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9.3.3 Algorithm Settings . . . . . . . . . . . . . . . . . . . . . 22

9.4 Cameras . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

9.4.1 Camera Selection . . . . . . . . . . . . . . . . . . . . . . 23

9.4.2 Simple Camera Settings . . . . . . . . . . . . . . . . . . 24

9.4.2.1 Image Format Control . . . . . . . . . . . . . . 25

9.4.2.2 Analog Control . . . . . . . . . . . . . . . . . . 25

9.4.2.3 Acquisition Control . . . . . . . . . . . . . . . . 25

9.4.3 Recommended Settings for Karmin2 Stereo Camera . . . 25

9.4.4 Recommended Settings for Other Cameras . . . . . . . . 26

9.5 Advanced Camera Settings . . . . . . . . . . . . . . . . . . . . . 26

9.6 Automatic Exposure Adjustment . . . . . . . . . . . . . . . . . 26

9.6.1 Exposure and Gain . . . . . . . . . . . . . . . . . . . . . 26

9.6.2 Manual Settings . . . . . . . . . . . . . . . . . . . . . . . 29

9.6.3 ROI Settings . . . . . . . . . . . . . . . . . . . . . . . . 29

9.7 Trigger / Pairing . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9.8 Time Synchronization . . . . . . . . . . . . . . . . . . . . . . . 30

9.9 Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . 32

9.9.1 Calibration Board . . . . . . . . . . . . . . . . . . . . . . 32

9.9.2 Recording Calibration Frames . . . . . . . . . . . . . . . 33

9.9.3 Performing Calibration . . . . . . . . . . . . . . . . . . . 33

9.10 Reviewing Calibration Results . . . . . . . . . . . . . . . . . . . 34

9.11 Auto Re-calibration . . . . . . . . . . . . . . . . . . . . . . . . . 36

9.12 Network Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 38

9.13 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

10 API Usage Information

41

10.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . 41

10.2 ImageTransfer Example . . . . . . . . . . . . . . . . . . . . . . 41

10.3 AsyncTransfer Example . . . . . . . . . . . . . . . . . . . . . . 43

10.4 3D Reconstruction . . . . . . . . . . . . . . . . . . . . . . . . . 44

11 Supplied Software

44

11.1 NVCom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

11.2 GenICam GenTL Producer . . . . . . . . . . . . . . . . . . . . 45

11.2.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . 45

11.2.2 Virtual Devices . . . . . . . . . . . . . . . . . . . . . . . 47

11.2.3 Device IDs . . . . . . . . . . . . . . . . . . . . . . . . . . 48

11.3 ROS Node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

12 Support

49

13 Warranty Information

49

14 Open Source Information

49

2

Summary of Contents for SceneScan

Page 1: ...SceneScan SceneScan Pro User Manual v1 5 April 1 2019 VISION TECHNOLOGIES Nerian Vision GmbH Gutenbergstr 77a 70197 Stuttgart Germany Email service nerian com www nerian com...

Page 2: ...er Supply 8 6 3 Trigger Port 8 6 4 Con guration Reset Button 9 7 Hardware Setup 10 7 1 Basic Setup 10 7 2 Networking Con guration 10 7 3 Supported Cameras 11 7 4 Color Camera Considerations 12 7 5 Cam...

Page 3: ...er Pairing 29 9 8 Time Synchronization 30 9 9 Camera Calibration 32 9 9 1 Calibration Board 32 9 9 2 Recording Calibration Frames 33 9 9 3 Performing Calibration 33 9 10 Reviewing Calibration Results...

Page 4: ...ement ranges 2 SceneScan SceneScan Pro Di erences Two di erent models exist for the given image processing system SceneScan and SceneScan Pro Both models provide the same functionality however SceneSc...

Page 5: ...GPIO Max USB power 900 mA Conformity CE FCC RoHS 4 2 Stereo Matching Stereo algorithm Variation of Semi Global Matching SGM Max grayscale resolution SceneScan 800 800 pixels SceneScan Pro 1888 1888 p...

Page 6: ...The maximum frame rate that can be achieved depends on the image size and the con gured disparity range Table 2 provides a list of recommended con g urations This is only a subset of the available co...

