User manual

Small Vision System User Manual 2
1 Introduction ______________________________________________________ 5
1.1 The SRI Stereo Engine and the Small Vision System _______________________ 6
1.2 The Small Vision System ______________________________________________ 7
1.3 Hardware and Software Requirements __________________________________ 8
1.3.1 Analog Framegrabbers ___________________________________________________ 8
1.3.2 Digital Framegrabbers ____________________________________________________ 8
1.4 The SVS Distribution _________________________________________________ 9
2 Getting started with smallv _______________________________________ 10
2.1 Inputting Live Stereo Video __________________________________________ 12
2.1.1 Stereo heads___________________________________________________________ 12
2.1.2 Analog Framegrabbers __________________________________________________ 13
2.1.3 IEEE 1394 (FireWire) Framegrabber _______________________________________ 14
2.1.4 Selecting Devices ______________________________________________________ 14
2.1.5 Frame Size ____________________________________________________________ 15
2.1.6 Image Sampling________________________________________________________ 16
2.1.7 Image Source __________________________________________________________ 16
2.1.8 Streaming Mode _______________________________________________________ 16
2.1.9 Adjusting Video Parameters ______________________________________________ 17
2.1.10 Subwindowing_______________________________________________________ 18
2.1.11 Vergence ___________________________________________________________ 19
2.1.12 Color ______________________________________________________________ 20
2.2 Storing, Saving, and Loading Stereo Data _______________________________ 21
2.2.1 Stereo Stream Storage ___________________________________________________ 21
2.2.2 Loading and Storing Files ________________________________________________ 21
2.3 Display ____________________________________________________________ 23
2.4 Stereo Processing and Parameters _____________________________________ 24
2.4.1 Stereo Function ________________________________________________________ 24
2.4.2 3D Transformation _____________________________________________________ 24
2.4.3 Calibration ____________________________________________________________ 26
2.4.4 Disparity Search Range __________________________________________________ 26
2.4.5 Adjusting the Horopter __________________________________________________ 27
2.4.6 Pixel Information_______________________________________________________ 27
2.4.7 Correlation Window Size ________________________________________________ 27
2.4.8 Multiscale Disparity ____________________________________________________ 28
2.5 Filtering ___________________________________________________________ 29
2.5.1 Confidence Filter _______________________________________________________ 29
2.5.2 Left/Right Filter________________________________________________________ 29
2.6 Saving and Restoring Parameters______________________________________ 30
3 Stereo Geometry__________________________________________________ 32
3.1 Disparity __________________________________________________________ 33
3.2 Horopter __________________________________________________________ 35
3.3 Range Resolution ___________________________________________________ 38
3.4 Area Correlation Window ____________________________________________ 39