README.md

# Qubo Vision

## Stereo Depth

### Calibration Steps
1. Record videos of checkerboard with left and right fisheye cameras.
```
cd stereo-depth
pip install -r requirements.txt
python stereo_record.py
```
2. Extract frames from videos. Delete frames from `/left` and `/right` where the checkerboard is blurry or out of frame. Ideally, we want 30-40 images from various angles and distances.
```
python stereo_video_to_frames.py
```
3. Get intrinsic matrices, rotation matrix, translation vector.
```
python stereo_calibration.py
```
4. Rectify fisheye images. Results are stored in `/results`.
```
python stereo_rectify.py
```
Note: the scripts in the `fisheye_calibration` folder perform the same steps with just one fisheye camera.