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STH-DCSG

 

U

SER

M

ANUAL

 

 

 

 

 

 

 

 

 

 

 

 

 

©

2005

 

V

IDERE 

D

ESIGN

 

 

20 

the light on the image will be adjusted by changing the exposure. 

For high-speed motion, it is better to set the exposure to a fixed, low value, 
and then use auto-gain to keep reasonable light levels on the imager. 

7.4 Subsampling 

In many applications it is not necessary to work with the full 640x480 
image.  The CMOS imagers are capable of sampling the pixels in the array.  
Sampling allows the video stream to send less data, for faster frame rates or 
less bus activity.  A sampled image shows the same scene as the original 
image, but it uses fewer pixels to do so, and has less detail.   

Binning

 is a subsampling technique in which several adjacent pixels are 

averaged into one.  Binning reduces video noise, sometimes quite 
substantially.  Binning is available on-chip (monochrome only) and on the 
host PC – the larger image is first transferred on the IEEE 1394 bus, then 
binned down.   

Sampling differs from 

subwindowing

, which picks a rectangular portion of 

the image, but doesn’t change its resolution.  The STH-DCSG has one 
subwindow mode, in which the center 320x240 subwindow of the imager is 
chosen.  Using the subwindow has the effect of zooming the image by a 
factor of 2. 

Figure 7-2 shows the frame size and subsampling controls on the video 
capture application.  With SVS version 3.2b, the sampling control has been 
changed to a simple Frame Division control.  For the STH-DCSG, there are 
two possible values, 1 (full image) and 1/2. 

Refer to Table 4 for a complete list of allowed modes, and how the frame 
size and sampling setting affect the output image.  Explicit control over the 
sampling mode is accomplished with the 

SetSample()

 function from the 

SVS API.   

The first two lines of the table are for full-frame images.  At 640x480, the 
full image is sent to the host PC, and there is no binning.  At 320x240, there 
are two choices: binning on the imager (monochrome only), or binning on 
the host; the default for monochrome is binning on the imager, and for 
color, binning on the host PC.  Using 

SetSample(2,1)

 means that 

binning will take place on the imager, which then transmits a 320x240 
imager.  Using 

SetSample(1,2)

 means that binning will take place on 

the host.  In this case, the imager transmits all 320x240 pixels, so the 
maximum frame rate is lower.  This is the greyed-out line in the table. 

For 1/2 frame images, the resolution is 320x240.  In this case, the STH-
DCSG transmits a 320x240 image.   

7.5 Frame 

Rates 

Frame rates from the STH-DCSG/-C depend on the frame size. Table 4 
shows the frame rates available for each of the frame sizes.  Note that a 50 
Hz option is available – see Section 3.3 

7.6 Firmware 

Parameters 

There is one firmware parameter that affects the overall behavior of the 
STH-DCSG. 

 

50 Hz operation 

This parameter can be changed by using the Firmware Parameter dialog, 
accessible from the 

smallv

 menubar.  Choosing this menu brings up the 

dialog, which is shown in Figure 7-3. 

The dialog lists many of the internal parameters of the device, which are 

Resolution Frame 

Bin 

on 

imager 

Bin on 
PC 

Frames per Second 

640 x 480 

Full 

no 

no 

3.75, 7.5, 15, 30 

Monochrome only 
320 x 240 

Full 

yes 

no 

3.75, 7.5, 15, 30, 60 

320 x 240 

Full 

no 

yes 

3.75, 7.5, 15, 30 

320 x 240 

1/2 

no 

no 

3.75, 7.5, 15, 30, 60 

Table 4  Subsampling modes and frame rates for the STH-DCSG.   

Summary of Contents for STH-DCSG

Page 1: ...STH DCSG USER S MANUAL 2005 VIDERE DESIGN 1 STH DCSG C Stereo Head User s Manual April 2005 2005 Videre Design...

Page 2: ...IEEE 1394 Cable 13 5 2 IEEE 1394 Host Interface 13 5 3 Supplying Power 13 6 Lenses 15 6 1 Locking Lenses 15 6 2 C and CS Mount Lenses 15 6 3 Changing Lenses 15 6 4 Cleaning the Imagers 15 6 5 Imager...

Page 3: ...e 11 Figure 5 1 External power supply connections 14 Figure 6 1 Range resolution in mm as a function of distance 16 Figure 7 1 Video Parameters dialog 18 Figure 7 2 Frame size and sampling controls 19...

