FookSong

You can use the method https://github.com/urbste/ImprovedOcamCalib As for the meanning of the parameter ，you can read that paper for more information.

More try，something would be different. Try to change the parameter in .yaml，modify the fastth or extract different number features may be useful.!

@Hielamon But the author said，It can also use Multicol-slam with single camera，I tried wide-angle camera（160） and fisheye camera（180）. But always loss tracking when I change the scenario. Do you know...

@xuqingwenkk I restore the exam with 2-4 wide-angle(160) camera successfully. Unfortunately，I use 1 wide-angle camera，**it loss tracking easily**，even when I use the same data succeeded in more wide-angle camera. I...

@TuanHo16 sure. I used the same way as the paper wrote.