A C++ tool used to perform stereo image preprocessing. Input stereo image locations on disk along with the location of an appropriately configured calibration file and the program will automatically undistort, rectify and intelligently crop and resize your images to match your output specification.
This software requires:
- Modern Linux kernel (tested on Ubuntu 16.04LTS)
- CMake (>= 2.8)
- C++11
- OpenCV (tested with 2.4.9.1)
- Pthread (optional)
Clone the repository on your system. Then run:
cd stereo_transformation_pipeline
mkdir build
cd build
cmake ..
make
This should generate an img_inspector executable in the build folder.
If Pthread is available the inspector will use it, which can reduce the runtime by approximately 20%. If it isn't available, the single-thread version will automatically be compiled and ran instead.
To easily use the program use the launch_img_inspector.sh script, which comes ready with two examples.
Pay close attention to the notes on how the arguments should be configured.
Also look closely at the example_calibration.yaml file and follow this structure exactly for your calibration
files. If this is a major issue, edit the macros at the top of img_inspector.cpp to reflect your particular .yaml naming scheme and run make again.
fov_extractor is an additional utility that allows you to estimate the Field of View of a camera given its intrinsic parameters.
The tool relies on an OpenCV function that can do more than just that, provided that the camera aperture dimensions are known.
If these are known, pass them in as extra CL args (should be expressed in mm) and the output will contain additional information. See launch_extractor.sh for more information.