Videre Design STH-DCAM Manual de usuario

Small Vision System User Manual 1 SRI Small Vision System User’s Manual Software version 2.3i September 2002 ?Kurt Konol

Small Vision System User Manual 10 2 Getting started with smallv The smallv program is a standalone application that exercises the SVS library.

Small Vision System User Manual 11 are interested in using a particular framegrabber and set of cameras with smallv, please see Section 2.1. The f

Small Vision System User Manual 12 2.1 Inputting Live Stereo Video The SVS libraries provide support for live video as stereo input. To input vid

Small Vision System User Manual 13 1. Use two framegrabbers, and input one signal on each. 2. Use a single framegrabber capable of inputting 2 m

Small Vision System User Manual 14 There are convenient BAT files to set up a particular framegrabber, in the bin\ directory. Simply double-click

Small Vision System User Manual 15 Only one type of device, the MEGA-D or Dual DCAMs, will be seen by the smallv program. The choice depends on wh

Small Vision System User Manual 16 A subset of frame sizes are supported for video input in the smallv application; the following table summarizes

Small Vision System User Manual 17 ?? Freeze mode. In this mode, a single stereo pair is input, then the same frame is continuously processed and

Small Vision System User Manual 18 2.1.10 Subwindowing The MEGA-D digital stereo head can send to the host computer just a portion, or subwindow, o

Small Vision System User Manual 19 2.1.11 Vergence When in subwindow mode, the two cameras in a stereo rig generally will have the same X and Y off

Small Vision System User Manual 2 1 Introduction______________________________________________________ 5 1.1 The SRI Stereo Engine and the Small

Small Vision System User Manual 20 2.1.12 Color As of Version 2.1, SVS supports color input and display. Besides the two monochrome left/right ste

Small Vision System User Manual 21 2.2 Storing, Saving, and Loading Stereo Data smallv provides a basic facility for loading and saving stereo dat

Small Vision System User Manual 22 buffer, or individual images, can be saved to a file. Under the File menu, use the commands Store Video Buffer

Small Vision System User Manual 23 2.3 Display smallv displays two images in its display area. The left display is always the left input image.

Small Vision System User Manual 24 2.4 Stereo Processing and Parameters In smallv, stereo processing takes place in conjunction with the input of

Small Vision System User Manual 25 Figure 2-8 3D display window. The red ray is the optic ray from the left camera.

Small Vision System User Manual 26 2.4.3 Calibration For good stereo processing, the two images must be aligned correctly with respect to each oth

Small Vision System User Manual 27 ranges enlarge the horopter, but not in a linear fashion, i.e., a search range of 32 does not give twice the hor

Small Vision System User Manual 28 larger window will produce smoother disparity images, but will tend to “smear” objects, and will miss smaller ob

Small Vision System User Manual 29 2.5 Filtering Stereo processing will generally contain incorrect matches. There are two major sources for thes

Small Vision System User Manual 3 3.4 Area Correlation Window_____________________________________________39 3.5 Multiscale Disparity____________

Small Vision System User Manual 30 2.6 Saving and Restoring Parameters All of the parameters that control the operation of the SVS Stereo Engine c

Small Vision System User Manual 31 Tx -89.458214 # translation between left and right cameras Ty -0.277252 Tz -0.923279 Rx -0.008051 # rotat

Small Vision System User Manual 32 3 Stereo Geometry Stereo algorithms compute range information to objects by using triangulation. Two images at

Small Vision System User Manual 33 3.1 Disparity The figure below displays stereo geometry. Two images of the same object are taken from different

Small Vision System User Manual 34 Figure 3-2. Inverse relationship between disparity and range. This plot is for a focal length of 6.3 mm, a ba

Small Vision System User Manual 35 3.2 Horopter Stereo algorithms typically search only a window of disparities, e.g., 16 or 32 disparities. In t

Small Vision System User Manual 36 The location and size of the horopter depends on the application. If an object falls outside the horopter, then

Small Vision System User Manual 37 to arbitrary resolutions. These first three options change the camera geometry, and thus have a corresponding e

Small Vision System User Manual 38 3.3 Range Resolution Often it's important to know the minimal change in range that stereo can differentiat

Small Vision System User Manual 39 3.4 Area Correlation Window Stereo analysis is the process of measuring range to an object based on a compariso

Small Vision System User Manual 4 5.8.2 Multiscale Stereo Processing _____________________________________________ 65 5.9 Window Drawing Classes

Small Vision System User Manual 40 Figure 3-7 Effects of the area correlation window size. At top is the original left intensity image.

