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Table Of Contents
Introduction
The SRI Stereo Engine and the Small Vision System
The Small Vision System
Hardware and Software Requirements
Analog Framegrabbers
Digital Framegrabbers
The SVS Distribution
Getting started with smallv
Inputting Live Stereo Video
Stereo heads
Analog Framegrabbers
IEEE 1394 (FireWire) Framegrabber
Selecting Devices
Frame Size
Image Sampling
Image Source
Streaming Mode
Adjusting Video Parameters
Subwindowing
Vergence
Color
Storing, Saving, and Loading Stereo Data
Stereo Stream Storage
Loading and Storing Files
Display
Stereo Processing and Parameters
Stereo Function
3D Transformation
Calibration
Disparity Search Range
Adjusting the Horopter
Pixel Information
Correlation Window Size
Multiscale Disparity
Filtering
Confidence Filter
Left/Right Filter
Saving and Restoring Parameters
Stereo Geometry
Disparity
Horopter
Range Resolution
Area Correlation Window
Multiscale Disparity
Filtering
Performance
Calibration
Calibration Procedure
Calibration procedure steps
Calibration Target
Imager Characteristics
API Reference – C++ Language
Threading and Multiple Stereo Devices
Threading Issues
Multiple Devices
C++ Classes
Parameter Classes
Class svsImageParams
Class svsRectParams
Class svsDispParams
Stereo Image Class
Constructor and Destructor
Stereo Images and Parameters
Rectification Information
Disparity Image
3D Point Array
File I/O
Copying Functions
Acquisition Classes
Constructor and Destructor
Rectification
Controlling the Image Stream
Error String
Video Acquisition
Video Object
Device Enumeration
Opening and Closing
Image Framing Parameters
Image Quality Parameters
Controlling the Video Stream
File and Memory Acquisition
File Image Object
Setting Images from Files
Stored Image Object
Setting Images from Memory
Stereo Processing Classses
Stereo and 3D Processing
Multiscale Stereo Processing
Window Drawing Classes
Class svsWindow
Class svsDebugWin
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 baseline of 80 mm, and a pi
xel
width of 14 mm.
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