iPhone SE support
nasserkhosravi opened this issue · comments
I can't see iPhone SE in supported device!
Is there any technical reason ?
Thanks.
Hi @Naserkhosravi , I would like to share the code modification to work with iphoneSE
in function DeviceType deviceName()
in file ViewController.mm
, add following code
else if(([device compare:@"iPhone8,4"] == NSOrderedSame))
{
printf("Device iPhoneSE\n");
device_type = iPhoneSE;
}
in file global_param.hpp
, add iphoneSE
to the enum DeviceType
:
enum DeviceType
{
iPhone7P,
iPhone7,
iPhone6sP,
iPhone6s,
iPhoneSE,
iPadPro97,
iPadPro129,
unDefine
};
in file global_param.cpp
, add iphoneSE calibration data to function setGlobalParam
:
case iPhoneSE:
printf("Device iPhone6s param\n");
FOCUS_LENGTH_Y = 529.90;
PY = 315.30;
FOCUS_LENGTH_X = 527.63965351;
PX = 239.468;
SOLVER_TIME = 0.06;
FREQ = 3;
//extrinsic param
TIC_X = 0.00017249;
TIC_Y = 0.0003245;
TIC_Z = 0.00002171;
return true;
break;
Hope this help
@se7oluti0n Very thanks, this works very well.
I did not see above parameters until now, how can obtain following parameters ?
FREQ = 3;
TIC_X = 0.0;
TIC_Y = 0.092;
TIC_Z = 0.1;
A clue is enough for me.
Thanks again.
@Naserkhosravi
where do you get these value
FREQ = 3;
TIC_X = 0.0;
TIC_Y = 0.092;
TIC_Z = 0.1;
basically, you can get the calibration value by doing the camera-imu calibration, using kalibr calibration tool, https://github.com/ethz-asl/kalibr, following example steps:
- record camera images and imu data from iphone while capturing the calibration board from kalibr.
- Convert that data to rosbag
- run the camera calibration and camera-imu calibration with kalibr
@se7oluti0n Very thanks for your help.
I can't see iPhone 13 pro max in supported device!
Is there any technical reason ?
else if(([device compare:@"iPhone8,4"] == NSOrderedSame))
{
printf("Device iPhoneSE\n");
device_type = iPhoneSE;
}
here,why IPhone8,4 is iPhoneSE? my phone is iphone 13 pro max,what is my device compare?
Thanks.