CaliCam: Calibrated Fisheye Stereo & Mono Camera

<p align="center"> <img src="http://astar.support/dotai/CaliCam_How_Stereo.jpg"> </p>

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

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

<!--- **Note: [A\*SLAM](https://github.com/astar-ai/aslam) 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. ### 8. Reference: A Visualized Course of Linear Algebra **Inverse of Matrix** <p align="center"> <img src="http://astar.support/dotai/inv.gif"> </p> **Eigenvector** <p align="center"> <img src="http://astar.support/dotai/eigen.gif"> </p> **Singular Vector Decomposition** <p align="center"> <img src="http://astar.support/dotai/svd.gif"> </p> For more information see [http://linear-algebra.org](http://linear-algebra.org/en/index.html). --->