35.0
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	[0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
dataset-parameters	LEFT_P	[217.602347986, 0, 183.725860596, 0, 0, 217.602347986, 126.10042572, 0, 0, 0, 1, 0]
dataset-parameters	bFishEye	0
dataset-parameters	RIGHT_D	[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
dataset-parameters	RIGHT_K	[228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 1]
dataset-parameters	RIGHT_R	[0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
dataset-parameters	RIGHT_P	[217.602347986, 0, 183.725860596, -47.90639384423901, 0, 217.602347986, 126.10042572, 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	100
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	2
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)
1.9372726630824373	1.2719083536212752	837.38671875