User manual

Small Vision System User Manual 3
3.5 Multiscale Disparity _________________________________________________ 41
3.6 Filtering ___________________________________________________________ 42
3.7 Performance _______________________________________________________ 44
4 Calibration ______________________________________________________ 45
4.1 Calibration Procedure _______________________________________________ 46
4.1.1 Calibration procedure steps _______________________________________________ 46
4.1.2 Calibration Target ______________________________________________________ 48
4.1.3 Imager Characteristics ___________________________________________________ 48
5 API Reference – C++ Language_____________________________________ 49
5.1 Threading and Multiple Stereo Devices _________________________________ 50
5.1.1 Threading Issues _______________________________________________________ 50
5.1.2 Multiple Devices _______________________________________________________ 50
5.2 C++ Classes ________________________________________________________ 51
5.3 Parameter Classes __________________________________________________ 54
5.3.1 Class svsImageParams___________________________________________________ 54
5.3.2 Class svsRectParams ____________________________________________________ 54
5.3.3 Class svsDispParams ____________________________________________________ 54
5.4 Stereo Image Class __________________________________________________ 55
5.4.1 Constructor and Destructor _______________________________________________ 55
5.4.2 Stereo Images and Parameters_____________________________________________ 55
5.4.3 Rectification Information_________________________________________________ 56
5.4.4 Disparity Image ________________________________________________________ 56
5.4.5 3D Point Array ________________________________________________________ 56
5.4.6 File I/O_______________________________________________________________ 57
5.4.7 Copying Functions______________________________________________________ 57
5.5 Acquisition Classes __________________________________________________ 58
5.5.1 Constructor and Destructor _______________________________________________ 58
5.5.2 Rectification___________________________________________________________ 58
5.5.3 Controlling the Image Stream _____________________________________________ 58
5.5.4 Error String ___________________________________________________________ 59
5.6 Video Acquisition ___________________________________________________ 60
5.6.1 Video Object __________________________________________________________ 60
5.6.2 Device Enumeration ____________________________________________________ 60
5.6.3 Opening and Closing ____________________________________________________ 60
5.6.4 Image Framing Parameters _______________________________________________ 61
5.6.5 Image Quality Parameters ________________________________________________ 62
5.6.6 Controlling the Video Stream _____________________________________________ 62
5.7 File and Memory Acquisition _________________________________________ 63
5.7.1 File Image Object ______________________________________________________ 63
5.7.2 Setting Images from Files ________________________________________________ 63
5.7.3 Stored Image Object ____________________________________________________ 63
5.7.4 Setting Images from Memory _____________________________________________ 63
5.8 Stereo Processing Classses ____________________________________________ 65
5.8.1 Stereo and 3D Processing ________________________________________________ 65
5.8.2 Multiscale Stereo Processing______________________________________________ 65
5.9 Window Drawing Classes ____________________________________________ 66