User manual

Small Vision System User Manual 9
2 Getting started with smallv
The smallv program is a standalone application that exercises the SVS library. It is a GUI
interface to the stereo programs, and in addition can load and save stereo image sequences. The smallv
program is a useful tool for initial development of a stereo application, and can also be used to check out
and adjust a stereo camera setup.
The smallv program is in the bin/ directory. It requires shared libraries for the stereo
algorithms (svs), display (fltk), and calibration (various), all of which are in the bin/ directory.
Under MS Windows, these shared libraries (DLLs) must be in the same directory as the smallv
program, or in the system DLL directory. Under UNIX, the LD_LIBRARY_PATH variable must have the
path to the libraries.
Figure 2-1 shows the startup screen of the program. The black windows are for display of image and
stereo data. The display programs in SVS use the FLTK cross-platform window interface, and work best
in 24 bit mode. The version of the program is indicated in the text information area, and the title bar.
smallv will accept stereo images from either a live video source, or a stored file. The easiest way
to get started with the program is to open a stored stereo sequence. From the File menu, choose Open,
and navigate to the data/ directory. The file seq-cal.ssi contains 30 stereo frames at 320x240
resolution. When you open it, it begins to display continuously in the display windows. In the
Function area, pull down the list box and choose Stereo. You should see a green pattern
representing stereo disparities in the right window. Clicking the 3D Display button brings up an
OpenGL window with a 3D view of the stereo data.
The rest of this section explains the operation of smallv. Since smallv exercises most of the
functionality of the SVS libraries, it should serve as a general introduction to the SVS functions. If you
are interested in using a particular framegrabber and set of cameras with smallv, please see Section 2.1.
The framegrabber interface is indicated in the message area on startup. In this case, it is the MEGA-D
digital stereo head.
Figure 2-1 Smallv program interface. The two black windows are for display of input images
and stereo results.