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@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...

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.

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.

@FangGet Okay, don't you remember me? I have seek for your help when I try to use your project ORB_SLAM_Android. The project is quite impressive, thanks for your help last...

@trinamntn08 , I haven't record data from S6. So I can only give you some advice based on your description. You should check: 1. Before you get sensor data, you...

@PeiliangLi, okay, let me try, thanks!!

@JMZZZ Sorry for no reply for your message. I rarely sign in github, you can contact with me at my email: [email protected].

@TouqeerAhmad I have only modified VINS-Mobile to a linux cmake version, there's no VINS for android yet. I am glad my work may help you, if you need linux version,...

@trinamntn08 I have sent to you, please check your inbox.

Maybe not, the optimization doesn't require camera intrinsic parameters of high accuracy （although the result will be worse, but no failure. you should check the quality of the image or...