Proxima ASA Car Stereo System STH MD1 C User Manual

STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
STH-MD1/-C Stereo Head  
User’s Manual  
? 2001 Videre Design  
1
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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-C) versions. These imagers have  
excellent dynamic range, sensitivity, anti-blooming, and noise  
characteristics. They are fully controllable via the 1394 interface: the user  
can set exposure, gain, subwindow, decimation, etc. They can be used  
interchangeably with the same interface module.  
The STH-MD1/-C uses standard C-mount lenses for user-changeable  
optics. Wide-angle to telephoto options are available, depending on the  
application.  
The wide baseline version of the STH-MD1/-C has exactly the same  
characteristics as the STH-MD1/-C, with the exception of range resolution  
and mounting diagrams.  
There are software drivers for the STH-MD1/-C for MS Windows  
98/2000/XP, and for Linux 2.4.x kernels.  
SRI’s Small Vision System (SVS) software has an interface to the STH-  
MD1/-C. You can simply and automatically calibrate the stereo head,  
perform stereo correlation, and view the results as a 3D set. The SVS  
software includes all of the capture software described in this document.  
3
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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 1394 host card, if necessary, according to the directions in  
Section 7.1. Install the video capture software (included with the STH-  
MD1/-C) or Small Vision System software (see Section 7.2). This is the  
not-so-quick part of the Quick Start.  
Figure 2-1 Video capture program window.  
Screw the lenses into the mounting holes on the stereo head. Be careful  
not to force them initially, as you can cross-thread the lens mount. Snug  
them down, but do not tighten excessively.  
Pull down the Input chooser, and select the Videooption. If everything  
has been set up, the driver software will recognize and configure the stereo  
head after a few seconds, and a success message will appear in the info text  
window. If not, the Input chooser will go back to None, and an error  
message will appear in the info window. Please see Section 7 for  
troubleshooting.  
Plug one end of the 1394 6-pin video cable into either 1394 jack on the  
STH-MD1/-C, and the other into a 1394 port on the host PC. Note: for  
PCMCIA cards, and laptops with a 4-pin Sony iLink port, an external  
power supply and adapter are necessary to convert to a 6-pin (signal +  
power) 1394 plug. Most PCMCIA cards come with this adapter.  
To view stereo video, press the Continuous button. Left and right images  
should appear in the application windows. If the message “Image timed  
out” appears, then there is a problem with the IEEE 1394 drivers; please  
see Section 7. If the images are too light or too dark, you can open the  
manual iris of the cameras, or change the exposure and gain settings  
(Section 6.3). Images can be saved using the File menu.  
Start  
the  
video  
capture  
program, smallv(.exe)  
or  
smallvcap(.exe), on the host computer. You should see a screen as  
in Figure 2-1. The message window should indicate that the STH-MD1  
interface is present. If not, go back to software installation (Section 7.2),  
and follow the instructions for configuring the correct capture library.  
A more complete description of the video capture program is in Section 6.  
The SVS programs are described in the documentation that comes with  
4
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
that software. It is helpful to review Section 6 in conjunction with the SVS  
documentation.  
5
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
megapixel imagers, separated by a fixed distance of 9 cm. Lens mounts  
are an integral part of the frame, and standard C-mount lenses are screwed  
into these holders. There is an IR cutoff filter, with a knee at  
approximately 700 nm, permanently mounted inside the lens holder. See  
Section 4 for appropriate lens characteristics.  
Figure 3-2 shows the design of the internal hardware of the STH-MD1/-C.  
In the stereo imager module, two CMOS imagers, each of size 1288 x 1032  
pixels, digitize incoming light into a digital stream. The imagers operate  
in progressive mode 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  
corresponding pixels from each imager are output at precisely the same  
time. Special interlace electronics convert the individual streams into a  
single pixel-interlaced stream at 24 MHz. The interlaced stream contains  
one byte from the left imager, then the corresponding byte from the right  
imager, then the next byte from the right imager, and so on.  
The interface module is mounted on the back of the stereo head. Two 1394  
ports are placed at the top of the module. Either port can be used as a  
connection to the host PC. The two ports allow daisy-chaining of the 1394  
cable to other devices. Use only one port to connect the STH-MD1/-C to  
the host computer!  
