vins-fusion-mono-imu with MH_04_difficult

Algorithm parameters

Parameter type	Parameter name	Parameter value
algorithm-parameters	max_cnt	150
algorithm-parameters	min_dist	30
algorithm-parameters	freq	10
algorithm-parameters	F_threshold	1.0
algorithm-parameters	max_solver_time	0.04
algorithm-parameters	max_num_iterations	8
algorithm-parameters	keyframe_parallax	10.0
algorithm-parameters	show_track	1
algorithm-parameters	flow_back	1
dataset-parameters	image_width	376
dataset-parameters	image_height	240
dataset-parameters	k1	-0.28340811
dataset-parameters	k2	0.07395907
dataset-parameters	p1	0.00019359
dataset-parameters	p2	1.76187114e-05
dataset-parameters	gyr_n	0.004
dataset-parameters	acc_n	0.08
dataset-parameters	gyr_w	2e-06
dataset-parameters	acc_w	4e-05
dataset-parameters	estimate_td	0
dataset-parameters	td	0.0
dataset-parameters	image0_topic	/cam0/image_raw
dataset-parameters	imu_topic	/imu0
dataset-parameters	body_T_cam0	[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, 1]
dataset-parameters	cam0_calib	cam0_pinhole.yaml
dataset-parameters	estimate_extrinsic	0
dataset-parameters	g_norm	9.81007
dataset-parameters	image_frequency	10
dataset-parameters	imu_frequency	200
dataset-parameters	cam0_fx	229.327
dataset-parameters	cam0_fy	228.648
dataset-parameters	cam0_cx	183.6075
dataset-parameters	cam0_cy	124.1875
dataset-frequency	/cam0/image_raw	2
dataset-frequency	/imu0	1
dataset-resolution	/cam0/image_raw	0.5

Computing resource usage

Max CPU (core)	Mean CPU (core)	Max Memory (MB)
0.6244919635219054	0.46132375764331796	658.7421875