SDK for a structured light 3D vision system using the TI LightCrafter 4500 EVM and Flir Flea3 camera(s) to generate point clouds.
The source code is released under a BSD 3-Clause license.
Author: Alexandre Bernier
Affiliation: CoRo, ÉTS
Maintainer: Alexandre Bernier, ab.alexandre.bernier@gmail.com
The coro_eyes_sdk has been tested on Ubuntu 20.04 with the following dependency versions:
| Dependencies | Version |
|---|---|
| CMake | 3.21.3 |
| OpenCV | 4.2.0 |
| hidapi | 0.9.0 |
| libusb | 1.0.23 |
| udev | 245.4 |
| FlyCapture SDK | 2.13.3.31 |
-
sudo apt install libopencv-dev -
sudo apt install libhidapi-dev -
sudo apt install libusb-1.0-0-dev -
sudo apt install libudev-dev -
FlyCapture SDK
Download here. The version for Ubuntu 18.04 works on Ubuntu 20.04.
Follow instructions here.
git clone https://github.com/alexandre-bernier/coro_eyes_sdk.git
cd coro_eyes_sdk/
mkdir build
cd build/
cmake BUILD_EXAMPLES=ON BUILD_DOC=ON ..
sudo cmake --build . --config Release --target install
Once udev is installed, you can run the udev configuration script with sudo to create the udev rules automatically.
sudo scripts/configure_udev_rule.sh
Make sure to run the USBFS configuration script with sudo to increase the USBFS memory allocation (especially if you intend to run more than one camera at the same time).
sudo scripts/configure_usbfs.sh
To verify that the script worked, restart your computer and run the following command in a terminal (you should see 1000 as a result):
cat /sys/module/usbcore/parameters/usbfs_memory_mb
Simply include coro_eyes_sdk.h in your code to get access to all the APIs.
Once you built the library (and if you have Doxygen installed), you will find the documentation at doc/html/index.html.
You can find multiple examples on how to use this SDK in the examples/ directory:
- examples/projector_example.cpp
- examples/camera_example.cpp
- examples/camera_calibration_example.cpp
- examples/structured_light_example.cpp