Note:

• The script has been tested under a Linux kernel running Ubuntu 24.04 on a 24 gb RAM i5 11th gen processor.

Step 0: Cloning the Repository

• To use the scripts and files in the repository you need to clone it on your local computer first.
• To clone the repository execute the following in your terminal once you are in directory of your wish in where you want to clone the repository

git clone https://github.com/Falconspy6015/calibration.git

Step 1: Calibration of Stereo Camera

• To Collect data manually run the following python file in your terminal after you are inside the calibration folder.

python3 01_calib.py

Step 2: Stereo Rectification

• To rectify the obtained data execute the second script on your terminal

python3 02_stereo.py

Step 3: Saving maps

• To generate and save maps for our final configuration execute the third script on your terminal

python3 03_savemap.py

Step 4: Visualising Depth

• To visualise your calibrated setup execute the fourth script on your terminal

python3 04_visual.py

• To estimate depth click on a point of interest and the output would be shown in the terminal

Step 5: ROS driver

• To generate ROS-2 topics compatible with modern V-SLAM solutions such as RTAB-MAP execute the following driver script

python3 ros2_driver.py

Optional:

• The repository also has an additional script named stereo_pipeline.py that does step 1 to 4 under 3 different modes namely - capture - calibrate - depth
• To operate the script under different modes the following syntax is used

python3 stereo_pipeline.py [capture|calibrate|depth]

To-DO /Contribute

• fix driver compatibility on Rtabmap for particular launch files with appropriate topic remapping
• fix Udev rules for right and left camera to prevent ambiguous swaps.
• fix visualisation and depth node output through pruning parameters. ( Study required )