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Proxima ASA STH-MD1/-C - page 1
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 1 STH - MD1/ - C Stereo Head User ’ s Manual ? 2001 Videre Design ...
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Proxima ASA STH-MD1/-C - page 2
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 2 Table of Contents 1 Introduction ....................................................................................... 3 2 Quick Start ........................................................................................ 4 3 Hardware Overview ............................................... ...
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Proxima ASA STH-MD1/-C - page 3
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 3 1 Introduction The STH - MD1 is a compact, low - power digital stereo head with an IEEE 1394 digital interface. It consists of two 1.3 megapixel, progressive scan CMOS imagers mounted in a rigid body, and a 1394 peripheral interface module, joined in an integral unit. The CMOS imagers are from ...
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Proxima ASA STH-MD1/-C - page 4
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 4 2 Quick Start The STH - MD1/ - C comes assembled, the interface module mounted to the imager module. The module comes without mounted lenses. To set up and test the STH - MD1/ - C, you will need the following: 1. Pair of C - mount lenses, for 2/3 ” or la rger imager. 2. Host computer with a 1 ...
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Proxima ASA STH-MD1/-C - page 5
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 5 that sof tware. It is helpful to review Section 6 in conjunction with the SVS documentation. ...
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Proxima ASA STH-MD1/-C - page 6
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 6 3 Hardware Overview Figure 3 - 1 shows the hardware configuration of the STH - MD1/ - C. The imager module has a milled Delri n frame that rigidly holds two megapixel imagers, separated by a fixed distance of 9 cm. Lens mounts are an integral part of the frame, and standard C - mount lenses are ...
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Proxima ASA STH-MD1/-C - page 7
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 7 Left Imager Right Imager Interlace Electronics Imager module 1394 Interface Electronics 1394 module 8 - bit pixels 12 MHz per imager Interlaced pixels 24 MHz 1394 Digital Cable 1394 imaging commands Digital Video Stream 1394 commands Figure 3 - 2 Schematic of the STH - MD1/ - C electronics. ...
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Proxima ASA STH-MD1/-C - page 8
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 8 4 Lenses The STH - MD1/ - C uses standard C - mount lenses. Good - quality, fixed - focus lenses with low distortion and high light - gathering capability are best. Lenses are characterized optically by imager size, F number, and focal length. Following subsections discuss the choice of these v ...
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Proxima ASA STH-MD1/-C - page 9
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 9 chooses the focal length based on the narrowest field of view acceptable for an application, and then takes whatever range resolution comes with it. 4.6 Range Resolution Range resolution is the minimum distance the st ereo system can distinguish. Since stereo is a triangulation operation, the r ...
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Proxima ASA STH-MD1/-C - page 10
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 10 5 1394 Interface Digit al image information is transferred from the STH - MD1/ - C to the host PC via a 1394 cable. The cable sends a video stream from the imagers to the PC, and sends commands from the PC to the stereo head to control exposure, subsampling, etc. The cable also su pplies power ...
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Proxima ASA STH-MD1/-C - page 11
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 11 6 User Controls The CMOS imagers are fully controllable via the 1394 interface. User programs may input color images (STH - MD1 - C only), set video digitizat ion parameters (exposure, gain, red and blue balance), subsampling modes, and region - of - interest (subwindowing). All of these param ...
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Proxima ASA STH-MD1/-C - page 12
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 12 problem for stereo processing, but does cause the display to look very dark in low - light areas. You can add gamma correction to the displayed image by choosing an appropriate gamma value in the slider under the right display window ( Figure 6 - 2 ). 6.3 Video Digitization Parameters The CM O ...
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Proxima ASA STH-MD1/-C - page 13
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 13 Figure 6 - 2 shows the frame size and subsampli ng controls on the video capture application. Any x2 or x4 subsampling is allowed, including combined binning and decimation. 6.5 Subwindowing Often the area of interest in an image will be a small portion of the whole image. In this case, there ...
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Proxima ASA STH-MD1/-C - page 14
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 14 The ve rgence control is on the Video Parameters dialog ( Figure 6 - 1 ). 6.8 Frame Rates Frame rates from the STH - MD1/ - C depend on two factors: decimation and the number of image lines in a subwindow. It does not depend on the length of a line, since the CMOS imagers always use the same t ...
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Proxima ASA STH-MD1/-C - page 15
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 15 7 Installing the 1394 Host Card and Capture Software The STH - MD1/ - C connects to a host computer via a digital 1394 interface. The host PC must have a 1394 port, and software to interface to the video stream from the camera. This interface software presents the video stream from the 1394 ha ...
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Proxima ASA STH-MD1/-C - page 16
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 16 libsvscap.so pixcap.so svspix.dll/lib stereo calculation libraries src/ flwin.cpp svs.h flwin.h samples/ stcap.cpp stdisp.cpp *.dsw, *.dsp , makefile There are several applications. The source code for all applications is included in the distribution. The stereo calculation libraries are also ...
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Proxima ASA STH-MD1/-C - page 17
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 17 8 Interface Software API Please see the Small Vision System manual for information about the software API for capturing and saving images. ...
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Proxima ASA STH-MD1/-C - page 18
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 18 9 Mounting Diagrams 9.1 Bottom Mounting Diagram for the STH-MD1/-C. The larger hole is threaded for a ¼ - 20 machine screw (standard tripod mounting screw). The two smaller holes are threaded for 6 - 32 machine screws. 9.2 Bottom Mounting Diagram for the STH -MD1/-C- Wide (Rev B) The three ho ...
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Proxima ASA STH-MD1/-C - page 19
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 19 10 Technical Specifications 10.1 Geometry Housing Rigid milled Delrin frame Baseline 9 cm, fixed Imager size 2/3 inch diagonal Lens ty pe C mount, interchangeable 10.2 Interface Type Digital 1394 [Firewire], OHCI compliant Speed Maximum 20 megapixels / second Host interface Any 1394 OHCI card ...
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Proxima ASA STH-MD1/-C - page 20
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 20 [Subwindowed frames are proportionally faster, e.g., N x 640 images at no decimation are 15 Hz] 10.5 Physical Power 2 watts Cabling Single 6 - pin 1394 cable (power and signal) Stereo module size 5" x 1.75" x 1" 1394 module size 3.5" x 2.5" x 0.75" Weight (without ...
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Proxima ASA STH-MD1/-C - page 21
STH - MD1 U SER ’ S M ANUAL ? 2001 V IDERE D ESIGN 21 11 Technical Support For technical support, please contact Videre Design by email or FAX. Videre Design P.O. Box 585 Menlo Park, CA 94026 - 0585 Fax: (650)323 - 3646 Email: support@videredesign.com Technical information about stereo algorithms and ster eo calibration can be found at www.ai.sri ...
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