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Small Vision System User Manual 1 SRI Small Vision System User’s Manual Software version 2.2f January 2002 Kurt Konoli

Small Vision System User Manual 10 2 Getting started with smallv The smallv program is a standalone application that exercises the SVS library.

Small Vision System User Manual 11 framegrabber interface is indicated in the message area on startup. In this case, it is the MEGA-D digital ster

Small Vision System User Manual 12 2.1 Inputting Live Stereo Video The SVS libraries provide support for live video as stereo input. To input vid

Small Vision System User Manual 13 2. Use a single framegrabber capable of inputting 2 monochrome channels, e.g., the Matrox Meteor RGB or Meteor

Small Vision System User Manual 14 The framegrabber interface must be set up before starting smallv; it cannot be changed while the program is runn

Small Vision System User Manual 15 SinglevideostreamLeft camerafieldRightcamera fieldInterlacedfield Figure 2-3 Line-interlaced stereo cameras (ST

Small Vision System User Manual 16 Video Format Frame Sizes Line interlace 160x120 320x120 Dual framegrabber 640x240 and RG component 320x240

Small Vision System User Manual 17 2.1.9 Adjusting Video Parameters Most framegrabbers support some kind of video image adjustments, such as contr

Small Vision System User Manual 18 2.1.10 Subwindowing The MEGA-D digital stereo head can send to the host computer just a portion, or subwindow, o

Small Vision System User Manual 19 2.1.11 Vergence When in subwindow mode, the two cameras in a stereo rig generally will have the same X and Y off

Small Vision System User Manual 2 1 Introduction ______________________________________________________ 5 1.1 The SRI Stereo Engine and the Smal

Small Vision System User Manual 20 2.1.12 Color As of Version 2.1, SVS supports color input and display. Besides the two monochrome left/right ste

Small Vision System User Manual 21 2.2 Storing, Saving, and Loading Stereo Data smallv provides a basic facility for loading and saving stereo dat

Small Vision System User Manual 22 To save the buffer to a file, use the Store Buffer menu item. This saves the buffer as a set of BMP files, appe

Small Vision System User Manual 23 2.3 Display smallv displays two images in its display area. The left display is always the left input image.

Small Vision System User Manual 24 2.4 Stereo Processing and Parameters In smallv, stereo processing takes place in conjunction with the input of

Small Vision System User Manual 25 Figure 2-7 3D display window. The red ray is the optic ray from the left camera.

Small Vision System User Manual 26 2.4.3 Calibration For good stereo processing, the two images must be aligned correctly with respect to each othe

Small Vision System User Manual 27 horopter range of 16; see Section 4 for technical details. Changing the disparity search size affects the time i

Small Vision System User Manual 28 for the window are 9x9 or 11x11. The window size is selected using the Sum window drop list. In the MMX implem

Small Vision System User Manual 29 2.5 Filtering Stereo processing will generally contain incorrect matches. There are two major sources for these

Small Vision System User Manual 3 3.5 Multiscale Disparity _________________________________________________ 41 3.6 Filtering ___________________

Small Vision System User Manual 30 2.6 Saving and Restoring Parameters All of the parameters that control the operation of the SVS Stereo Engine c

Small Vision System User Manual 31 Tx -89.458214 # translation between left and right cameras Ty -0.277252 Tz -0.923279 Rx -0.008051 # rotati

Small Vision System User Manual 32 3 Stereo Geometry Stereo algorithms compute range information to objects by using triangulation. Two images at d

Small Vision System User Manual 33 3.1 Disparity The figure below displays stereo geometry. Two images of the same object are taken from different

Small Vision System User Manual 34 Figure 3-2. Inverse relationship between disparity and range. This plot is for a focal length of 6.3 mm, a ba

Small Vision System User Manual 35 3.2 Horopter Stereo algorithms typically search only a window of disparities, e.g., 16 or 32 disparities. In th

Small Vision System User Manual 36 Disparity: 5 4 3 2 1 0 -1 -2 -3 Figur

Small Vision System User Manual 37 These first three options change the camera geometry, and thus have a corresponding effect on the range resoluti

Small Vision System User Manual 38 3.3 Range Resolution Often it's important to know the minimal change in range that stereo can differentiate

Small Vision System User Manual 39 3.4 Area Correlation Window Stereo analysis is the process of measuring range to an object based on a compariso

Small Vision System User Manual 4 5.9.1 Class svsWindow_______________________________________________________ 66 5.9.2 Class svsDebugWin________

Small Vision System User Manual 40 Figure 3-7 Effects of the area correlation window size. At top is the original left intensity image.