Small Vision System User Manual 41 3.5 Multiscale Disparity Multiscale processing can increase the amount of information available in the disparit

Small Vision System User Manual 42 3.6 Filtering Like most vision algorithms, the results of stereo processing can contain errors. In the case of

Small Vision System User Manual 43 left/right check can be implemented efficiently by storing enough information when doing the original disparity

Small Vision System User Manual 44 3.7 Performance Using standard PC hardware, running either MS Windows 95/98/ME/2000/XP/NT or Linux, the SVS can

Small Vision System User Manual 45 4 Calibration Most stereo camera setups differ from an ideal setup in which the cameras are perfect pinhole im

Small Vision System User Manual 46 4.1 Calibration Procedure An automatic calibration procedure using five image pairs of a planar calibration tar

Small Vision System User Manual 47 6. Detect the corner features in all views by pressing the features button in the lower bar of buttons. This c

Small Vision System User Manual 48 4.1.2 Calibration Target The standard calibration target, check.pdf, can be printed out on a single piece of 8.

Small Vision System User Manual 49 5 API Reference – C++ Language With SVS 2.2x, the standard programming interface to the SVS libraries is in C++

Small Vision System User Manual 5 1 Introduction The SRI Stereo Engine is an efficient realization of an area correlation algorithm for computing

Small Vision System User Manual 50 5.1 Threading and Multiple Stereo Devices 5.1.1 Threading Issues The SVS core library functions (svs.dll, libs

Small Vision System User Manual 51 5.2 C++ Classes There are three main classes for SVS: classes that encapsulate stereo images, classes that prod

Small Vision System User Manual 52 // Make a video source object, using the loaded framegrabber interface svsVideoImages *videoObject = getVid

Small Vision System User Manual 53 5.3 Parameter Classes svsImageParams Image frame size and subwindow parameters svsRectParams Image rectificati

Small Vision System User Manual 54 5.4 Stereo Image Class svsStereoImage Stereo image class The stereo image class encapsulates information and

Small Vision System User Manual 55 5.4.3 Rectification Information bool isRectified; // have we done the rectification already? bool haveRec

Small Vision System User Manual 56 Each point is represented by a coordinate (X,Y,Z) in a frame centered on the left camera focal point. The Z dim

Small Vision System User Manual 57 NULL, then no image data is inserted for that image. If the copy argument is true, then the buffer contents are

Small Vision System User Manual 58 5.5 Acquisition Classes svsAcquireImages Base class for all acquisition svsVideoImages Acquire from a video

Small Vision System User Manual 59 An acquisition object acquires stereo images and returns them when requested. These functions control the image

Small Vision System User Manual 6 1.1 The SRI Stereo Engine and the Small Vision System The Stereo Engine exists in several implementations, inclu

Small Vision System User Manual 60 5.6 Video Acquisition The video acquisition classes are subclasses of svsAcquireImages. The general class is

Small Vision System User Manual 61 Alternatively, a number can be used, giving the device in the order returned by the Enumerate() function, i.e.,

Small Vision System User Manual 62 The video frame parameters can be set independently, and not all combinations of values are legal. The CheckPar

Small Vision System User Manual 63 5.7 File and Memory Acquisition The file and memory acquisition classes are subclasses of svsAcquireImages. Th

Small Vision System User Manual 64 User images can also be copied into the object’s buffers, if copy is set to true. Here, the object manages all

Small Vision System User Manual 65 5.8 Stereo Processing Classses svsStereoProcess Stereo processing class svsMultiProcess Multiscale stereo p

Small Vision System User Manual 66 5.9 Window Drawing Classes svsWindow Window class for drawing 2D images svsDebugWin Window class for printing

Small Vision System User Manual 67 These functions draw overlay information on the image displayed by svsWindow. There are two ways to draw overla

Small Vision System User Manual 7 1.2 The Small Vision System The Small Vision System (SVS) is meant to be an accessible development environment f

Small Vision System User Manual 8 1.3 Hardware and Software Requirements The SVS libraries exist for most Unix systems, as well as MS Windows 95/9

Small Vision System User Manual 9 1.4 The SVS Distribution The SVS distribution can reside in any directory; normally, it is placed in c:\svs (MS