The program to be run on the camera compute nodes to calculate disparity from stereo. Eventually this will also then send this data over the network to be combined from all nodes.
cd <source_directory> mkdir build cd build cmake .. make
TODO. Currently, copy <source_direction>/config/config.json to
~/.config/ftl/config.json on Linux.
An optional command-line argument can be passed to specify a stereo video file to be used instead of directly attached cameras. The stereo video consists of two videos (left and right) side by side to create a wider single video.
A config.json file should be located in ~/.config/ftl.
All options found in the config file can be changed on the command line using
JSON pointers. For example: --disparity/algorithm=\"sgbm\" will change the
JSON config option at { "disparity": { "algorithm": "sgbm" }}.
Cameras can be calibrated by using argument --calibrate. You either
need to provide a calibration video as an argument or do it live. A checkerboard
grid pattern is required, the size can be configured in the json file. After
callibration the data is save and will be reloaded automatically next time you
run cv-node.
Note: best calibration is not too close or far from the cameras, the board must be fully visible in each camera and move to cover as much of the visual field as possible.
In the terminal it prints RMS error values for the stereo calibration that need to be around 0.3 or less ideally.
The default visualisation is a 3D point cloud. however you can request a display of the depth map, disparity map or original images.
--display/depth=true--display/disparity=true--display/points=false