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

• HW-accelerated depth pipeline (capture->rectify->SGBM->depth calc.) in python
• Reference disparity pipeline with OpenCV CPU implementation
• Calibration notebooks to determine a) intrinsic parameters and lens distortion coeficients of cameras b) rectification map between two sensors
• 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.