SOYO Network Card STH DCAM User Manual

STH-DCAM USERS MANUAL  
2001 VIDERE DESIGN  
STH-DCAM Stereo Head  
User’s Manual  
Updated – Rev 2  
2001 Videre Design  
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STH-DCAM USERS MANUAL  
2001 VIDERE DESIGN  
1 Introduction  
The STH-DCAM (Dual-DCAM) is a compact, low-power digital stereo  
head with an IEEE 1394 digital interface. It consists of two VGA  
(640x480), progressive scan CCD imagers and associated IEEE 1394  
electronics, mounted in a rigid, milled Delrin frame.  
The CCD imagers are Sony HAD ¼” devices, with square pixels and  
progressive scan output. They have 648 H by 484 V pixels, and are  
colorized using a standard Bayer pattern. These imagers have excellent  
dynamic range, sensitivity, anti-blooming, and noise characteristics. They  
are fully controllable via the IEEE 1394 interface, in both manual and  
automatic modes. The user can set exposure, gain, binning, etc., or have  
the stereo head electronics do it automatically.  
The STH-DCAM uses standard 12 x 0.5 mm miniature lenses for user-  
changeable optics.  
Wide-angle to telephoto options are available,  
depending on the application.  
There are software drivers for the STH-DCAM 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-  
DCAM. 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.  
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2 Quick Start  
The STH-DCAM comes assembled, with 3.6 mm lenses as standard.  
To set up and test the STH-DCAM, you will need the following:  
1. Host computer with a 1394 PCI or PCMCIA card, OHCI  
compliant.  
2. 1394 6-pin cable.  
3. 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-  
DCAM) or Small Vision System software (see Section 7.2). This is the  
not-so-quick part of the Quick Start.  
The STH-DCAM has a single IEEE 1394 port, for plugging in an IEEE  
1394 cable. Plug one end of a 6 pin – 6 pin IEEE 1394 cable into the port,  
and the other end into any port of the host card. Note: for PCMCIA cards,  
and laptops with a 4-pin Sony iLink port, an external power supply should  
be plugged into the STH-DCAM to supply power to the stereo head, using  
the 2.1 mm power jack. Standard IEEE 1394 PCI cards supply enough  
power, and the power adapter is not necessary.  
Figure 2-1 Video capture program window.  
message will appear in the info window. Please see Section 7 for  
troubleshooting.  
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. After a few seconds, the images, which are initially  
dark, should lighten as the auto exposure mode adjusts to ambient lighting  
(Section 6.2). Images can be saved using the Filemenu.  
Start the video capture program, smallvcap(.exe), on the host  
computer. You should see a screen as in Figure 2-1. The message window  
should indicate that the STH-DCAM 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 that  
software. It is helpful to review Section 6 in conjunction with the SVS  
documentation.  
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  
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2001 VIDERE DESIGN  
3.1 Hardware Schematic  
Figure 3-2 shows the design of the internal hardware of the STH-DCAM.  
In the stereo imager module, two Sony CCD imagers, each of size 648x486  
pixels, digitize incoming light into a digital stream. A full frame is captured  
at once, and then read out line by line. The imagers operate in progressive  
mode only, that is, each line is output in succession from the full frame.  
3 Hardware Overview  
Figure 3-1 shows the hardware configuration of the STH-DCAM.  
The imager module has a milled Delrin frame that rigidly holds two Sony  
HAD CCD color imagers, separated by a fixed distance of 9 cm. Lens  
mounts are attached to the frame, and standard miniature lenses are screwed  
into these holders. There is an IR curoff filter, with a knee at approximately  
700 nm, permanently mounted inside the lens holder. See Section 4 for  
appropriate lens characteristics.  
The imagers are synchronized to a common clock, so that the corresponding  
pixels from each imager are output at the same time. Each imager sends out  
its own video stream, on a separate IEEE 1394 cable. There are two such  
cables coming out of the STH-DCAM module. Each video stream has a  
maximum rate of 200 Mbps; the whole IEEE 1394 bus runs at 400 Mbps.  
There is a IEEE 1394 port on the left side of the device. The cable carries  
the data and signals for both imagers. Internally, the imagers are  
synchronized so that they are exposed at the same time, a requirement for  
stereo processing whenever there is any motion (including camera motion).  
