picam360_omniCV

ROS2 (Foxy) package base on OmniCV-Lib to work with the Picam360 Panoramic camera.
Added acceleration with CuPy and OpenCV+Cuda to speed up processing.

Dependencies:

ROS2 (Foxy)
CuPy
OpenCV (build from source with CUDA support (see install_cv.md))

Installation

Clone the repository:

git clone https://github.com/phuoc101/picam360_omniCV

Build the package:

cv picam360_omniCV/OmniCV_ros_ws/src/omnicv_ros2 \n
colcon build --package-select omnicv_ros2

To test the package:

# fisheye to equirectangular images (with GPU acceleration)
ros2 launch omnicv_ros2 ros2 launch omnicv_ros2 picam360_fisheye2rect.launch.py
# 360-degree viewer
ros2 launch omnicv_ros2 picam360_360view.launch.py
# fisheye to equirectangular images (CPU)
ros2 launch omnicv_ros2 ros2 launch omnicv_ros2 picam360_fisheye2rect_ori.launch.py