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