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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Cameras with different resolutions #399

Closed gianlucaparadiso closed 7 months ago

gianlucaparadiso commented 8 months ago

Hi! I'm experimenting with different cameras configurations and resolutions. I'm trying to use a d435i (640x480) and a ZED2 (1280x720) . Does openVINS support cameras with different resolutions (i.e. all mono-tracking)? How does higher resolution negatively affect the VIO performance?

I am also trying to understand: how are the extracted features used in the EKF? and how features extracted from images with different resolutions might differ?

Thanks for the support and the great job done with openVINS!

goldbattle commented 7 months ago

Maybe this issue might help you: https://github.com/rpng/open_vins/issues/394#issuecomment-1784006695