VINS iPhone 6

[hjwdzh]

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]

@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]

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

[ShurlinLumens]

@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?