A status LED indicates video imager activity. It will flash at half the frame  
rate. It should begin flashing as soon as power is supplied to the camera  
through the IEEE 1394 cable, since the imagers are always active, even  
when images are not being acquired by the host computer. Changing the  
The interlaced video stream is transferred to the 1394 interface module,  
which communicates to the host PC over a 1394 digital cable. The module  
also accepts commands from the host PC over the cable, and uses these  
commands to control imaging modes such as exposure or subwindowing.  
1394 ports  
LED  
The 1394 interface module can communicate at the maximum 1394 data  
rate, 400 MBps.  
indicator  
Right  
C-mount  
3.2 Frame Rates  
lens  
Left  
The 1394 interface electronics supports a maximum rate of 24 megapixels  
per second. At this rate, there is no need for large buffer memories to hold  
video data on the stereo device. At maximum frame size, the frame rate is  
7.5 frames per second. Subsampling modes support higher frame rates,  
from 26 fps at 640 x 480 to 110 fps at 320 x 240 (Section 6.8).  
C-mount  
lens  
Figure 3-1. Physical layout of the STH-MD1/-C stereo head.  
6
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
8-bit pixels  
12 MHz per  
imager  
Left  
Imager  
Right  
Imager  
Imager  
module  
Interlace  
Electronics  
1394  
Interlaced  
imaging  
commands  
pixels  
24 MHz  
1394  
Interface  
Electronics  
1394  
module  
Digital  
Video  
Stream  
1394  
commands  
1394  
Digital  
Cable  
Figure 3-2 Schematic of the STH-MD1/-C electronics.  
7
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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-  
focus lenses with low distortion and high light-gathering capability are  
best.  
The imager size is the largest size of imager that can be covered by the  
lens. For the STH-MD1, the lens must be 2/3” or 1”. 2/3” is an acceptable  
size, but there will be a little vignetting (darkening) at the edge of the  
image. A 1” lens will give much better illumination, but is typically  
available only in longer focal lengths (12 mm or greater).  
Lenses are characterized optically by imager size, F number, and focal  
length. Following subsections discuss the choice of these values.  
4.1 Changing Lenses  
4.4 F Number  
Standard C-mount lenses have a 1” diameter, 28 threads-per-inch screw on  
their back end. The screw mates with the lens holder opening. To insert a  
lens, place it back end on the lens holder opening as straight as possible,  
and gently turn it clockwise (looking down at the lens) until it engages the  
threads of the lens holder. If you encounter a lot of resistance, you may be  
cross-threading the lens. Forcing it on will damage the plastic lens holder  
threads.  
The F number is a measure of the light-gathering ability of a lens. The  
lower the F number, the better it is at pulling in light, and the better the  
STH-MD1 will see in low-illumination settings. For indoor work, an F  
number of 1.8 is acceptable, and 1.4 is even better. For outdoors, higher F  
numbers are fine. In any case, it is useful to have a manual iris for high  
light situations. While the imagers can have electronic exposure and gain  
control to automatically compensate for different light conditions, the  
acceptable illumination range can be extended by mechanical adjustment  
of the lens opening.  
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 holder threads.  
4.5 Focal Length  
Removing the lens is the reverse process: unscrew the lens counter-  
clockwise. There will be some initial resistance, and then it should  
unscrew smoothly.  
The focal length is the distance from the lens virtual viewpoint to the  
imager. It defines how large an angle the imager views through the lens.  
The focal length is a primary determinant of the performance of a stereo  
system. It affects two important aspects of the stereo system: how wide a  
field of view the system can see, and how good the range resolution of the  
stereo is. Unfortunately there’s a tradeoff here. A wide-angle lens (short  
focal length) gives a great field of view, but causes a drop in range  
resolution. A telephoto lens (long focal length) can only see a small field  
of view, but gives better range resolution. So the choice of lens focal  
length usually involves a compromise. In typical situations, one usually  
Normal care should be used in taking care of the lenses, as with lenses for  
any good-quality camera.  