Page 7: ...5 MECHANICAL SPECIFICATIONS 105 5 6 45 130 a 104 5 6 45 b Figure 1 a Front and b side view of SceneScan with dimensions in mil limeters 6...

Page 8: ...nnecting SceneScan to a client computer or an other embedded system This port is used for delivering processing re sults and for providing access to the con guration interface USB ports Ports for conn...

Page 9: ...he cameras up to 900 mA on each USB port If the cameras consume less than the permitted maximum current or are powered externally then a smaller power supply can be used The power connector uses a mal...

Page 10: ...383 00 04 Matching connector with solder termination not shielded 99 3383 100 04 Matching connector with screw termination not shielded 99 3383 500 04 Matching connector with cutting clamps terminatio...

Page 11: ...l con guration syn chronization requires connecting the cameras to SceneScan s trigger port see Section 7 7 but it is also possible to use other external trigger sources 7 2 Networking Con guration It...

Page 12: ...9000 bytes MTU a Windows computer should thus be con gured to use a 9014 bytes packet size On Linux Jumbo Frame support can be activated by setting a su ciently large MTU through the ifconfig command...

Page 13: ...qual resolu tions When using color cameras SceneScan can process an RGB or Bayer pat tern image In the former case the camera will need to perform Bayer pattern demosaicing When SceneScan performs dem...

Page 14: ...ample sequence is replayed in an in nite loop Due to speed limitations of the internal memory the example sequence is not replayed at the full frame rate during the rst loop iteration Another set of v...

Page 15: ...d in the device con guration see Section 9 8 the internal clock is set to 0 whenever a rising signal edge is received on this pin In order to trigger a synchronization the signal must have a voltage l...

Page 16: ...eo matching results are delivered in the form of a disparity map from the perspective of the left camera The disparity map associates each pixel in the left camera image with a corresponding pixel in...

Page 17: ...tion x y z T of a point with image coordinates u v and disparity d can be reconstructed as follows x y z 1 w x0 y0 z0 with x0 y0 z0 w Q u v d 1 When using the Q matrix provided by SceneScan the receiv...

Page 18: ...and disparity map which is trans mitted by SceneScan also includes a timestamp and a sequence number The timestamp is measured with microsecond accuracy and is set to either the time at which a camera...

Page 19: ...e system status page that is shown in Figure 12 On this page you can nd the following information Model Indicates whether the device is a SceneScan or SceneScan Pro model Calibration status Provides i...

Page 20: ...SceneScan stops transferring image data to any other host The transfer is continued as soon as the browser window is closed the user presses the pause button below the preview area or if the user nav...

Page 21: ...radient from red to blue with red hues corresponding to high disparities and blue hues corresponding to low disparities Invalid disparities are depicted in black Rainbow A rainbow color scheme with lo...

Page 22: ...h In this mode SceneScan forwards the imagery of the selected cameras without modi cation This mode is intended for verifying that both cameras are functioning correctly Rectify In this mode SceneScan...

Page 23: ...s can be controlled through the algorithm settings The default con guration has been determined using machine learning methods and it should thus be the best choice for most use cases Nevertheless all...

Page 24: ...caused by one of the preceding lters are lled through interpolation Noise reduction If enabled an image lter is applied to the disparity map which reduces noise and removes outliers Speckle lter iter...

Page 25: ...ctive By pressing the reset camera defaults button you can reset the cameras settings to the default con guration This is usually the con guration that has been written to the cameras internal memory...

Page 26: ...adjusted rst Pixel format Desired pixel encoding mode For supported formats see Section 4 2 9 4 2 2 Analog Control Black level Controls the analog black level as an absolute physical value Gamma Contr...

Page 27: ...rameters that can be adjusted In order to keep the con guration manageable the parameters are sorted into di erent visibility groups The visibility group can be changed through the drop down list in t...

Page 28: ...9 CONFIGURATION Figure 16 Screenshot of con guration page for advanced camera settings 27...

Page 29: ...ent is performed no matter what mode is selected You can increase the value if you observe icker ing in your image stream and decrease it if you need smoother variations between consecutive frames Tar...

