nanoshimarobot / UnitreecameraSDK

Unitree GO1 camera SDK

Introduction

Unitree Robotics is a energetic start-up company that focuses on the development, production and sales of high-performance quadruped robots. It has been interviewed by BBC and CCTV, and is one of the earliest company to publicly sell quadruped robots.

The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc.

We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot.

1.Overview

UnitreeCameraSDK 1.1.0 is a cross-platform library for unitree stereo cameras

The SDK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth image aligned to color image.

2.Dependencies

OpenCV, version: equal or lager than 4 (need gstreamer)

CMake, version: 2.8 or higher

[OpenGL] for point cloud gui

[GLUT] for point cloud gui

[X11], for point cloud gui

2.Build

cd UnitreeCameraSDK;
mkdir build && cd build;
cmake ..; make

3.Run Examples

Get Camera Raw Frame:

cd UnitreeCameraSDK; 
./bin/example_getRawFrame 

Get Calibration Parameters File

cd UnitreeCameraSDK;
./bin/example_getCalibParamsFile 

Get Rectify Frame

cd UnitreeCameraSDK;
./bin/example_getRectFrame

Get Depth Frame

cd UnitreeCameraSDK;
./bin/example_getDepthFrame

Get Point Cloud:

cd UnitreeCameraSDK; 
./bin/example_getPointCloud

4.send image and listen image sender:put image to another devices

cd UnitreeCameraSDK; 
./bin/example_putImagetrans

listener:get image from another devices

cd UnitreeCameraSDK; 
./bin/example_getimagetrans