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HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones
GNU General Public License v3.0
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VINS iPhone 6 #92

Open hjwdzh opened 6 years ago

hjwdzh commented 6 years ago

If I want to use iPhone 6, do I only need to provide the intrinsic and extrinsic parameters (fx, fy, ppx, ppy, tic_xyz)? What is tic_xyz BTW?

vonzy commented 6 years ago

@hjwdzh check global_param.hpp and global_param.cpp. You can provide intrinsic parameters by setting values to FOCUS_LENGTH_Y, FOCUS_LENGTH_X, PY, PX; and provide extrinsic parameters by by setting values to TIC_X,TIC_Y,TIC_Z. tic_xyz is the vector from imu center to camera center, in latex it can be written as t^i_c

zxp771 commented 6 years ago

Hi,hjwdzh @hjwdzh have you build the app in your iPhone 6? I have some problem about building the app.

ShurlinLumens commented 2 years ago

@hjwdzh check global_param.hpp and global_param.cpp. You can provide intrinsic parameters by setting values to FOCUS_LENGTH_Y, FOCUS_LENGTH_X, PY, PX; and provide extrinsic parameters by by setting values to TIC_X,TIC_Y,TIC_Z. tic_xyz is the vector from imu center to camera center, in latex it can be written as t^i_c

Would you like to verify that TIC is actually the vector from camera to IMU, not IMU to camera?