Page 4: ...to the STH DCSG C please see the STH DCSG VAR C manual for more information SRI s Small Vision System SVS software has an interface to the STH DCSG C and is included with each stereo head You can sim...

Page 5: ...s high sensitivity the STH DCSG allows for very short exposure times even under moderate lighting conditions So it is appropriate for high motion applications such as outdoor robotics motion capture e...

Page 6: ...be supplied see Section 5 3 The PC operating system will normally recognize the STH DCSG and install the correct system drivers Please see the Videre support web pages www videredesign com support ht...

Page 7: ...e menu A more complete description of the video capture program is in Section 7 The SVS programs are described in the SVS User s Manual and the SVS Calibration Addendum documentation that comes with t...

Page 8: ...de only that is each line is output in succession from the full frame The maximum video rate is 12 megapixels per second from each imager The imagers are synchronized to a common clock so that the cor...

Page 9: ...oduce a smaller image with improved noise characteristics 3 3 50 Hz Operation Indoor lighting especially from fluorescent fixtures can oscillate at the frequency of the electrical supply If the image...

Page 10: ...o is determined by the maximum bandwidth of the bus for isochronous transfers 32 MB s This rate cannot be exceeded by the combined video streams on the bus Table 2 shows the bandwidth requirements for...

Page 11: ...Section 5 for information about cabling and power for the IEEE 1394 bus 4 1 2 Linux Hardware and Driver Installation Linux kernels 2 4 or 2 6 kernels are required for operation Please see the Videre D...

Page 12: ...alibration libraries are not included the only way to run the SVS calibration procedures is through the smallvcal exe application smallv exe is a GUI based application that allows the user to exercise...

Page 13: ...be added by installing a 1394 PCI card or PCMCIA card for laptops 1394 PCI cards have 6 pin ports and supply power PCMCIA cards do not have the capability of supplying power and come with an adapter f...

Page 14: ...5 1 External power supply connections On the left is power supplied to a PC Card with a power port On the right power is supplied through a hub with a power port Power should be 7 to 16 VDC at 1 5 W...

Page 15: ...older or lens threads Once the threads are engaged continue screwing it on until it seats firmly You can snug it down but do not tighten it excessively since this can damage the lens and the lens hold...

Page 16: ...ution comes with it 6 8 Range Resolution Range resolution is the minimum distance the stereo system can distinguish Since stereo is a triangulation operation the range resolution gets worse with incre...

Page 17: ...SER S MANUAL 2005 VIDERE DESIGN 17 Lens focal length Horizontal FOV Vertical FOV 2 8 mm 69 deg 54 deg 4 0 51 40 8 0 27 20 16 14 10 Table 3 Horizontal and vertical field of view for different lens foca...

Page 18: ...rmation is sampled at a lower resolution than a similar non colorized camera samples monochrome information In general a color camera has about the spatial resolution of a similar monochrome camera Th...

Page 19: ...r the STH DCSG C devices In manual mode the user program sets the exposure and gain The exposure and gain are based on a 0 to 100 scale Here are some tips for setting exposure and gain In general keep...

Page 20: ...me size and sampling setting affect the output image Explicit control over the sampling mode is accomplished with the SetSample function from the SVS API The first two lines of the table are for full...

Page 21: ...ice is downloaded and stored in the device and will cause 50 Hz operation every time the STH DCSG is accessed To change back to 60 Hz uncheck the box and again save it to the device It is also possibl...

Page 22: ...STH DCSG USER S MANUAL 2005 VIDERE DESIGN 22 8 Interface Software API Please see the Small Vision System manual for information about the software API for capturing and saving images...

Page 23: ...hysical Dimensions and Mounting Diagram The diagram below shows the physical dimensions for the STH DCSG C The larger hole is threaded for a 20 machine screw standard tripod mounting screw The two sma...

Page 24: ...125 6 5 12 5 25 50 Hz Max 30 Hz at 640x480 Exposure 1 line time to full frame Gain 0 12 dB 1x 4x Sensitivity 4 8 V lux sec monochrome S N 60 dB no gain Power 1 W Synchronization Internal pixel locked...

Page 25: ...STH DCSG USER S MANUAL 2005 VIDERE DESIGN 25 10 2 Imager Response Color 10 3 Imager Response Monochrome...

Page 26: ...STH DCSG USER S MANUAL 2005 VIDERE DESIGN 26 10 4 Filter Transmittance...

Page 27: ...hnical support please contact Videre Design by email or FAX Videre Design 865 College Avenue Menlo Park CA 94025 Fax 650 323 3646 Email support videredesign com Technical information about stereo algo...

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