Small Vision System User Manual 41 3.5 Multiscale Disparity Multiscale processing can increase the amount of information available in the disparity

Small Vision System User Manual 42 3.6 Filtering Like most vision algorithms, the results of stereo processing can contain errors. In the case of

Small Vision System User Manual 43 check can be implemented efficiently by storing enough information when doing the original disparity correlation

Small Vision System User Manual 44 3.7 Performance Using standard PC hardware, running either MS Windows 95/98/ME/2000/NT or Linux, the SVS can com

Small Vision System User Manual 45 4 Calibration NOTE: There is a Calibration Addendum manual that details the exact steps necessary to performcal

Small Vision System User Manual 46 4.1 Calibration Procedure An automatic calibration procedure using five image pairs of a planar calibration targ

Small Vision System User Manual 47 Figure 4-4 Smallv calibration dialog window. 6. Detect the corner features in all views by pressing the featur

Small Vision System User Manual 48 4.1.2 Calibration Target The standard calibration target, check.pdf, can be printed out on a single piece of 8.5

Small Vision System User Manual 49 5 API Reference – C++ Language With SVS 2.2x, the standard programming interface to the SVS libraries is in C++

Small Vision System User Manual 5 1 Introduction The SRI Stereo Engine is an efficient realization of an area correlation algorithm for computing r

Small Vision System User Manual 50 5.1 Threading and Multiple Stereo Devices 5.1.1 Threading Issues The SVS core library functions (svs.dll, libs

Small Vision System User Manual 51 5.2 C++ Classes

Small Vision System User Manual 52 There are three main classes for SVS: classes that encapsulate stereo images, classes that produce the images fr

Small Vision System User Manual 53 // Make a video source object, using the loaded framegrabber interface svsVideoImages *videoObject = getVideoO

Small Vision System User Manual 54 5.3 Parameter Classes svsImageParams Image frame size and subwindow parameters svsRectParams Image rectificatio

Small Vision System User Manual 55 5.4 Stereo Image Class svsStereoImage Stereo image class The stereo image class encapsulates information and

Small Vision System User Manual 56 5.4.3 Rectification Information bool isRectified; // have we done the rectification already? bool haveRect; /

Small Vision System User Manual 57 image; the Y axis is vertical and the positive direction is down relative to the center of the image (a right-ha

Small Vision System User Manual 58 5.5 Acquisition Classes svsAcquireImages Base class for all acquisition svsVideoImages Acquire from a video s

Small Vision System User Manual 59 An acquisition object acquires stereo images and returns them when requested. These functions control the image

Small Vision System User Manual 6 1.1 The SRI Stereo Engine and the Small Vision System The Stereo Engine exists in several implementations, inclu

Small Vision System User Manual 60 5.6 Video Acquisition The video acquisition classes are subclasses of svsAcquireImages. The general class is sv

Small Vision System User Manual 61 a number can be used, giving the device in the order returned by the Enumerate() function, i.e., 1is the first d

Small Vision System User Manual 62 The CheckParams() function returns true if the current parameters are consistent. None of the frame or sampling

Small Vision System User Manual 63 5.7 File and Memory Acquisition The file and memory acquisition classes are subclasses of svsAcquireImages. Th

Small Vision System User Manual 64 User images can also be copied into the object’s buffers, if copy is set to true. Here, the object manages all

Small Vision System User Manual 65 5.8 Stereo Processing Classses svsStereoProcess Stereo processing class svsMultiProcess Multiscale stereo p

Small Vision System User Manual 66 5.9 Window Drawing Classes svsWindow Window class for drawing 2D images svsDebugWin Window class for printing

Small Vision System User Manual 67 These functions draw overlay information on the image displayed by svsWindow. There are two ways to draw overla

Small Vision System User Manual 7 1.2 The Small Vision System The Small Vision System (SVS) is meant to be an accessible development environment f

Small Vision System User Manual 8 1.3 Hardware and Software Requirements The SVS libraries exist for most Unix systems, as well as MS Windows 95/9

Small Vision System User Manual 9 1.4 The SVS Distribution The SVS distribution can reside in any directory; normally, it is placed in c:\svs (MS