VINS-Mobile
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Swapped Px/Py (Cx/Cy) values in global_param.cpp?
The application works on landscape images (640x480), but the Px/Py values seem to be swapped for all phones in global_param.cpp, e.g Px=239, Py=309 (iPhone 6s). Should not be these Px=309, Py=239 instead?
The intrinsic parameters of the camera have nothing to do with the camera rotation.