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Stereo camera source — OpenCV StereoSGBM + one-time calibration wizard #12

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opened 2026-04-26 21:46:22 -07:00 by pyr0ball · 0 comments
pyr0ball commented 2026-04-26 21:46:22 -07:00
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Implement StereoSource adapter for any dual-lens camera (ZED, OAK-D, RealSense D-series stereo IR, or two calibrated webcams).

Calibration wizard: guided checkerboard calibration (print a standard OpenCV calibration pattern). User holds pattern at 5 distances. Stores calibration matrix to ~/.merlin/calibration/<device_id>.npz.

Depth computation: OpenCV StereoSGBM from stereo disparity. No special SDK — pure OpenCV.

Auto-detect: look for cameras with matching resolution and framerate reporting at device_index pairs (0,1), (0,2), etc. Or let user specify left/right device indices in config.

Optional dependency: opencv-contrib-python>=4.8 (StereoSGBM is in contrib). Add to merlin[depth-stereo] dep group.

Good accuracy at hand distances (30–100cm). Works on any OS.

Implement `StereoSource` adapter for any dual-lens camera (ZED, OAK-D, RealSense D-series stereo IR, or two calibrated webcams). **Calibration wizard:** guided checkerboard calibration (print a standard OpenCV calibration pattern). User holds pattern at 5 distances. Stores calibration matrix to `~/.merlin/calibration/<device_id>.npz`. **Depth computation:** OpenCV `StereoSGBM` from stereo disparity. No special SDK — pure OpenCV. **Auto-detect:** look for cameras with matching resolution and framerate reporting at device_index pairs (0,1), (0,2), etc. Or let user specify left/right device indices in config. Optional dependency: `opencv-contrib-python>=4.8` (StereoSGBM is in contrib). Add to `merlin[depth-stereo]` dep group. Good accuracy at hand distances (30–100cm). Works on any OS.
pyr0ball added this to the Phase B — Depth and High-Fidelity Spatial Input milestone 2026-04-26 21:46:22 -07:00
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Reference: Circuit-Forge/raven#12
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