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

Youtube Demo Video.

The following steps have been tested and passed on Ubuntu 16.04.

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

Required at leat 3.0. Tested with OpenCV 3.4.0.

mkdir build && cd build
cmake ..
make

./calicam

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.

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

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

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

To run CaliCam in a live mode, please change the variable live to true:

bool      live = true;

and run

./calicam YOUR_CALIBRATION_FILE.yml

Note: A*SLAM can run with ANY CaliCam stereo camera under the TRIAL mode.

In TRIAL mode, the map cannot be saved to or loaded from the hard drive.