Set of StereoPi Fisheye Robot tutorial scripts for StereoPi board with CM3/3+ inside.
Was tested in the following environment:
- Raspbian Buster (kernel 4.19.57-v7+)
- Python 3.7.3
- OpenCV 3.4.3 or 4.1.0.25 (pre-compiled, 'pip' from Python Wheels)
- Picamera 1.13
Related article: https://medium.com/stereopi/a-robot-on-stereopi-part-1-fisheye-cameras-92aa56e73a94 Related 2nd article: https://stereopi.com/blog/opencv-comparing-speed-c-and-python-code-raspberry-pi-stereo-vision
Original ready-to-use Buster Raspbian OpenCV image (Python code only, 1.87Gb, needs 8Gb micro SD or eMMC):
Follow this guide: buster-opencv-notice.md
If you did Raspbian update, and stereoscopic capture command (like 'raspistill -3d sbs') hangs your StereoPi - please do 'sudo rpi-update' to fix it.
1_test.py - starts camera preview, save captured image if 'Q' button is pressed. align.
2_chess_cycle.py - takes a series of photos for stereopair calibration, shows count down timer. You need a printed chessboard with 9x6 parameters (file "pattern.png" included).
3_pairs_cut.py - just cuts all captured photos to left and right images.
4_calibration_fisheye.py - calibrate StereoPi cameas setup using pairs from script 4.
5_dm_tune.py - script for fine tune of disparity map settings.
6_dm_video.py - builds disparity map in real time.
7_2d_map.py - builds 2D map from the depth map.