User`s manual

STOC USER’S MANUAL ©2005 VIDERE DESIGN
to the IIDC version 1.30 camera specification. Frame rates and frame sizes
are set by this standard. The STOC/-C implements the formats shown in
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The Digital Camera Specification was set up with monocular cameras in
mind. To conform to this specification, the STH-MDS/-C uses the YUV
data type, sending one 8-bit video stream on Y, and another on UV. On the
host computer, the SVS interface software takes the YUV stream and parses
it into the left and right images, making them available as separate images
in computer memory. It also performs color processing, for the STOC-C,
converting the Bayer pattern into full-color RGB images.
Because of the limitation of two 8-bit video streams, the STOC device has
various submodes in which it sends different information on the streams.
The choice of video stream types are:
1. Original image (8-bit monochrome or Bayer color pattern)
2. Rectified image (8-bit monochrome only)
3. Disparity image (8-bit disparity image)
4. Test Pattern
Different combinations of these images give rise to the different submodes
shown in
Table 2. The default mode, shown in gray, is
PROC_MODE_RECTIFIED. The left and right (monochrome) rectified
images are sent back to the PC.
There are two modes in which disparity is computed on the STOC and sent
back to the PC. PROC_MODE_DISPARITY sends the disparity and the
left rectified (monochrome) image. It is not possible to send a rectified
Left
Imager
Right
Imager
Imager
module
1394
Interface
Electronics
1394
module
8-bit pixels
12 MHz per
ima
g
er
Disparity
image
1394
Digital
Cable
1394
imaging
commands
Digital
Video
Stream
1394
commands
STOC
b
oard
Stereo
Processing
Left
rectified
image
Figure 3-2 Schematic of the STOC/-C electronics. The diagram shows
a stereo processing mode. In other modes, stereo processing can be
bypassed.
Format Frame
size
Frame
rate
(default)
Frame rate, 50 Hz
option
Format 0, Mode 3
YUV 16 bits
640x480 7.5, 15, 30
Hz
6.25, 12.5 25 Hz
Table 1 Frame formats and sizes for the STOC/-C.
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