🎥 CameraTriangulation 🕶️✨

Welcome to the ultimate stereo-vision toolkit that turns two camera feeds into 3D magic! Grab your chessboard, fire up your cameras and let’s dive into the world of real-time depth estimation.

🚀 Features

1. 🧩 Chessboard calibration
   Compute sweet intrinsic parameters in a snap.
2. 📸 Synchronized dual-camera capture
   Capture perfectly aligned frames from two eyes.
3. 🌈 Lens undistortion
   Wave goodbye to fish-eye warping.
4. 🤖 YOLOv11 object detection
   Spot and label objects at lightning speed.
5. 🎯 Stereo triangulation
   Estimate real-world 3D positions of matched objects.
6. 🖥️ Flask-based PC server
   Host detection, distance calculation or simple frame relay.
7. 🐧 Raspberry Pi client
   Capture, undistort, encode & send frames over the network.

📂 Repository Structure

• calibration.py – Chessboard calibration → outputs calibration_matrix1.yaml, calibration_matrix2.yaml
• screenshots.py – Snap synchronized stereo frames into images1/ and images2/
• cameras_calibration_test.py – Verify undistortion on live streams
• PC_yolo.py – Flask server: only object detection
• PC_distance_calc.py – Flask server: detection + 3D position estimation
• PC_cameras.py – Flask server: simple frame relay
• raspberry.py – Pi client: capture, undistort, encode & POST frames
• test/
  • stereo_depth.py – Depth map demos (BM & SGBM)
  • trangulation.py – Pure-math triangulation playground
  • yolo_test.py – SVD-based triangulation with YOLO

⚙️ Prerequisites

• Python 3.8+
• opencv-python
• numpy
• pyyaml
• flask
• requests
• ultralytics (YOLOv11)

Install dependencies

pip install opencv-python numpy pyyaml flask requests ultralytics

🎮 Quick Start

1. Calibrate your cameras:

   python calibration.py

2. Capture stereo snapshots:

   python screenshots.py

3. Verify undistortion:

   python cameras_calibration_test.py

4. Run YOLO server:

   python PC_yolo.py

5. Run distance‐calc server:

   python PC_distance_calc.py

6. Launch Raspberry Pi client:

   python raspberry.py

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Happy triangulating! 🎉