4.2 Cleaning the Imagers  
It should not be necessary to clean the imagers, since they are sealed off by  
an IR filter inside the lens mount.  
If dirt and dust are present on the IR filter surface, they can be cleaned in  
the same manner as a lens. Wet a non-abrasive optic cleaning tissue with a  
8
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
STH-MD1/-C, b is 90 mm, and  
divided by the interpolation factor of 16).  
is 0.46875 um (pixel size of 7.5 um,  
? d  
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(4.8/ f )  
VFOV ? 2arctan(3.8/ f )  
where f is in millimeters. For example, a 4.8 mm lens yields a horizontal  
FOV of 90 degrees. This is about the smallest practical focal length for the  
STH-MD1.  
Figure 4-1 Range resolution in mm as a function of distance, for  
several different lens focal lengths.  
The following table shows the FOV for some standard focal lengths.  
chooses the focal length based on the narrowest field of view acceptable for  
an application, and then takes whatever range resolution comes with it.  
4.6 Range Resolution  
Lens focal length Horizontal FOV  
Vertical FOV  
Range resolution is the minimum distance the stereo system can  
distinguish. Since stereo is a triangulation operation, the range resolution  
gets worse with increasing distance from the stereo head. The relationship  
is:  
4.8 mm  
8.5  
90 deg  
57  
73 deg  
44  
12.5  
16  
50  
38  
r2  
? r ?  
? d ,  
22  
17  
bf  
Table 4-1 Horizontal and vertical field of view for  
different lens focal lengths.  
where b is the baseline between the imagers, f is the focal length of the  
lens, and is the smallest disparity the stereo system can detect. For the  
? d  
9
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
cards may not.  
Digital image information is transferred from the STH-MD1/-C to the host  
PC via a 1394 cable. The cable sends a video stream from the imagers to  
the PC, and sends commands from the PC to the stereo head to control  
exposure, subsampling, etc. The cable also supplies power to the stereo  
head.  
5.1 1394 Cable  
The STH-MD1/-C must be connected to the host PC via a 6-pin male-male  
IEEE 1394 cable. The maximum length for such a cable is 4.5 m (about  
15 feet). The cable supplies both signals and power to the stereo head.  
Use only one cable! The two ports on the MEGA-D are for daisy-chaining  
additional devices onto the IEEE 1394 bus.  
The distance between the stereo head and the PC can be extended by using  
a 1394 repeater.  
Several 1394-enabled devices can be connected together, as long as the  
connection topology doesn’t have any loops. The STH-MD1/-C can be  
connected at any point in such a topology. At a maximum, it will need  
about 60% of the bandwidth of a 400 MBps connection.  
5.2 1394 Host Interface  
The host computer must have an available 1394 port. Some portables and  
desktops come with built-in ports. If these are 6-pin ports, they can be  
connected directly to the STH-MD1/-C. Sony laptops also support an  
alternative 4-pin 1394 cabling, which has the signal pins but no power.  
There are adapters that convert from 4-pin to 6-pin styles; these adapters  
use an external power supply transformer.  
If the host PC doesn’t have a built-in 1394 port, one can 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  
10  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
into account lens distortion (see the Small Vision System User’s Manual).  
6 User Controls  
The CMOS imagers are fully controllable via the 1394 interface. User  
programs may input color images (STH-MD1-C only), set video  
digitization parameters (exposure, gain, red and blue balance),  
subsampling modes, and region-of-interest (subwindowing). All of these  
parameters can be set with the included capture application, or with the  
SRI Small Vision System. They are also accessible to user programs  
through the capture API (Section 8).  
Color information from the camera is input only if the Color button is  
pressed on the main window (Figure 2-1).  
Because the typical color camera uses a colorizing filter on top of its pixels,  
the color information is sampled at a lower resolution than a similar non-  
colorized camera samples monochrome information. In general, a color  
camera has about ¼ the spatial resolution of a similar monochrome  
camera. To compensate for the reduced resolution, use binning (Section  
6.4) to increase the fidelity of the image. For example, if you need a  
320x240 frame size, use 640x480 and binning x2.  
