2001 VIDERE DESIGN STH-MDCS USER’S MANUAL STH-MDCS/-C Stereo Head User’s Manual 2003 Videre Design 1
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL Table of Contents 1 Introduction ...........................................................................................3 2 Quick Start.............................................................................................4 3 Hardware Overview...............................................................................6 3.1 Hardware Schematic......................................................................6 3.2 Frame Formats and Rates ......
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 1 Introduction The STH-MDCS 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 ½” format, with a resolution of 1280 H by 1024 V pixels, and come in either monochrome (STH-MDCS) or colorized (STHMDCS-C) versions.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 2 Quick Start The STH-MDCS/-C comes assembled, the interface module mounted to the imager module. The module comes with lenses dismounted. To set up and test the STH-MDCS/-C, you will need the following: 1. Pair of C-mount lenses, for 1/2” or larger imager (included with the STH-MDCS/-C kit). 2. Host computer with a 1394 PCI or PCMCIA card, OHCI compliant. 3. 1394 6-pin cable. 4. Capture software or Small Vision System installed on the host computer.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL software. It is helpful to review Section 6 in conjunction with the SVS documentation.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL There are no user-settable switches on the STH-MDCS/-C. 3 Hardware Overview 3.1 Figure 3-1 shows the hardware configuration of the STH-MDCS/-C. Figure 3-2 shows the design of the internal hardware of the STH-MDCS/C. In the stereo imager module, two CMOS imagers, each of size 1280 x 1024 pixels, digitize incoming light into a digital stream. The imagers operate in progressive mode only, that is, each line is output in succession from the full frame.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL Left Imager Imager module 8-bit pixels 12 MHz per imager Right Imager Interlace Electronics 1394 imaging commands Interlaced pixels 24 MHz Format Frame size Frame rates Format 0, Mode 3 YUV 16 bits Left image on Y, right image on UV 640x480 3.75, 7.5, 15, 30 Hz Format 2, Mode 0 YUV 16 bits Left image on Y, right image on UV 1280x960 3.75, 7.5 Table 1 Frame formats and sizes for the STH-MDCS/-C.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL small amount of methyl alcohol or similar lens-cleaning solvent, and wipe the imager glass surface gently. Dry with a similar tissue. 4 Lenses 4.3 The STH-MDCS/-C uses standard C-mount lenses. Good-quality, fixedfocus lenses with low distortion and high light-gathering capability are best. The imager size is the largest size of imager that can be covered by the lens. For the STH-MDCS, the lens must be 1/2” or greater.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL Table 2 plots this relationship for several focal lengths. At any distance, the range resolution is inversely proportional to the focal length. 4.7 Field of View The field of view is completely determined by the focal length. formulas for the FOV in horizontal and vertical directions are: The HFOV = 2 arctan(3.84 / f ) VFOV = 2 arctan(2.88 / f ) where f is in millimeters. For example, a 3.5 mm lens yields a horizontal FOV of 95.3 degrees.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL capability of supplying power, and come with an adapter for supplying power to the 1394 cable through a wall transformer. 5 1394 Interface Any 1394 card is suitable, as long as it conforms to OHCI (open host controller interface) specifications. All current cards do, but some older cards may not. Digital image information is transferred from the STH-MDCS/-C to the host PC via a 1394 cable.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL channel corresponds to the left image, which is the reference image for stereo. The right image color channel is also available. The color images can be de-warped, just like the monochrome images, to take into account lens distortion (see the Small Vision System User’s Manual). 6 User Controls The CMOS imagers are fully controllable via the 1394 interface.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 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 image, but it uses fewer pixels to do so, and has less detail. Sampling differs from subwindowing, which picks a rectangular portion of the image, but doesn’t change its resolution. Binning is a subsampling technique in which several adjacent pixels are averaged into one.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL Sampling mode Frame size Gamma correction Figure 6-2 Frame size and Subsampling controls in the main capture window.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL For more information about installation, please see the Videre Design website (www.videredesign.com/support_svsmsw.htm). 7 Installing the 1394 Host Card and Capture Software 7.1.2 Linux Hardware and Driver Installation Linux kernels 2.4.x are required for operation. Please see the Videre Design website (www.videredesign.com/support_svslnx.htm) for current information. The STH-MDCS/-C connects to a host computer via a digital 1394 interface.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL smallvmat(.exe) serve as a template for user programs that integrate stereo capture and computation from the STH-MDCS/-C. svsgrab.dll/lib libsvscap.so interface libraries stereo calculation libraries src/ flwin.cpp svs.h flwin.h samples/ smallv.cpp fldispx.cpp *.dsw, *.dsp, makefile libsvscap.so and svsgrab.lib/dll are the capture libraries for Linux and MS Windows, respectively. These libraries must be set to the correct ones for the MEGA-DCS.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 8 Interface Software API Please see the Small Vision System manual for information about the software API for capturing and saving images.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 9 Physical Diagram Dimensions and 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. Mounting The diagram below shows the physical dimensions for the STH-MDCS/-C.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 10 Technical Specifications Specifications Imagers ½” format CMOS 1280x960 active area Progressive scan Color or monochrome Digital Camera Specification Version 1.30 Formats 1280x960, 640x480 8 bit monochrome or Bayer color pattern Frame Rates 3.75, 7.5, 15, 30 Hz Max 7.5 Hz at 1280x960 Exposure 1 line time to full frame Gain 0 – 22 dB Sensitivity 2.
2001 VIDERE DESIGN STH-MDCS USER’S MANUAL 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 stereo calibration can be found at www.ai.sri.com/~konolige/svs.
