Jetson Stereo Depth

Build your own HW-accelerated stereo camera from scratch with Nvidia Jetson.

This repository contains:

1. Stereo Pair intrinsic calibration

   

2. Lens distortion correction

   

3. VPI HW-accelerated remap()

   

4. Depth calculation

5. 3D Printable Hardware

• [x] HW-accelerated depth pipeline (capture->rectify->SGBM->depth calc.) in python
• [x] Reference disparity pipeline with OpenCV CPU implementation
• [x] Calibration notebooks to determine a) intrinsic parameters and lens distortion coeficients of cameras b) rectification map between two sensors
• [x] Deployment code in C++
• [ ] Assembly instructions for the hardware

Getting started

1. Install dependencies

   sudo apt install libnvvpi1 python3-vpi1 vpi1-dev

2. Calibrate cameras (see notebooks in calib/ folder).

3. Try python implementation

   cd depth_pipeline_python
   python3 depth_vpi.py 

4. Try C++ implementation

   cd depth_pipeline_cpp
   mkdir build && cd build
   cmake .. && make -j$(nproc)
   ./depth_pipeline

Pipeline

Hardware

3D printable holder for 2 × IMX219 camera module is available here. Baseline distance of the pair is 80mm.