In the previous post, I got the stereo camera to stream a left and right image, but there was clearly some distortion, and a massive vertical displacement between the two images (that’s what you get for using cheap cameras…). To implement stereo vision, though, the images need to be aligned vertically and only have horizontal displacement. That is why the cameras need to be calibrated.
OpenCV provides functions to allow calibration of individual and stereo cameras. But instead of writing my own program, I came across this helpful post, complete with the code required for calibration. Unfortunately, it uses the legacy OpenCV library, and I couldn’t be bothered to incorporate the code into my own Visual Studio solution and muck about with the libraries, so I decided to install Linux in a VM and just compile the program via the Makefile provided. And as we’ve been instructed to essentially write an instructions manual for everything we do, here are the instructions for installing Linux in a VM:
- Download VMware Player. It is a free software for running virtual machines with pretty excellent support.
- Download your favourite flavour of Linux. We are using Xubuntu 12.10 (so far) for this project. It’s Ubuntu but without the annoying desktop shell.
- Start VMware Player, and follow the Illustrated guide
Figure 1 – Main Screen – Click on “Create a New Virtual Machine.
Figure 2 – New Virtual Machine WIzard – Browse for the Xubuntu iso you have just downloaded, and click Next.
Figure 3 – Enter all of the required information.
Figure 4 – Give the virtual machine a name, and decided where to store it.
Figure 5 – Read all the text, and do as your heart tells you.
Figure 6 – The final screen! Review all the information provided and click Finish, and wait a long, long time.. I personally clicked Customize Hardware, and changed some parameters, but you don’t have to.
Figure 7 – After waiting a long, long time, the VM should start, and you should be good to go!
That’s it! God bless VMware for making installation of Virtual Machines so easy. Next up is a guide on how to install OpenCV on Linux, which is applicable to both the pandaboard and my VM install of Linux.