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Videre Design STH-DCAM User Manual

Compact, low-power digital stereo head
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2001 V
STH-DCAM U
'
M
D
SER
S
ANUAL
IDERE
ESIGN
STH-DCAM Stereo Head
User's Manual
Updated – Rev 2
2001 Videre Design
1

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  Summary of Contents for Videre Design STH-DCAM

  • Page 1 2001 V STH-DCAM U ’ ANUAL IDERE ESIGN STH-DCAM Stereo Head User’s Manual Updated – Rev 2  2001 Videre Design...
  • Page 2: Table Of Contents

    STH-DCAM U ’ ANUAL Table of Contents Introduction ...3 Quick Start...4 Hardware Overview...5 Hardware Schematic...5 Color and Monochrome...5 Frame Rates ...5 Lenses ...7 Changing Lenses...7 Cleaning the Imagers ...7 Imager Size ...7 F Number...7 Focal Length ...7 Range Resolution...8 Field of View ...8 1394 Interface...9...
  • Page 3: Introduction

    IEEE 1394 interface, in both manual and automatic modes. The user can set exposure, gain, binning, etc., or have the stereo head electronics do it automatically. The STH-DCAM uses standard 12 x 0.5 mm miniature lenses for user- changeable optics. Wide-angle to telephoto options are available, depending on the application.
  • Page 4: Quick Start

    DCAM) or Small Vision System software (see Section 7.2). This is the not-so-quick part of the Quick Start. The STH-DCAM has a single IEEE 1394 port, for plugging in an IEEE 1394 cable. Plug one end of a 6 pin – 6 pin IEEE 1394 cable into the port, and the other end into any port of the host card.
  • Page 5: Hardware Overview

    (including camera motion). Typically, the cable is plugged into the host computer IEEE 1394 card. Power for the STH-DCAM is supplied from the card, or through a separate power supply that plugs into the power supply port of the device (7-40 VDC).
  • Page 6 Imager STH-DCAM 1394 imaging Digital Stereo commands Head 1394 Interface Electronics 1394 commands 1394 Digital Cable Figure 3-2 Schematic of the STH-DCAM electronics. Sync signals Right Imager 8-bit pixels 12 MHz per imager 1394 Interface Electronics Digital Video Stream 2001 V...
  • Page 7: Lenses

    STH-DCAM U ’ ANUAL 4 Lenses The STH-DCAM uses standard miniature lenses (12 x 0.5 mm). 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.
  • Page 8: Range Resolution

    STH-DCAM U ’ ANUAL Figure 4-1 Range resolution in mm as a function of distance, for several different lens focal lengths. 4.6 Range Resolution Range resolution is the minimum distance the stereo system can distinguish. Since stereo is a triangulation operation, the range resolution gets worse with increasing distance from the stereo head.
  • Page 9: 1394 Interface

    STH-DCAM. 5.1 1394 Cable The STH-DCAM has an IEEE 1394 port on the left side of the device. Plug a cable from the STH-DCAM into a free port on the host controller. The maximum length for such a cable is 4.5 m (about 15 feet). The cable supplies both signals and power to the stereo head;...
  • Page 10: User Controls

    Video… menu item. Figure 6-1 shows the dialog. 6.1 Color Color information from the STH-DCAM digital head is input as raw colorized pixels, and converted by the interface library into two Figure 6-1 Video Parameters dialog.
  • Page 11: Subsampling

    Figure 6-2 Frame size control in the main capture window. 6.5 Frame Rates Frame rates from the STH-DCAM depend on the frame size and color mode. Frame rates can be set under program control with the SetRate() function; see the Small Vision System User’s Manual. For the smallv and smallvcap applications, frame rates are set at 30 Hz.
  • Page 12: Installing The 1394 Host Card And Capture Software

    There are two applications. smallvcap.exe is a GUI-based application that allows the user to exercise the capture functions of the STH-DCAM. It is described in earlier sections of this document. stcap.exe is a simple application that connects to the stereo head and displays stereo images.
  • Page 13: Linux Installation

    It can serve as a template for user programs that integrate stereo capture from the STH-DCAM. libsvscap.so is the capture library for Linux. These libraries must be set to the correct ones for the STH-DCAM. Copy the following files in the bin/ directory: dcamcap.so -> libsvscap.so You can check that the correct interface library is installed, by looking at the information text when the capture application is started.
  • Page 14: Interface Software Api

    2001 V STH-DCAM U ’ ANUAL IDERE ESIGN 8 Interface Software API Please see the Small Vision System User’s Manual for information about the software API for capturing and saving images.
  • Page 15 STH-DCAM U ’ ANUAL 9 Technical Specifications 9.1 Geometry Housing Rigid milled Delrin frame Baseline 9 cm, fixed Imager size 1/4 inch diagonal Lens type 12 mm miniature, interchangeable Interface Type Digital 1394 [Firewire], OHCI compliant Speed Maximum 20 megapixels / second...
  • Page 16 STH-DCAM U ’ ANUAL Stereo module size 6" x 2.6" x 1" Weight (with lenses) 8 ounces 2001 V IDERE ESIGN...
  • Page 17 2001 V STH-DCAM U ’ ANUAL IDERE ESIGN 10 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: mclaughl@dnai.com Technical information about stereo algorithms and stereo calibration can be...