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Tara Windows Extension Unit API Document

Revision History

Rev

Date

Description

Author

1.1

21-May-2016

Initial Draft

Karthikeyan A

1.2

14-September-2016

Added Auto Exposure and Trigger support

Karthikeyan A

1.3

15-December-2016

Added Auto Exposure support

Karthikeyan A

1.4

09-Jun-2018

Added new IMU Sensor and OpenCV version
3.4.1 support

Chandra Sekar V

Summary of Contents for Tara Stereo Vision

Page 1: ...Tara Stereo Vision USB 3 0 Camera Version 1 4 e con Systems 6 9 2018 Linux API Manual ...

Page 3: ...DISPARITY MAT LIMAGE MAT RIMAGE MAT DISPARITYMAP MAT DISP_FILTERED 6 BOOL ESTIMATEDEPTH POINT PT FLOAT DEPTHVALUE 7 BOOL SETEXPOSURE INT EXPOSUREVAL 7 BOOL GETEXPOSURE INT EXPOSUREVAL 7 BOOL SETAUTOEXPOSURE 7 BOOL SETALGORITHMPARAM 8 BOOL INIT BOOL GENERATEDISPARITY 8 BOOL SETBRIGHTNESS INT BRIGHTNESSVAL 8 BOOL SETSTREAMMODE UINT STREAMMODE 8 BOOL GETSTREAMMODE UINT STREAMMODE 9 CAMERAENUMERATION ...

Page 4: ...ase line of 60 mm With USB 3 0 interface to the host PC Tara can stream WVGA 2 x 752 x 480 resolution at 60 fps VGA 2 x 640 x 480 resolution at 60 fps and QVGA 2 x 320 x 240 resolution at 60 fps in uncompressed Y16 8 Bit pixel data from each camera and RGB24 10 Bit pixel data from each camera It also has ability to capture still images Tara is also backward compatible with USB 2 0 host ports and d...

Page 5: ...4 Tara Windows Extension Unit API Document Block Diagram of Tara SDK in Windows The block diagram of Tara SDK in Windows is shown below Figure 1 Block Diagram of Tara SDK in Windows ...

Page 6: ...differs only in the x axis Parameters Description Return Values Mat LFrame Left Frame of the Camera TRUE on Success FALSE on Failure Mat RFrame Right Frame of the Camera Mat RImage Right Image of the Camera Mat LImage Left Image of the Camera BOOL LoadCameraMatrix This function is used to load the camera matrix from the flash of the camera using the HID commands Loads all the data from the intrins...

Page 7: ...arity Map BOOL GrabFrame Mat LeftImage Mat RightImage This function grabs the frame the camera device initialized Converts the Y16 data and splits the right image and left image respectively Rectifies the frame using the RemapStereoImage method and pass the image as the reference Parameters Description Return Values Mat LeftImage Left Image of the camera TRUE on Success FALSE on Failure Mat RightI...

Page 8: ...eStereo to set the exposure of the device initialized The range of the exposure is 10 to 1000000 micro seconds Parameters Description Return Values Int ExposureVal Exposure value to be set to the camera TRUE on Success FALSE on Failure BOOL GetExposure int ExposureVal This function invokes the HID function GetManualExposureStereo to read the exposure of the device The range of the manual exposure ...

Page 9: ...rateDisparity This function invokes the init method of the TaraCamParameters Initialises all the disparity variables and invokes the SetAlgorithmParam Parameters Description Return Values Bool GenerateDisparity Generates the disparity map TRUE on Success FALSE on Failure BOOL SetBrightness int BrightnessVal This function uses the set property of VideoCapture in OpenCV to set the brightness Value r...

Page 10: ...umerates the devices connected to the computer using Directshow for windows and V4L2 for linux Parameters Description Return Values None N A Returns the number of connected devices to system BOOL GetDeviceIDeCon int DeviceID Size ResolutionSelected This function gets the user input for the device to be streamed Device ID and Resolution to be set for the camera to stream Parameters Description Retu...

Page 11: ...Size ResolutionSelected Pointer to read the LSB value of the temperature void query_resolution int DeviceID This function query s the resolutions supported by the selected camera in Y16 format and saves it in a vector declared in the CameraEnumeration Class Parameters Description Return Values int DeviceID Device id of the camera to be streamed N A Void freeDevices void This function destroys the ...

Page 12: ...ticket for any type of issue please visit the ticketing page on our website https www e consystems com create ticket asp RMA To know about our Return Material Authorization RMA policy please visit the RMA Policy page on our website https www e consystems com RMA Policy asp General Product Warranty Terms To know about our General Product Warranty Terms please visit the General Warranty Terms page o...

Page 13: ...ion Author 1 1 21 May 2016 Initial Draft Karthikeyan A 1 2 14 September 2016 Added Auto Exposure and Trigger support Karthikeyan A 1 3 15 December 2016 Added Auto Exposure support Karthikeyan A 1 4 09 Jun 2018 Added new IMU Sensor and OpenCV version 3 4 1 support Chandra Sekar V ...

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