Agrippa Stereo Camera Docs
This site is the canonical documentation for ag-cam-tools and the supporting Agrippa stereo camera workflows.
Use it for:
- build and installation guidance,
- CLI reference by command,
- bring-up and calibration workflows,
- backend setup for classical and neural stereo,
- testing and maintenance notes.
Start here
Main capabilities
ag-cam-tools currently supports:
- Discovery and connection — find and connect to Lucid GigE stereo cameras on the network, with serial, address, and NIC selection.
- Stereo capture — single-frame or burst-mode (
--burst N) stereo pair capture with optional rectification. Burst mode uses FrameBurstStart triggering for rapid multi-frame acquisition.
- Live preview — real-time SDL stereo display with optional AprilTag detection and rectification overlay.
- Focus tuning — live per-eye focus scoring with selectable metrics (Laplacian, Tenengrad, Brenner), region-of-interest control, and procedural stereo audio feedback for hands-free lens alignment.
- Calibration capture — interactive stereo pair acquisition for calibration datasets, with audio confirmation cues.
- Depth preview — rectified disparity visualization with classical (SGBM) and neural (ONNX) stereo backends, plus live parameter tuning.
- Depth capture — export RGBA PNGs with camera colour in RGB and normalised depth in the alpha channel, square-cropped and sized for ML training pipelines.
- Calibration storage — upload, download, and manage calibration archives directly on the camera.
- Camera reset — power-cycle cameras over GigE with
bounce.
- Binning-aware pipeline — automatic grayscale handling when
2x2 sensor binning collapses the Bayer pattern.
Project links