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Summary of Contents for industrial 3D robotics Phobos
- Page 1 Phobos operator manual Revision date: Feb 2019...
- Page 2 Contact Details Correspondence Address: I3D Robotics Ltd Pipers Business Centre 220 Vale Road Tonbridge Kent TN9 1SP Email: info@i3drobotics.com Phone: +44 (0)1732 373020 (09:00 – 17:00 UK) Fax: +44 (0)1732 373001 Revision date: Feb 2019...
- Page 3 About this Manual Who is this for? This manual is intended for the operator of the I3D Robotics Phobos stereo camera. It will help the operator understand how to get the most out of this new product. What’s in it? This manual provides the operator with instructions on how to unpack, install and operate the camera.
- Page 4 Revision date: Feb 2019...
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Page 5: Table Of Contents
Contents Introduction ........................6 System requirements ....................7 Mechanical and Electrical Information ..............7 Certification ......................8 Stereo specification ....................... 8 Installation ........................9 Unpacking and handling ..................9 What should I have? ..................... 10 Operation ........................10 Using the Stereo Vision Toolkit ................10 Installation ...................... -
Page 6: Introduction
1 Introduction Phobos is a high-resolution stereo vision system that uses 5 Megapixel cameras and can operate at 30 fps over a USB3.0 interface. The cameras use a global shutter and are suitable for imaging moving targets. Some of the key features are detailed below: Interface USB3.0 (5 Gbps) -
Page 7: System Requirements
1.1 System requirements The table below outlines the minimal requirements of the connected computer running the user software. Processor Intel i3/5/7 or similar Hard disk space 500MB Graphics card CUDA compatible card. Geforce-gtx-1060 or better recommended Connectivity USB3 1.2 Mechanical and Electrical Information Dimensions 390 x 140 x 50 mm åManufacturing tolerance... -
Page 8: Certification
1.3 Certification This product conforms to 2012/19/EU (WEEE), 2011/65/EU (RoHS) and 2014/30/EU (EMC Compatibility). 2 Stereo specification Z axis indicates depth, perpendicular to the camera sensor plane. Baseline 300 mm �� 0.35 mm �� Depth resolution at 1 m (∈ ∈... -
Page 9: Installation
Given a point (X, Y, Z) which is located at (x, y) in the left image and a known disparity, d, along with the camera separation (baseline) b and focal length f: ���� ���� ���� �� = , �� = , ��... -
Page 10: What Should I Have
Computer\HKEY_CURRENT_USER\Software\I3Dr\Stereo Vision Toolkit • 4.3 Acquiring images First, make sure your Phobos unit is plugged into a USB3 port to achieve the required framerate. Open the software, you will be presented with the stream from the two cameras. The acquisition tab is shown below:... - Page 11 The different features of the toolkit are arranged by tab. The first tab shows the stream from each camera. You can check the frame rate in the status bar at the bottom, as well as the camera’s reported temperature from an onboard sensor. This is calculated using an assumed ambient temperature of 20 C.
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Page 12: Matching Images
At the top right, you can specify which matcher to use (OpenCV Block, OpenCV SGBM or i3Dr’s SGM), the camera’s exposure time in ms (or auto-expose) and whether to toggle HDR mode. HDR mode is useful for suppressing highlights in the scene, and does not affect the maximum framerate, especially in conjunction with auto-expose mode. - Page 13 There are several common parameters (further description may be found in OpenCV’s documentation here) Window size – sets the size of the comparison region. Bigger values will produce denser disparity maps at the expense of fine detail and edge sharpness. Minimum disparity –...
- Page 14 On the right, you can control the visualisation settings for the disparity map including the disparity minimum and range (the same as for the matcher), the choice of colourmap and a filter to filter pixels that are brighter than a certain amount. Saturation filtering can be useful if very bright lights are observed by the cameras.
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Page 15: Viewing Point Clouds
Figure 3 Left: A small disparity range of 32 px does not match the whole image. Right: A higher range of 192 px matches more of the image closer to the camera, but also reduces the region of the image that can be matched. Figure 4 Left: OpenCV Block Matcher Right: OpenCV SGB Matcher For most applications you will probably need to tweak the matcher settings to get the best reconstruction for a specific scene, and depending on the desired trade-off between point... -
Page 16: Calibration
You can zoom with the mouse wheel and rotate with the left mouse button. Holding shift and clicking pans the scene. Set the min/max Z distance to limit the range of points shown. You can save the current point cloud as a PLY file for viewing in other software, such as the freely available Meshlab or CloudCompare. - Page 17 Corner Figure 5 A standard ‘chessboard’ calibration target. We refer to the calibration points as corners, the points where the square vertices meet. The red box highlights the ‘active’ area of the pattern, which should be visible in all images. You should print with as high a resolution as your printer will allow.
- Page 18 Figure 6 An example set of calibration images, using an A4 target printed on a board. Capturing 10 calibration pairs should be enough for many cases. Make sure the pattern is fully visible in both cameras. Once you’re done, open the calibrate from images tool: Follow the instructions in the dialog window, providing the location of the left and right calibration images.
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Page 19: Using External Libraries
5 Using external libraries 5.1 OpenCV You can use the Deimos camera in OpenCV (C++/Python). Simply load the camera as a VideoCapture object and set the resolution to 752 x 480. Frames are returned as a 3-channel colour images. The last two channels correspond to the left and right images respectively. from matplotlib.pyplot import * import cv2 cap = cv2.VideoCapture(0) -
Page 20: Using Ros
5.2 Using ROS A compatible ROS node for the camera may be found here. This node also provides access to the camera’s onboard IMU as a topic and allows you to control the camera exposure. Since the camera enumerates as a UVC compatible device, you should be able to use Deimos in most imaging libraries with generic capture interfaces. - Page 21 • Check that the pattern size you provided is correct 6.7 I can’t see any 3D output Sometimes you may need to move the view slightly (using your mouse) to re-render the point cloud. You need a valid calibration to project to 3D, as the camera projection matrix must be known.