Page 30: ...page that is shown in Figure 18 allows for a con guration of the trigger output and frame pairing settings Frame pairing refers to the process of identifying which left and right camera frames were re...

Page 31: ...Time Synchronization The time synchronization page which is shown in Figure 19 can be used to con gure three possible methods for synchronizing SceneScan s internal clock As explained in Section 8 3...

Page 32: ...9 CONFIGURATION Figure 19 Screenshot of con guration page for time synchronization Figure 20 Screenshot of con guration page for camera calibration 31...

Page 33: ...n board which is a at panel with a visible calibration pattern on one side The pattern that is used by SceneScan consists of an asymmetric grid of black circles on a white background as shown in Figur...

Page 34: ...the computation of the calibration parameters to take longer SceneScan supports the recording of up to 40 calibration frames We recommend using at least 20 calibration frames in order to receive accu...

Page 35: ...e the cause of error and repeat the calibration process If the cause of error is one or more erroneous calibration frames then you can delete those frames and re press the calibrate button Likewise in...

Page 36: ...nd the average reprojection error This is a measure for the quality of your camera calibration with lower values indicating better calibration results Please make sure that the average reprojection er...

Page 37: ...Furthermore you can save the calibration data to your PC and reload it at a later time by using the upload calibration data section This allows you to switch between di erent cameras or optics without...

Page 38: ...9 CONFIGURATION Figure 25 Screenshot of auto re calibration settings 37...

Page 39: ...mples that have been collected and discarded since the last update Finally you can nd a list of recently computed inter camera rotations in the history area The listed rotations are represented as rot...

Page 40: ...select the con guration le and press the upload button Please be aware that uploading a di erent con guration might modify the IP address of the device In order to avoid a faulty con guration state p...

Page 41: ...Use this functionality only for rmware les that have o cially been released by Nerian Vision Technologies To perform a rmware update select the desired rmware le and press the update button The updat...

Page 42: ...i ed images of both cameras see Section 9 4 Original and recti ed camera images are typically transmitted with a bit depth of 8 bits or 12 bits per pixel The disparity map is always transmitted with a...

Page 43: ...t devices deviceEnum discoverDevices if devices size 0 std cout No devices discovered std endl return 1 Print devices std cout Discovered devices std endl for unsigned int i 0 i devices size i std cou...

Page 44: ...iontransfer deviceenumeration h include visiontransfer asynctransfer h include visiontransfer imagepair h include iostream include exception include stdio h ifdef _MSC_VER Visual studio does not come...

Page 45: ...rr Exception occurred ex what std endl return 0 10 4 3D Reconstruction As described in Section 8 2 the disparity map can be transformed into a set of 3D points This requires knowledge of the disparity...

Page 46: ...g or playback Unless NVCom is run in non graphical mode it opens a GUI window that displays the received image pair The currently displayed image pair can be written to disk by pressing the enter key...

Page 47: ...GUI window will be opened w directory Immediately start writing all received images to the given directory 3 max distance Whenever capturing a frame also write a 3D point cloud with distances up to t...

Page 48: ...res these environment variables When building the source code release please con gure the envi ronment variables manually 11 2 2 Virtual Devices Once the search path has been set the producer is ready...

Page 49: ...n using the dedicated virtual devices is the most e cient option 11 2 3 Device IDs All device IDs that are assigned by the producer are URLs and consist of the following components protocol address vi...

Page 50: ...ision Technologies service sta the rmware is modi ed or replaced except for o cial rmware updates In case of warranty please contact our support sta 14 Open Source Information SceneScan s rmware conta...

Page 51: ...niston ARM Ltd CodeSourcery Inc MIPS Technologies Inc Intel Corporation Willow Garage Inc NVIDIA Corporation Advanced Micro Devices Inc OpenCV Foundation Itseez Inc The Independent JPEG Group elibThom...

Page 52: ...ded new support for color image processing added Baumer cameras Minor wording improvements v1 3 June 7 2018 KS Changes for vision software re lease 6 0 0 rmware release 2 0 0 v1 2 March 1 2018 KS Adde...

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