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DECAPOD STEREO DEWARPING
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required
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- numpy
- scipy
- python-matplotlib
- git (to download pyflann from source)
- opencv
- pyflann
- build-essential
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git
- Required for downloading pyflann from source.
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- URL http://www.vlfeat.org/index.html
- download binary or compile from source
- see http://www.vlfeat.org/install-shell.html for locations of files
- copy "sift" to "/usr/local/bin
- copy "libvl.so" to "/usr/local/lib
- run ldconfig
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example usage - calibration |
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./calibrate.py calibration-images 9 6 calibration-data |
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This uses the chessboard images in directory calibration-images. Each |
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chessboard has 9x6 inner corners. The resulting camera matrices are |
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persisted into directory calibration-data. |
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example usage - dewarping |
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./dewarp.py calibration-data left.jpg right.jpg dewarped.png |
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This uses the calibration matrices from directory calibration-data to |
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perform stereo dewarping of the image pair given by left.jpg and right.jpg. |
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The dewarped output is then persisted to dewarped.png |
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Calibration notes
- 6 minutes to run calibration on 2 cores, 2 GB VM.
- 6 minutes to run calibration on 4 cores, 2 GB VM.