Unitree Camera SDK
This guide is intended to help users get started using the Go1 EDU using the Unitree Camera SDK.
The Unitree Camera SDK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth image aligned to color image.
Dependencies
Dependency | Minimum Version | Remarks |
---|---|---|
OpenCV | >=4 | Requires GStreamer |
CMake | >=2.8 | |
OpenGL | For Pointcloud GUI | |
GLUT | For Pointcloud GUI | |
X11 | For Pointcloud GUI |
Workspace Setup
Clone the repository.
$ git clone https://github.com/unitreerobotics/UnitreecameraSDK.git
Build the SDK.
$ cd UnitreeCameraSDK $ mkdir build $ cd build $ cmake .. $ make
Running Examples
Get Camera Raw Image
$ cd UnitreeCameraSDK
$ ./bin/example_getRawFrame
Get Calibration Parameters File
$ cd UnitreeCameraSDK
$ ./bin/example_getCalibParamsFile
Get Rectified Image
$ cd UnitreeCameraSDK
$ ./bin/example_getRectFrame
Get Depth Image
$ cd UnitreeCameraSDK
$ ./bin/example_getDepthFrame
Get Point Cloud
$ cd UnitreeCameraSDK
$ ./bin/example_getPointCloud
Transfer Image to Other Devices
$ cd UnitreeCameraSDK
$ ./bin/example_putImagetrans
Get Image From Other Devices
$ cd UnitreeCameraSDK
$ ./bin/example_getimagetrans