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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN
STH-MD1/-C Stereo Head
User’s Manual
? 2001 Videre Design
1
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 7.2 STH-MD1 Software .................................................................15 Table of Contents 8 Interface Software API.....................................................................17 1 Introduction.......................................................................................3 9 Mounting Diagrams.........................................................................18 2 Quick Start......................
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 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 PixelCam (now a part of Zoran Corporation). They have 1288 H by 1032 V pixels, and come in either monochrome (STH-MD1) or colorized (STH-MD1
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 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 larger imager. 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. Install the
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN that software. It is helpful to review Section 6 in conjunction with the SVS documentation. 5
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN video modes (frame size, decimation) will cause the frame rate to change, and this will be reflected in the LED flash rate. 3 Hardware Overview There are no user-settable switches on the STH-MD1/-C. Figure 3-1 shows the hardware configuration of the STH-MD1/-C. 3.1 Hardware Schematic The imager module has a milled Delrin frame that rigidly holds two Figure 3-2 shows the design of the internal hardware of the STH-MD1/-C. megapi
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 8-bit pixels 12 MHz per Left Right imager Imager Imager Imager module Interlace Electronics 1394 Interlaced imaging pixels commands 24 MHz 1394 Interface 1394 Electronics module Digital 1394 Video commands Stream 1394 Digital Cable Figure 3-2 Schematic of the STH-MD1/-C electronics. 7
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 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 Imager Size The STH-MD1/-C uses standard C-mount lenses. Good-quality, fixed- The imager size is the largest size of imager that can be covered by the focus lenses with low distortion and high light-gathering capability are lens. For the STH-MD1, the lens must be 2/3” or 1”. 2/3” is
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN STH-MD1/-C, b is 90 mm, and is 0.46875 um (pixel size of 7.5 um, ? d divided by the interpolation factor of 16). Figure 4-1 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. The formulas for the FOV in horizontal and vertical directions are: HFOV ? 2arctan(4
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 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 Digital image information is transferred from the STH-MD1/-C to the host cards may not. PC via a 1394 cable. The cable sends a video stream from the
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN two monochrome and one RGB color channel. The color channel corresponds to the left image, which is the reference image for stereo. The color image can be de-warped, just like the monochrome image, to take 6 User Controls into account lens distortion (see the Small Vision System User’s Manual). The CMOS imagers are fully controllable via the 1394 interface. User Color information from the camera is input only if the Color button
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN problem for stereo processing, but does cause the display to look very dark 6.4 Subsampling in low-light areas. You can add gamma correction to the displayed image In many applications it is not necessary to work with the the full 1288 x by choosing an appropriate gamma value in the slider under the right 1032 pixel array. The CMOS imagers are capable of sampling the pixels display window (Figure 6-2). in the array. Sampling al
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN Figure 6-2 shows the frame size and subsampling 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 is no need to send all of the image data. The CMOS imagers support subwindowing, where only the pixels from a rectangular subwindow of the
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN The vergence 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 time to output a line, no matter how many pixels it contains. Table 6-1 shows the frame rates for maximum frame sizes in each of the decimation modes
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 7.1.2 Linux Hardware and Driver Installation Linux kernels 2.4.x are required for operation. Please see the Videre 7 Installing the 1394 Host Card and Capture Design website (www.videredesign.com/support_svslnx.htm) for current Software information. The STH-MD1/-C connects to a host computer via a digital 1394 interface. Sometimes the 1394 system will get hung and you have to unhang it by The host PC must have a 1394 port,
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN libsvscap.so serve as a template for user programs that integrate stereo capture from the pixcap.so STH-MD1/-C. svspix.dll/lib libsvscap.so and svsgrab.lib/dll are the capture libraries for stereo calculation libraries src/ Linux and MS Windows, respectively. These libraries must be set to the flwin.cpp correct ones for the MEGA-D. Copy the following files in the bin/ svs.h directory: flw
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 8 Interface Software API Please see the Small Vision System manual for information about the software API for capturing and saving images. 17
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN 9.2 Bottom Mounting Diagram for the STH-MD1/-C- Wide (Rev B) 9 Mounting Diagrams The three holes are threaded for ¼-20 machine screws (standard tripod mounting screw). 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. 18
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN Format Monochrome, 8 bits / pixel Color, 8 bits / pixel, Bayer pattern 10 Technical Specifications Scan mode Progressive 10.1 Geometry Pixel size Housing 7.5 um square Rigid milled Delrin frame Sensitivity Baseline 1 lux 9 cm, fixed Exposure Imager si
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STH-MD1 USER’ S MANUAL ? 2001 VIDERE DESIGN [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 lenses)