Each imager is supplied with power from its cable. In order to synchronize  
correctly, power must be applied to the imagers at the same time.  
Typically, the two cables are connected to a small 3-port IEEE 1394 hub,  
which is then connected to the host IEEE 1394 port.  
Typically, the cable is plugged into the host computer IEEE 1394 card.  
Power for the STH-DCAM is supplied from the card, or through a separate  
power supply that plugs into the power supply port of the device (7-40  
VDC).  
3.2 Color and Monochrome  
The Sony CCDs are color imagers, with a standard Bayer color pattern.  
Processing in the STH-DCAM can produce either a color or monochrome  
output from the imagers. Monochrome output is 1 byte/pixel, and color  
outputs are either 2 or 3 bytes/pixel, depending on the format. If color isn’t  
necessary, monochrome output should be selected, to save on movement of  
data.  
There are no user-settable switches on the STH-DCAM.  
1394 cables  
Right  
miniature  
3.3 Frame Rates  
Left  
miniature  
lens  
The IEEE 1394 interface supports a maximum rate of 200 Mbps on each  
imager. The maximum frame rates depend on whether monochrome or  
color output is used. Frame rates up to 30 Hz at 640x480 are supported.  
See Table 3-1 below for a complete list of frame rates.  
lens  
Figure 3-1. Physical layout of the STH-DCAM stereo head.  
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STH-DCAM USERS MANUAL  
2001 VIDERE DESIGN  
Frame Size Frame rate,  
monochrome  
Frame rate,  
color  
Sync  
signals  
Left  
Right  
Imager  
Imager  
640x480  
30 Hz  
15 Hz  
7.5 Hz  
30 Hz  
15 Hz  
7.5 Hz  
30 Hz  
15 Hz  
7.5 Hz  
30 Hz  
15 Hz  
7.5 Hz  
1394  
imaging  
commands  
8-bit pixels  
12 MHz per  
imager  
STH-DCAM  
Digital Stereo  
320x240  
Head  
1394  
Interface  
1394  
Interface  
Electronics  
Electronics  
Table 3-1 Supported frame rates for the STH-  
DCAM, 400 Mbps IEEE 1394 bus.  
Digital  
Video  
Stream  
1394  
commands  
1394 Digital  
Cable  
Figure 3-2 Schematic of the STH-DCAM electronics.  
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STH-DCAM 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-DCAM uses standard miniature lenses (12 x 0.5 mm). 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-DCAM, the lens must be 1/4” or larger.  
Lenses are characterized optically by imager size, F number, and focal  
length. Following subsections discuss the choice of these values.  
4.4 F Number  
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-DCAM 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. Miniature lenses have no mechanical iris for exposure  
adjustment. Instead, they have electronic exposure and gain control to  
automatically compensate for different light conditions.  
4.1 Changing Lenses  
Standard miniature lenses have a 12 mm diameter, 0.5 mm pitch 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.  
4.5 Focal Length  
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 chooses  
the focal length based on the narrowest field of view acceptable for an  
application, and then takes whatever range resolution comes with it.  
Once the threads are engaged, continue screwing it on until most of the  
thread is in the holder. Turn on the device, and check the focus, adjusting it  
until there is a clear image. The depth of focus of most miniature lenses is  
very large, from several inches to infinity.  
Removing the lens is the reverse process: unscrew the lens counter-  
clockwise.  
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  
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2001 VIDERE DESIGN  
where b is the baseline between the imagers, f is the focal length of the lens,  
and d is the smallest disparity the stereo system can detect. For the STH-  
DCAM, b is 90 mm, and d is 0.35 um (pixel size of 5.6 um, divided by  
the interpolation factor of 16).  
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, given a  
fixed imager. The formulas for the FOV in horizontal and vertical  
directions are:  
HFOV = 2arctan(1.792/ f )  
VFOV = 2arctan(1.344/ f )  
where f is in millimeters. For example, a 4.0 mm lens yields a horizontal  
FOV of 48 degrees. The following table shows the FOV for some standard  
focal lengths.  
Figure 4-1 Range resolution in mm as a function of distance, for  
several different lens focal lengths.  