User controls for frame size and sampling modes are on the main capture  
window dialog. Video digitization and Subwindowing controls are  
accessed through a dialog invoked with the Video… menu item. Figure 6-1  
shows the dialog.  
The relative amounts of the three colors, red/green/blue, affects the  
appearance of the color image. Many color CCD imagers have attached  
processors that automatically balance the offsets among these colors, to  
produce an image that is overall neutral (called white balance). The  
MEGA-D provides manual color balance by allowing variable gain on the  
red and blue pixels, relative to the green pixels. Manual balance is useful  
in many machine vision applications, because automatic white balance  
continuously changes the relative amount of color in the image.  
6.1 Color  
Color information from the MEGA-D digital head (STH-MD1-C only) is  
input as raw colorized pixels, and converted by the interface library into  
The manual gain on red and blue pixels is adjusted using the Red and Blue  
controls on the Video Parameters dialog. For a particular lighting source,  
try adjusting the gains until a white area in the scene looks white, without  
any color bias.  
6.2 Gamma Correction  
To display properly for human viewing, most video images are formatted  
to have a nonlinear relationship between the intensity of light at a pixel  
and the value of the video signal. The nonlinear function compensates for  
loss of definition in low light areas. Typically the function is x?, where ? is  
0.45, and the signal is called “gamma corrected.” Digital cameras, such as  
the STH-MD1/C, do not necessarily have gamma correction. This is not a  
Figure 6-1 Video Parameters dialog.  
11  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
problem for stereo processing, but does cause the display to look very dark  
in low-light areas. You can add gamma correction to the displayed image  
by choosing an appropriate gamma value in the slider under the right  
display window (Figure 6-2).  
6.4 Subsampling  
In many applications it is not necessary to work with the the full 1288 x  
1032 pixel array. 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.  
Sampling differs from subwindowing, which picks a rectangular portion of  
the image, but doesn’t change its resolution.  
6.3 Video Digitization Parameters  
The CMOS imagers have electronic exposure and gain controls to  
compensate for varying lighting conditions. The exposure can vary from a  
maximum of a full frame time to a minimum of one line time. Gain is an  
additional amplification of the video signal, for low-light situations. It is  
settable from 0 to 18 dB.  
The PC capture interface supports two types of subsampling. Decimation  
is a sampling technique in which only a portion of the pixel values are sent  
back to the host PC. Decimation takes place at the CMOS imagers, so  
frame rates can be much higher. The STH-MD1/-C supports decimation  
by 2 and by 4.  
Both imagers are treated in exactly the same manner. It is not possible to  
set a different exposure or gain on each imager.  
Binning is a subsampling technique in which several adjacent pixels are  
averaged into one. Binning is superior to subsampling in that it reduces  
video noise, sometimes quite substantially. However, binning does not cut  
down on the video stream data rate for the STH-MD1/-C, since the binning  
is done on the host PC.  
Digitization control can operate in either manual or automatic mode.  
Refer to Figure 6-1 for the controls in the video capture program. Manual  
mode is the only currently supported mode for the STH-MD1/C.  
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.  
Subsampling is always done in both the vertical and horizontal direction.  
Subsampling x2 means that an image of size H x V will be transformed  
into an image of size H/2 x V/2. Subsampling x4 transforms it to an image  
of size H/4 x V/4.  
?? In general, keep the gain as low as possible, since it introduces  
additional noise into the system. Use it only if the exposure is set  
to maximum, or if the exposure must be kept low to minimize  
motion blur.  
?? Adjust the manual iris of the lens to as small an opening as  
possible for your application, without having to use gain. This  
will increase the depth of field and give better optical  
performance.  
12  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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 image are sent back. The imagers support  
independent subwindowing in vertical and horizontal directions. The only  
constraint is that the number of pixels in a line, or the number of lines in a  
subwindow, must be a multiple of 8.  
Subwindows are chosen using the Size pulldown menu in the capture  
application. For example, 320x240 always outputs a 320x240 subwindow.  
How much of the original image is shown depends on the decimation  
mode. A decimation of x4, for example, means that the 320x240 subimage  
covers almost the entire original image. With a fixed subwindow size, you  
can think of subsampling as electronic zoom.  
