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Stereo Vision Toolkit v1.3.1
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@benknight135 benknight135 released this 19 Apr 13:14
· 30 commits to master since this release
v1.3.1
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Stereo Vision Toolkit v1.3.1

Changes:

  • Add ML detector using YOLO or Tensorflow
  • Add loading of stereo image pair from image files (.png, .jpg, .jpeg)
  • Add toggle to show epipolar lines for checking calibration
  • Add RGBD streaming using shared memory (for use with I3DRStereo3D Unity package)
  • Add I3DR Titania stereo camera support
  • Add Vimba camera integration
  • Add colour image capture to Basler cameras
  • Add point cloud texture options (depth colourmap or image)
  • Add colour to loading/saving stereo videos
  • Add about dialogue to show software version
  • Add separate camera capture and processing threads
  • Add video saving of individual camera images or disparity
  • Add WLS filter to OpenCV BM and SGBM matchers
  • Add hostname and hostID to license message if I3DRSGM license is not found
  • Add new camera serials
  • Change load/save YAML calibration to use ROS perception supported YAML (changed from OpenCV FileStorage yaml)
  • Upgrade to OpenCV v4.5.0
  • Upgrade to CUDA 11.1
  • Upgrade to I3DRSGM v1.0.11
  • Upgrade to using Pylon v6.1.1.18345 library for Basler cameras

Bug fixes:

  • Fix YAML file generates invalid Q matrix
  • Fix missing link to online documentation
  • Fix overwriting image during save
  • Fix non rectified images saved with '_rect' suffix
  • Fix maximum point cloud z value being set incorrectly
  • Fix camera capture delay when processing load is high
  • Fix I3DRSGM failed to initalise when switching to camera with different resolution

Known issues:

  • ROS perception YAML's data arrays must be on single line in YAML file.
  • WLS filter causes speckle filter to sometimes be disabled.
  • Stereo videos are saved uncompressed to avoid lossy compression which would cause issues when loading stereo videos. This will create large file sizes.
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