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:  
2.1 mm  
4.0  
81 deg  
48  
65 deg  
37  
r2  
8.0  
25  
19  
r =  
d ,  
Table 4-1 Horizontal and vertical field of view for  
different lens focal lengths.  
bf  
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STH-DCAM USERS MANUAL  
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PCI cards have 6-pin ports, and supply power. PCMCIA cards do not have  
the capability of supplying power, and power can be supplied through the  
power jack. In some cases, the PCMCIA card has an input for external  
power. Plug the STH-DCAM cables into a port, and supply power through  
the external input.  
5 1394 Interface  
Digital image information is transferred from the STH-DCAM to the host  
PC via an IEEE 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, color balance, etc. The cable also supplies power to the  
stereo head. Alternatively, power can be supplied through a separate power  
jack located on the STH-DCAM.  
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.  
5.1 1394 Cable  
The STH-DCAM has an IEEE 1394 port on the left side of the device.  
Plug a cable from the STH-DCAM into a free port on the host controller.  
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; alternatively, power can  
be supplied at the device using a separate power supply.  
The distance between the stereo head and the PC can be extended by using  
an IEEE 1394 repeater.  
Several 1394-enabled devices can be connected together, as long as the  
connection topology doesn’t have any loops. The STH-DCAM is always a  
leaf of the bus. 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-DCAM. Sony laptops also support an  
alternative 4-pin 1394 cabling, which has the signal pins but no power. Use  
a 4-pin to 6-pin cable on these ports, and supply power to the STH-DCAM  
using the separate power port.  
If the host PC doesn’t have a built-in 1394 port, one can be added by  
installing an IEEE 1394 PCI card or PCMCIA card for laptops. IEEE 1394  
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STH-DCAM USERS MANUAL  
2001 VIDERE DESIGN  
monochrome channels 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 CCD imagers are fully controllable via the IEEE 1394 interface. User  
programs may input color images, set video digitization parameters  
(exposure, gain, red and blue balance), and frame size. 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 Colorbuttons are  
pressed on the main window (Figure 2-1). Color/monochrome can only be  
changed while the STH-DCAM is not outputting images.  
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 6.3) 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. The STH-DCAM CCD imagers have  
attached processors that automatically balance the offsets among these  
colors, to produce an image that is overall neutral (called white balance).  
Alternatively, the application program can control the color balance  
manually. 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 STH-DCAM digital head is input as raw  
colorized pixels, and converted by the interface library into two  
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 Video Digitization Parameters  
The CCD 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.  
Figure 6-1 Video Parameters dialog.  
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Both imagers are treated in exactly the same manner. It is not possible to  
set a different exposure or gain on each imager.  
Digitization control can operate in either manual or automatic mode. Refer  
to Figure 6-1 for the controls in the video capture program.  
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 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.  
6.3 Subsampling  
In many applications it is not necessary to work with the the full 640x320  
pixel array. The CCD image processors are capable of reducing the amount  
of information contained in the digital video stream sent back to the host.  
They do this by averaging the values from neighboring pixels, giving a  
higher signal-to-noise ration. This technique is called binning. Binning  
occurs automatically when a smaller frame size is selected.  
Figure 6-2 Frame size control in the main capture window.  
6.5 Frame Rates  
Frame rates from the STH-DCAM depend on the frame size and color  
mode. Frame rates can be set under program control with the SetRate()  
function; see the Small Vision System User’s Manual. For the smallv  
and smallvcapapplications, frame rates are set at 30 Hz.  
Figure 6-2 shows the frame size control on the video capture application.  
The two frame sizes allowed are 640x480 (full frame) and 320x240 (x2  
binning).  
6.4 Subwindowing  
Monochrome  
30, 15, 7.5  
30, 15, 7.5  
Color  
Frame Rates, Hz  
320x240  
The STH-DCAMs do not support subwindowing..  
30, 15, 7.5  
30, 15, 7.5  
640x480  
Table 6-1 Allowable frame rates for the STH-DCAM in different  
modes.  
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7.2.1 MS Windows Installation  
To install the software under MS Windows, execute the file  
svscap22X.exe. The installation process will add the relevant interface  
and application software.  
