vins-fusion-stereo-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
algorithm-parameters	image1_topic	/cam1/image_raw
dataset-parameters	image_width	752
dataset-parameters	image_height	480
dataset-parameters	cam0_k1	-0.28340811
dataset-parameters	cam0_k2	0.07395907
dataset-parameters	cam0_p1	0.00019359
dataset-parameters	cam0_p2	1.76187114e-05
dataset-parameters	estimate_td	0
dataset-parameters	td	0.0
dataset-parameters	image0_topic	/cam0/image_raw
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	body_T_cam1	[0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 0, 0, 0, 1]
dataset-parameters	cam1_calib	cam1_pinhole.yaml
dataset-parameters	cam1_p1	0.00019359
dataset-parameters	cam1_p2	1.76187114e-05
dataset-parameters	cam1_k1	-0.28340811
dataset-parameters	cam1_k2	0.07395907
dataset-parameters	gyr_n	0.01
dataset-parameters	acc_n	0.1
dataset-parameters	gyr_w	0.0001
dataset-parameters	acc_w	0.001
dataset-parameters	imu_topic	/imu0
dataset-parameters	g_norm	9.81007
dataset-parameters	image_frequency	10
dataset-parameters	imu_frequency	200
dataset-parameters	cam0_fx	458.654
dataset-parameters	cam0_fy	457.296
dataset-parameters	cam0_cx	367.215
dataset-parameters	cam0_cy	248.375
dataset-parameters	cam1_fx	457.587
dataset-parameters	cam1_fy	456.134
dataset-parameters	cam1_cx	379.999
dataset-parameters	cam1_cy	255.238
dataset-frequency	/cam0/image_raw	2
dataset-frequency	/imu0	1
dataset-frequency	/cam1/image_raw	2
dataset-resolution	/cam0/image_raw	1.0
dataset-resolution	/cam1/image_raw	1.0

Computing resource usage

Max CPU (core)	Mean CPU (core)	Max Memory (MB)
0.6928963651627748	0.11483516959103739	854.234375