PDI: Panorama Depth Image

PDI provides a solution to get the panorama depth image from a single fisheye stereo image pair. A wider view angle always benefits the environmental perception ability. For more information see https://astar.ai.

Youtube Demo Video for the SLAM using PDI.

The following steps have been tested and passed on Ubuntu 16.04.5.

1. Theoretical Background

Fisheye Camera Model: C. Mei and P. Rives, Single View Point Omnidirectional Camera Calibration From Planar Grids, ICRA 2007.

Fisheye Stereo Reconstruction: S. Li, Binocular Spherical Stereo, ITS 2009.

2. OpenCV Installation

Follow the steps in [email protected].

3. Compile

git clone https://github.com/astar-ai/pdi.git
cd pdi
chmod 777 ./compile.sh
./compile.sh

4. Run

./pdi

5. Operation

5.1 'Fisheye Image' window

The first two trackbars are used to adjust the numDisparities and blockSize for OpenCV stereo matching functions. The third trackbar 'Threshold' is used to adjust the field of view of the camera.

5.2 'Panorama 3D Scene' OpenGL window

Mouse button: left drag - rotate, middle drag - pan, middle scroll - zoom, right drag - zoom.

PDI uses GLWindow library from http://ethaneade.org/.

5.3 Exit

Press 'q' or 'Esc' key on the 'Fisheye Image' window to exit.

6. Live Mode

To run PDI in a live mode, please change the variable live to true:

bool      live = true;

and run

./pdi YOUR_CALIBRATION_FILE.yml

7. Calibration Parameter File

To run PDI in the LIVE mode, you need to download the calibration parameter file from online. Each CaliCam stereo/mono camera has a UNIQUE parameter file. Please download the corresponding parameter file by following the instructions at https://astar.ai/collections/astar-products.

8. Reference: A Visualized Course of Linear Algebra

Inverse of Matrix

Eigenvector

Singular Vector Decomposition

For more information see http://linear-algebra.org.