User manual

Small Vision System User Manual 2
1 Introduction______________________________________________________ 4
1.1 Implementations of the Stereo Engine ____________________________________5
1.2 The Small Vision System_______________________________________________6
1.3 Hardware and Software Requirements ___________________________________7
1.3.1 Analog Framegrabbers ___________________________________________________ 7
1.3.2 Digital Framegrabbers ___________________________________________________ 7
1.4 The SVS Distribution _________________________________________________8
2 Getting started with smallv ________________________________________ 9
2.1 Inputting Live Stereo Video ___________________________________________10
2.1.1 Stereo heads __________________________________________________________ 10
2.1.2 Analog Framegrabbers __________________________________________________ 11
2.1.3 IEEE 1394 (FireWire) Framegrabber_______________________________________ 12
2.1.4 Selecting Video Format _________________________________________________ 12
2.1.5 Frame Size ___________________________________________________________ 13
2.1.6 Image Sampling _______________________________________________________ 13
2.1.7 Image Source _________________________________________________________ 14
2.1.8 Streaming Mode _______________________________________________________ 14
2.1.9 Adjusting Video Parameters______________________________________________ 14
2.1.10 Subwindowing ______________________________________________________ 15
2.1.11 Vergence___________________________________________________________ 16
2.1.12 Color ______________________________________________________________ 17
2.2 Storing, Saving, and Loading Stereo Data________________________________18
2.2.1 Stereo Stream Storage __________________________________________________ 18
2.2.2 Loading and Storing Files _______________________________________________ 18
2.3 Display ____________________________________________________________19
2.4 Stereo Processing and Parameters ______________________________________20
2.4.1 Stereo Function________________________________________________________ 20
2.4.2 3D Transformation_____________________________________________________ 20
2.4.3 Calibration ___________________________________________________________ 20
2.4.4 Disparity Search Range _________________________________________________ 21
2.4.5 Adjusting the Horopter__________________________________________________ 22
2.4.6 Pixel Information ______________________________________________________ 22
2.4.7 Correlation Window Size ________________________________________________ 22
2.5 Filtering ___________________________________________________________23
2.5.1 Confidence Filter ______________________________________________________ 23
2.5.2 Left/Right Filter _______________________________________________________ 23
2.6 Saving and Restoring Parameters ______________________________________24
3 Stereo Geometry__________________________________________________ 26
3.1 Disparity___________________________________________________________27
3.2 Horopter___________________________________________________________29
3.3 Range Resolution____________________________________________________32
3.4 Area Correlation Window_____________________________________________33