Gamma  
correction  
Frame size  
Sampling mode  
6.6 Electronic Pan and Tilt  
Since a subwindow doesn’t occupy the whole image, it can be placed at  
different positions within the image. The subwindow position can be set by  
user commands, effectively creating an electronic pan/tilt feature as the  
subwindow is moved.  
Figure 6-2 Frame size and Subsampling controls in the main capture  
window.  
6.7 Electronic Vergence  
The placement of the subwindow is controlled by specifying the location of  
its upper left corner, as an X and Y offset in pixels. Figure 6-1 shows the  
location of the subwindow offset slider controls in the Video Parameters  
dialog.  
Your eyes verge when looking at close objects, that is, they point inwards  
from a parallel view. Vergence is important when viewing close objects,  
because it allows the object to be centered in each image.  
The STH-MD1/-C supports electronic vergence, which simulates  
mechanical vergence. In electronic vergence, the horizontal offset of the  
left subwindow differs from that of the right. This differential offset  
effectively causes the imagers to point inwards towards the close object.  
13  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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. To calculate an actual frame rate, divide the frame rate  
by the fraction of lines in the actual subwindow. For example, at  
decimation x2, a subwindow of size N x 240 would have a frame rate of 53  
fps (26 / (240/512)).  
Decimation  
Frames per Second  
x1 (1288 x 1032)  
x2 (644 x 512)  
x4 (322 x 256)  
7.5  
25  
80  
Table 6-1 Frame rates at different decimations.  
14  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
Design website (www.videredesign.com/support_svslnx.htm) for current  
information.  
7 Installing the 1394 Host Card and Capture  
Software  
The STH-MD1/-C connects to a host computer via a digital 1394 interface.  
The host PC must have a 1394 port, and software to interface to the video  
stream from the camera. This interface software presents the video stream  
from the 1394 hardware as a set of stereo frames to the user program (see  
Figure 7-1). The STH-MD1/-C comes with interface software for either  
MS Windows 98/2000/XP or Linux.  
Sometimes the 1394 system will get hung and you have to unhang it by  
removing all the modules, and re-installing them. Also, the Linux IEEE  
1394 drivers sometimes do not configure the root node of the bus properly.  
Check the listing of /proc/ohci1394 to see if the word “root” appears near  
the top of the listing. If not, you can sometimes get around this problem by  
using:  
modprobe ohci1394 attempt_root=1  
7.1 1394 Hardware and Drivers  
when installing the OHCI 1394 module.  
Before installing the software interface, the PC must be equipped with a  
1394 port. If there is one already present, on the motherboard, then you  
can skip this section. Otherwise you have to install a PCI or PCMCIA  
card. The card must be OHCI compliant, which all current cards are.  
7.2 STH-MD1 Software  
The STH-MD1/-C comes with interface software and several sample  
applications, including the capture application described in this manual.  
7.1.1 MS Windows Hardware Installation  
To install the software under MS Windows, execute the file  
svscap21X.exe. The installation process will add the relevant  
interface and application software.  
MS Windows 98SE, ME, 2000, or XP is required.  
For a PCI card, insert the card into a free PCI slot with the computer power  
off, and start the computer. With a PCMCIA card, insert it into the  
PCMCIA slot. In either case, the New Hardware wizard will walk you  
through installation steps for the low-level drivers. You may need your  
MS Windows 98/2000 CD to install some files.  
To install the software under Linux, untar the file svscap21X.tgzin a  
new directory, which will become the top-level directory of the software.  
You should also set the environment variable SVSDIR to this directory,  
and add bin/to your LD_LIBRARY_PATH variable.  
The directory structure for the software is:  
1394  
To  
video  
stream  
user  
program  
bin/  
smallvcap(.exe)  
smallv(.exe)  
smallvcal(.exe)  
stcap(.exe)  
stdisp(.exe)  
svsgrab.dll/lib  
1394  
PC  
Hardware  
Low-level  
1394  
driver  
STH-MD1  
interface  
software  
Figure 7-1 Host PC low-level software structure.  
