vins-fusion-stereo-imu with MH_01_easy

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	1.1757726639872075
dataset-parameters	cam0_k2	15.491281051140213
dataset-parameters	cam0_p1	-0.0008123717295455049
dataset-parameters	cam0_p2	0.0006729768403031024
dataset-parameters	estimate_td	0
dataset-parameters	td	0.0
dataset-parameters	image0_topic	/cam0/image_raw
dataset-parameters	cam0_xi	3.6313355285286337
dataset-parameters	cam0_gamma1	2138.7619122017772
dataset-parameters	cam0_gamma2	2131.5886210259278
dataset-parameters	cam0_u0	361.198566332638
dataset-parameters	cam0_v0	248.27644773395667
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_mei.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_mei.yaml
dataset-parameters	cam1_xi	0.8126150589414611
dataset-parameters	cam1_gamma1	834.0624973543779
dataset-parameters	cam1_gamma2	831.4060676591695
dataset-parameters	cam1_u0	374.3200735524974
dataset-parameters	cam1_v0	254.22391621480082
dataset-parameters	cam1_p1	-0.0006665314436490669
dataset-parameters	cam1_p2	0.0007231125584676709
dataset-parameters	cam1_k1	-0.34247886078397966
dataset-parameters	cam1_k2	0.17108792755973357
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

Computing resource usage

Max CPU (core)	Mean CPU (core)	Max Memory (MB)
2.5524081995128087	1.7713872586183166	1594.6875