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STH-MD1-C
User Manual
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Proxima ASA STH-MD1-C User Manual

STH-MD1 USER’S MANUAL ?2001 VIDERE DESIGN
STH-MD1/-C Stereo Head
User’s Manual
?2001 Videre Design
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STH-MD1 USER’S MANUAL ?2001 VIDERE DESIGN
Table of Contents
3.1 Hardware Schematic..................................................................6
3.2 Frame Rates...............................................................................6
4.1 Changing Lenses .......................................................................8
4.2 Cleaning the Imagers.................................................................8
4.3 Imager Size ...............................................................................8
4.4 F Number ..................................................................................8
4.5 Focal Length..............................................................................8
4.6 Range Resolution.......................................................................9
4.7 Field of View.............................................................................9
5.1 1394 Cable .............................................................................. 10
5.2 1394 Host Interface.................................................................. 10
6.1 Color .......................................................................................11
6.2 Gamma Correction ..................................................................11
6.3 Video Digitization Parameters................................................. 12
6.4 Subsampling............................................................................12
6.5 Subwindowing.........................................................................13
6.6 Electronic Pan and Tilt............................................................13
6.7 Electronic Vergence.................................................................13
6.8 Frame Rates............................................................................. 14
7.2 STH-MD1 Software .................................................................15
9.1 Bottom Mounting Diagram for the STH-MD1/-C.....................18
9.2 Bottom Mounting Diagram for the STH-MD1/-C-Wide (Rev B)18
10.1 Geometry .................................................................................19
10.2 Interface...................................................................................19
10.3 Imagers....................................................................................19
10.4 Full-frame rates........................................................................19
10.5 Physical....................................................................................20
7.1 1394 Hardware and Drivers..................................................... 15
7.1.1 MS Windows Hardware Installation.................................15
7.1.2 Linux Hardware and Driver Installation...........................15
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STH-MD1 USER’S 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 STH­MD1/-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.
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STH-MD1 USER’S 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 STH­MD1/-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.
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.
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.
Pull down the Input chooser, and select the Video option. 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.
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.
A more complete description of the video capture program is in Section 6. The SVS programs are described in the documentation that comes with
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STH-MD1 USER’S MANUAL ?2001 VIDERE DESIGN
that software. It is helpful to review Section 6 in conjunction with the SVS documentation.
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STH-MD1 USER’S MANUAL ?2001 VIDERE DESIGN
indicator
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
Figure 3-1 shows the hardware configuration of the STH-MD1/-C.
There are no user-settable switches on 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.
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
1394 ports
LED
Right
C-mount
lens
Figure 3-1. Physical layout of the STH-MD1/-C stereo head.
Left C-mount lens
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 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.
The 1394 interface module can communicate at the maximum 1394 data rate, 400 MBps.
3.2 Frame Rates
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).
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STH-MD1 USER’S MANUAL ?2001 VIDERE DESIGN
Imager
module
module
imager
24 MHz
commands
Stream
Left
8-bit pixels 12 MHz per
Imager
Interlace Electronics
1394 imaging
Interlaced pixels
1394
1394
Digital Video
Interface Electronics
1394 commands
1394 Digital Cable
Figure 3-2 Schematic of the STH-MD1/-C electronics.
Right Imager
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