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.