项目作者: astar-ai

项目描述 :
CaliCam: Calibrated Fisheye Stereo & Mono Camera
高级语言: C++
项目地址: git://github.com/astar-ai/calicam.git
创建时间: 2018-11-14T09:01:38Z
项目社区:https://github.com/astar-ai/calicam

开源协议:

下载


CaliCam: Calibrated Fisheye Stereo & Mono Camera



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

Youtube Demo Video.

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

  1. mkdir build && cd build
  2. cmake ..
  3. make

Run

  1. ./calicam

4. Run Python Code

  1. 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.

  1. bool live = true;

and run

  1. ./calicam YOUR_CALIBRATION_FILE.yml