{"action":"created","issue":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/35","repository_url":"https://api.github.com/repos/raulmur/ORB_SLAM2","labels_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/35/labels{/name}","comments_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/35/comments","events_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/35/events","html_url":"https://github.com/raulmur/ORB_SLAM2/issues/35","id":138717770,"node_id":"MDU6SXNzdWUxMzg3MTc3NzA=","number":35,"title":"Params to adjust for high-res input?","user":{"login":"sweeneychris","id":799414,"node_id":"MDQ6VXNlcjc5OTQxNA==","avatar_url":"https://avatars0.githubusercontent.com/u/799414?v=4","gravatar_id":"","url":"https://api.github.com/users/sweeneychris","html_url":"https://github.com/sweeneychris","followers_url":"https://api.github.com/users/sweeneychris/followers","following_url":"https://api.github.com/users/sweeneychris/following{/other_user}","gists_url":"https://api.github.com/users/sweeneychris/gists{/gist_id}","starred_url":"https://api.github.com/users/sweeneychris/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sweeneychris/subscriptions","organizations_url":"https://api.github.com/users/sweeneychris/orgs","repos_url":"https://api.github.com/users/sweeneychris/repos","events_url":"https://api.github.com/users/sweeneychris/events{/privacy}","received_events_url":"https://api.github.com/users/sweeneychris/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2016-03-05T20:27:34Z","updated_at":"2018-11-07T17:21:45Z","closed_at":null,"author_association":"NONE","body":"I'm running ORB-SLAM2 on some videos captured with a drone. The drone can easily capture 1080P video at 60 fps, but when I run it through ORB-SLAM2 it obviously does not work anywhere near real-time any more. I do not need the system to actually run in real time, but I was wondering if you could point me to some parameters that I should look to tune for this high-resolution input? Currently I have only increased the number of features to 4000.  Also, is there a way to increase the number of times Global BA is run? Since we are fine with not-real-time performance, it would be great to have the highest quality possible.\n"},"comment":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/comments/436705398","html_url":"https://github.com/raulmur/ORB_SLAM2/issues/35#issuecomment-436705398","issue_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/35","id":436705398,"node_id":"MDEyOklzc3VlQ29tbWVudDQzNjcwNTM5OA==","user":{"login":"BW25","id":41970894,"node_id":"MDQ6VXNlcjQxOTcwODk0","avatar_url":"https://avatars3.githubusercontent.com/u/41970894?v=4","gravatar_id":"","url":"https://api.github.com/users/BW25","html_url":"https://github.com/BW25","followers_url":"https://api.github.com/users/BW25/followers","following_url":"https://api.github.com/users/BW25/following{/other_user}","gists_url":"https://api.github.com/users/BW25/gists{/gist_id}","starred_url":"https://api.github.com/users/BW25/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/BW25/subscriptions","organizations_url":"https://api.github.com/users/BW25/orgs","repos_url":"https://api.github.com/users/BW25/repos","events_url":"https://api.github.com/users/BW25/events{/privacy}","received_events_url":"https://api.github.com/users/BW25/received_events","type":"User","site_admin":false},"created_at":"2018-11-07T17:21:45Z","updated_at":"2018-11-07T17:21:45Z","author_association":"NONE","body":"I am attempting to use a higher resolution input myself (1280-720).\r\nHowever, whenever I use ORBSLAM2 with higher resolution video or live input, it always fails to initialize.\r\n\r\nI have adjusted the camera settings file TUM1 with our camera parameters for f, c, k, and p, but cannot find where to change the resolution of the input image.\r\n\r\nHow can I adjust ORBSLAM2 to use higher resolution video?\r\nFailing that, it it possible to scale live video with ROS?\r\nThank you."}}
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