User manual

Small Vision System User Manual 43
5.1 Stereo Parameter Structure
The parameter structure svsSP holds information about the whole stereo process, from camera
characteristics, the images input from the cameras, and the parameters involved in controlling the stereo
process. Almost every function in the API refers to a parameter structure.
By default, there is a global parameter structure svsParams in svs.dll that is used whenever the
parameter structure is not specified in a function.
typedef struct {
int id; /* can be set by user */
/* Stereo algorithm parameters */
int convx, convy; /* Edge convolution kernel size, pixels */
int corrxsize, corrysize; /* Correlation window size, pixels */
int thresh; /* Confidence threshold, 0-20 */
int lr; /* Left/right check, 1=on, 0=off */
int ndisp; /* Number of pixel disparities to search */
int dpp; /* Disparities per pixel */
int offx, offy; /* Horopter offset (offy not used) */
/* framegrabber/image parameters absolute parameters */
int max_linelen; /* for NTSC fields, 640 */
int max_lines; /* for NTSC fields, 240 */
int max_decimation; /* 1, 2 or 4 */
int max_binning; /* 1 or 2 */
double gamma; /* gamma correction needed for display */
int color; /* 0 for monochrome images, 1 for color */
/* Current full-frame image size */
int linelen; /* Image line length, in pixels */
int lines; /* Number of image lines */
int decimation; /* current decimation */
int binning; /* current binning */
int subwindow; /* 1 = subwindow capability, 0 = none */
/* Image subwindow */
int ix; /* Subimage start column */
int iy; /* Subimage start row */
int width; /* Subimage width, in pixels */
int height; /* Subimage height, in pixels */
int vergence; /* Subimage vergence between images */
/* digitization parameters */
int autogain; /* 1 if auto gain available */
int manualgain; /* 1 if manual gain available */
int autowhite; /* 1 if auto white balance available */
int manualwhite; /* 1 if manual white balance available */
int gain; /* Image gain, from 0 to 100; -1 is auto */
int exposure; /* Image exposure from 0 to 100, -1 is auto
*/
int contrast; /* Image contrast, from 0 to 100, -1 is auto */
int brightness; /* Image brightness, from 0 to 100, -1 is auto */
int saturation; /* Image color saturation, from 0 to 100 */
int red; /* red gain offset, from –40 to 40 */
int blue; /* blue gain offset, from –40 to 40 */
/* Internal camera optical parameters */
svsIP left; /* Left camera parameters */
svsIP right; /* Right camera parameters */
/* Transformation between left and right cameras */
/* Coordinate system is attached to the center of projection of the
left camera, with the X and Y axis aligned with the u and v axis,