Project: ladybug-pie

Author: Jay W Johnson

Description: Python wrapper for Ladybug3 Spherical Camera API.

Required: Ladybug3 Spherical Camera API (ladybug.dll) installed which is included with the camera. Many modules and methods could be use with other cameras and projects.

Only the methods that handle pre-recorded *.pgr files have been wrapped. Methods for controlling the camera and recording video have not been wrapped. The software that comes with the camera is good enough for recording video.

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Ladybug_3D_mainGUI.py

• ladybug3D_app class

  Main program that sets up the GUI and event handling.

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Ladybug package

interface.py

• Ladybug3stream class

  Simplifies management of a *.pgr stream file and adds additional methods not included in the Ladybug API.

API.py

• LadybugAPI class

  Access to pythonified ladybug.dll methods. Memory management tasks are handled by the class. Data written by the methods are returned by the method instead of returning an error code.

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SFM package

opticflow.py

• FeatureMatcher class

  Implements OpenCV's FeatureDetector_create, Descriptor_create, and flann_index methods to do feature detection and matching over a series of images.

  TODO: Still needs some testing and clean-up.

online_SLAM

• SLAM class

  Based on the SLAM algorithm introduced in Udacity's robot car course.

  Changed to make it easy to add positions and measurements. 'Online' SLAM is optional; the removal of old positions is done with a method call.