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Содержание Tara Stereo Vision

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

Страница 2: ... Copyright e con Systems 2017 All rights reserved 1 Disclaimer e con Systems reserves the right to edit modify this document without any prior intimation of whatsoever ...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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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