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 Video Storage ___________________________________________________ 21
2.2.2 Loading and Storing Files _______________________________________________ 22
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