How about capture high-solution image

[loagingray]

Hi there,

I would like to capture a 1920x1080 picture for other use before vins, and then use cv::resize to make it fit your program 640x480, will it came up with problem?

I cannot find whether the position vins give is right, But it seems abnormal things happen more frequently that the camera in vins move far away but in fact I sit still. Could someone help?

[vonzy]

won't. You should check whether imu noise parameters, imu-camera extrinsic parameter are correct. And make sure that imu is synchronized with camera, and the frequency of sensor data is steady.

[loagingray]

Thanks vonzy, in fact I realize it may came up some problem using resize directly, I try to resize 1920x1080 to 640x360 and then paste it to 640x480 image with black on both side. The image I got is almost the same with capture 640x480 image except black strip on the both side. And after then, vins work properly as before.

Btw, I am curious about how you get Device parameter in global_param.hpp.

[PeiliangLi]

Hi, @loagingray The first thing you need to do is collecting the resized images and calibrating the camera intrinsic parameters rather than using the default one.

[vonzy]

PeiliangLi is right, correct camera intrinsic parameters are essential for vins also, you can use matlab toolbox to get them from resized image captured from chessboard calibration.

[loagingray]

Hi, @PeiliangLi & @vonzy I got it! Thx for help!