7 Installing the 1394 Host Card and Capture  
Software  
The STH-DCAM 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-DCAM comes with interface software for either MS  
Windows 98/2000 or Linux.  
The directory structure for the software is:  
bin\  
smallvcap.exe  
stcap.exe  
svsgrab.dll, .lib  
dcamcap.dll, .lib  
src\  
svs.h  
svsclass.h  
samples\  
7.1 1394 Hardware and Drivers  
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.  
*.cpp  
*.dsp, samples.dsw  
There are two applications. smallvcap.exeis a GUI-based application  
that allows the user to exercise the capture functions of the STH-DCAM. It  
is described in earlier sections of this document.  
Please see the Videre Design website (www.videredesign.com/support.htm)  
for the latest information about installing hardware and software drivers.  
After installing the card, install the STH-DCAM driver software.  
stcap.exe is a simple application that connects to the stereo head and  
displays stereo images. It can serve as a template for user programs that  
integrate stereo capture from the STH-DCAM.  
7.2 STH-DCAM Software  
libcap.dllis the capture library for Linux. These libraries must be set  
to the correct ones for the STH-DCAM. Copy the following files in the  
bin\directory:  
The STH-DCAM comes with interface software and several sample  
applications, including the capture application described in this manual.  
svsdcam.dll -> svsgrab.dll  
svsdcam.lib -> svsgrab.lib  
1394  
video  
stream  
To  
user  
program  
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  
“Dual DCAM digital stereo interface”. If not, the wrong interface library is  
installed in svsgrab.dll.  
1394  
PC  
Hardware  
Low-level  
1394  
driver  
STH-MD1  
interface  
software  
Figure 7-1 Host PC low-level software structure.  
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7.2.2 Linux Installation  
To install the software under Linux, untar the file svscap22X.tgzin a  
new directory, which will become the top-level directory of the software.  
Add bin/to your LD_LIBRARY_PATH variable.  
The directory structure for the software is:  
bin/  
smallvcap  
stcap  
libsvscap.so  
pixcap.so  
dcamcap.so  
src/  
svs.h  
svsclass.h  
samples/  
*.cpp  
makefile  
There are two applications. smallvcapis a GUI-based application that  
allows the user to exercise the capture functions of the STH-DCAM. It is  
described in earlier sections of this document.  
stcapis a simple application that connects to the stereo head and displays  
stereo images. It can serve as a template for user programs that integrate  
stereo capture from the STH-DCAM.  
libsvscap.sois the capture library for Linux. These libraries must be  
set to the correct ones for the STH-DCAM. Copy the following files in the  
bin/ directory:  
dcamcap.so -> libsvscap.so  
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  
“Dual DCAM digital stereo interface”. If not, the wrong interface library is  
installed in libsvscap.so.  
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8 Interface Software API  
Please see the Small Vision System User’s Manual for information about  
the software API for capturing and saving images.  
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Color, 8 bits / pixel, Bayer pattern  
Scan mode  
Progressive  
Pixel size  
5.6 um square  
Sensitivity  
1 lux  
Exposure  
9 Technical Specifications  
9.1 Geometry  
Housing  
Rigid milled Delrin frame  
Baseline  
9 cm, fixed  
Electronic, 292 us to frame time  
Imager size  
Gain  
1/4 inch diagonal  
18 dB  
Lens type  
Resolution  
640 H x 480 V  
12 mm miniature, interchangeable  
9.2  
Interface  
9.4  
Frame formats and rates  
Type  
Monochrome, 640x480 and 320x240  
RGB Color, 640x480 and 320x240  
30, 15, 7.5 Hz  
Digital 1394 [Firewire], OHCI compliant  
Speed  
Maximum 20 megapixels / second  
Host interface  
Any 1394 OHCI card  
RGB 640x480 at 15 and 7.5 Hz only  
Host OS  
Windows 98 / 2000 / XP, Linux  
9.5  
Physical  
Power  
2 watts  
9.3  
Imagers  
Ports  
Type  
One IEEE 1394 port (power and signal)  
One power jack (7-40 VDC, 2W)  
Sony Wfine HAD CCD  
Format  
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Stereo module size  
6" x 2.6" x 1"  
Weight (with lenses)  
8 ounces  
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10 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 be  
17  
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