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HKUST-Aerial-Robotics / VINS-Fusion

An optimization-based multi-sensor state estimator
GNU General Public License v3.0
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Using the constant 460 #109

Open AhmedElsafy opened 4 years ago

AhmedElsafy commented 4 years ago

I have been debugging around an issue I have with not enough parallax, and I have noticed this constant 460 been used multiple times when calculating the fundamental matrix for the epipolar threshold https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/0c3206941410723b8c62b7b0c6a6189b38ae7d99/vins_estimator/src/initial/solve_5pts.cpp#L215 and also when doing a check for parallax at the estimator as well in https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/0c3206941410723b8c62b7b0c6a6189b38ae7d99/vins_estimator/src/estimator/estimator.cpp#L807

Is there a reason for that ?

tangxiangshi commented 3 years ago

460 is the focal length

zhh2005757 commented 2 years ago

I think it should have been the value identified to your configuration file with focal length