15  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
libsvscap.so  
pixcap.so  
serve as a template for user programs that integrate stereo capture from the  
STH-MD1/-C.  
svspix.dll/lib  
libsvscap.so and svsgrab.lib/dll are the capture libraries for  
Linux and MS Windows, respectively. These libraries must be set to the  
correct ones for the MEGA-D. Copy the following files in the bin/  
directory:  
stereo calculation libraries  
src/  
flwin.cpp  
svs.h  
flwin.h  
pixcap.so -> libsvscap.so (Linux)  
svspix.dll -> svsgrab.dll (MS Windows)  
svspix.lib -> svsgrab.lib (MS Windows)  
samples/  
stcap.cpp  
stdisp.cpp  
*.dsw, *.dsp, makefile  
There is a convenience program for MS Windows, setup_megad.bat,  
There are several applications. The source code for all applications is  
included in the distribution. The stereo calculation libraries are also  
included, so that user applications can link to them. The calibration  
libraries are not included; the only way to run the SVS calibration  
procedures is through the smallvcal(.exe)application.  
which will perform the copies when double-clicked.  
You can check that the correct interface library is installed, by looking at  
the information text when the capture application is started. It should say  
MEGA-D digital stereo interface”. If not, the wrong interface library is  
installed in svsgrab.dllor libsvscap.so.  
smallvcap(.exe) is a GUI-based application that allows the user to  
exercise the capture functions of the STH-MD1/-C. It is described in  
earlier sections of this document.  
smallv(.exe) is similar to smallvcap, with the addition of SRI’s  
stereo calculation libraries for realtime depth analysis. You must have  
installed the full SVS system to run this application.  
smallvcal(.exe) is the same as smallv, with the addition of a  
calibration package for calibrating a stereo rig. Use this application to  
perform calibration on your stereo system.  
stcap(.exe) is a simple application that connects to the stereo head  
and displays images. It can serve as a template for user programs that  
integrate stereo capture from the STH-MD1/-C.  
stdisp(.exe) is a simple application that connects to the stereo head,  
grabs images and performs stereo analysis, and displays the results. You  
must have installed the full SVS system to run this application. It can  
16  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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  
7.5 um square  
Housing  
Rigid milled Delrin frame  
Sensitivity  
1 lux  
Baseline  
9 cm, fixed  
Exposure  
Electronic, 0.1 ms to frame time  
Imager size  
2/3 inch diagonal  
Gain  
Lens type  
6 to 20 dB  
Resolution  
1288 H x 1032 V  
Decimation  
x1, x2, and x4  
Subwindow  
Arbitrary rectangular subwindow  
C mount, interchangeable  
10.2  
Interface  
Type  
Digital 1394 [Firewire], OHCI compliant  
Speed  
Maximum 20 megapixels / second  
Host interface  
Any 1394 OHCI card  
10.4  
Full-frame rates  
Host OS  
No decimation  
Windows 98 / 2000, Linux  
1280 x 1032: 7 Hz  
640 x 512: 25 Hz  
320 x 256: 80 Hz  
Decimate by 2  
Decimate by 4  
10.3  
Imagers  
Type  
Zoran PCS2112 CMOS  
19  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS 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)  
6 ounces  
20  
Download from Www.Somanuals.com. All Manuals Search And Download.  
STH-MD1 USERS MANUAL  
? 2001 VIDERE DESIGN  
11 Technical Support  
For technical support, please contact Videre Design by email or FAX.  
Videre Design  
P.O. Box 585  
Menlo Park, CA 94026-0585  
Fax: (650)323-3646  
Technical information about stereo algorithms and stereo calibration can  
21  
Download from Www.Somanuals.com. All Manuals Search And Download.  

Peavey Speaker SSE 26 User Manual
Pelco Switch c1515m a User Manual
Pentair Water Dispenser 40106 Rev H 05 05 User Manual
Philips CD Player AZ1830 User Manual
Philips Indoor Furnishings 42FWF1013 00 User Manual
Philips Portable Speaker SBA220 00 User Manual
Philips TV Video Accessories TC309815 User Manual
Polycom Car Speaker 1725 11530 200 Rev A1 User Manual
Premier Mounts Indoor Furnishings PDS 020 User Manual
PYLE Audio Car Video System PLMDR7 User Manual