calicam's Introduction

CaliCam: Calibrated Fisheye Stereo & Mono Camera

For more information see https://astar.ai.

The following steps have been tested and passed on Ubuntu 22.04.

1. Theoretical Background

Fisheye Camera Model: C. Mei and P. Rives, Single View Point Omnidirectional Camera Calibration From Planar Grids, ICRA 2007.

2. OpenCV Dependencies

Required at leat 4.0. Tested with OpenCV 4.5.5.

3. Run C++ Code

Compile

mkdir build && cd build
cmake ..
make

Run

./calicam

4. Run Python Code

python calicam.py

5. Calibration Parameter File

To run CaliCam in the LIVE mode, you need to download the calibration parameter file from online. Each CaliCam stereo/mono camera has a UNIQUE parameter file. Please download the corresponding parameter file by following the instructions at https://astar.ai/collections/astar-products.

6. Operation

6.1 'Raw Image' window

There are 3 trackbars to adjust the vertical FoV, width, and height for the output image.

6.2 'Disparity Image' window

There are 2 trackbars to adjust the numDisparities and blockSize for OpenCV stereo matching functions.

6.3 Exit

Press 'q' or 'Esc' key to exit.

7. Live Mode

To run calicam.cpp in a live mode, please change the variable live to true. Python code does NOT support the live mode.

bool      live = true;

and run

./calicam YOUR_CALIBRATION_FILE.yml

calicam's People

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calicam's Issues

Autoexposure

Hello. Bought your Calicam Stereo camera. In the course of working with her, two questions arose. Does it have any hardware ways to use autoexposure? If not, do you provide any code to do auto exposure?

3d Printing Case Model available?

Pretty decent camera, just curious is there any 3d printing case model available for download ?

calicam.cpp:6:30: fatal error: opencv2/opencv.hpp: No such file or directory

Hello：

I followed your README.MD instruction，and i got this error when i excute ./compile.sh command.
It seems that opencv.hpp not found.And I used FIND command to find this file.
It lies in /library/opencv/include/opencv2/opencv.hpp
How can i fix this error?I'm new to CMAKE And OpenCV.
Thanks!

support for Ubuntu 18.04.0, and 18.04.2

Current our robot operating system needs to be updated to allow for use of the new CUDA cdnn version 10 and for better touch panel drivers and calibration of touch panel.

It would be nice if calicam could either be updated to run on the different flavors of Ubuntu 18.04 such as 18.04.0 base and revision 2 (18.04.2).

Maybe it is a good idea to run calicam in a docker image and container to isolate all the requirements from the host os and allowing the host os to be anything and then letting the data be accessed with an IP stream like an IP camera?

Recommend Projects

astar-ai / calicam Goto Github PK