HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones
GNU General Public License v3.0
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why the mask of feature tracker is 480x640? #136

Open cai199626 opened 4 years ago

cai199626 commented 4 years ago

My understanding was that this app runs with 640x480(width x height) images, but why the mask in the feature_tracker.hpp

#define COL 480
#define ROW 640
/*
 image frame
 --------> x:480
 |
 |
 |
 |
 |
 | y:640
 */

is that mean the image has been rotated somewhere? but I cannot find the rotation code.

why feature_tracker uses the portrait image? Thanks a lot!