calicam_mono
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CaliCam_Mono: Various Fisheye Rectification Modes
CaliCam_Mono: Various Fisheye Rectification Modes
CaliCam_Mono currently supports four rectification modes, these are the perspective, cylindrical, undistorted fisheye and longitude-and-latitude, respectively.
For more information see https://astar.ai.
The following steps have been tested and passed on Ubuntu 16.04.5.
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 3.0. Tested with OpenCV 3.4.0.
3. Run C++ Code
Compile
mkdir build && cd build
cmake ..
make
Run
./calicam_mono
4. Run Python Code
python calicam_mono.py
5. Calibration Parameter File
To run CaliCam in the LIVE mode, you need to download the calibration parameter file from online. Each CaliCam 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. FoV is only for the perspective image.
6.2 'Rectified Image' window
Press number button 1~4 to switch the transformation mode.
1: perspective mode
2: cylindrical mode
3: undistorted fisheye mode
4: longitude-latitude mode
6.3 Exit
Press 'q' or 'Esc' key to exit.
7. Live Mode
To run CaliCam in a live mode, please change the variable live to true:
bool live = true;
and run
./calicam_mono YOUR_CALIBRATION_FILE.yml