stoc

STOC. More...

STOC.

The stoc driver controls Videre Design's STOC (Stereo on a Chip) cameras through the SVS (Small Vision System) library. The driver provides a stereo interface.

Compile-time dependencies

• none

Provides

• stereo : left and right images, disparity image, and a 3d point cloud generated from the disparity

Requires

• none

Supported configuration requests

• none

Properties provided

-none yet

Configuration file options

• capture_type (integer)
  • Default: SVS defaults
  • CAP_DUAL or CAP_INTERLACE
• format (integer)
  • Default: SVS defaults
  • MONOCHROME, YUV, or RGB24
• channel (integer)
  • Default: SVS defaults
  • 0, 1, 2 etc, video channel on card
• swap (boolean)
  • Default: SVS defaults
  • Swapping left/right on or off
• color_mode (integer)
  • Default: SVS defaults
  • Color mode: 0 (both), 1 (left only), 2 (right only)
• color_alg (integer)
  • Default: SVS defaults
  • Color algorithm (see SVS manual)
• rectification (boolean)
  • Default: SVS defaults
  • Image rectification: enabled (1) / disabled (0)
• proc_mode (integer)
  • Default: SVS defaults
  • Processing mode for the STOC
• rate (integer)
  • Default: SVS defaults
  • Image rate
• frame_div (integer)
  • Default: SVS defaults
  • Image sampling
• image_size (integer typle)
  • Default: 640 480
  • Image width and height
• z_max (float)
  • Default: 5 (meters)
  • Cutoff distance on Z-axis
• ndisp (integer)
  • Default: SVS defaults
  • Set number of disparities, 8 to 128
• tex_thresh (integer)
  • Default: SVS defaults
  • Set texture filter threshold
• unique (integer)
  • Default: SVS defaults
  • Set uniqueness filter threshold
• corrsize (integer)
  • Default: SVS defaults
  • Set correlation window size, 7 to 21
• horopter (integer)
  • Default: SVS defaults
  • Set horopter (X offset)
• speckle_size (integer)
  • Default: SVS defaults
  • Set minimum disparity region size
• speckle_diff (integer)
  • Default: SVS defaults
  • Set disparity region neighbor difference
• cut_di (integer)
  • Default: 0
  • Number of lines to "cut" (disconsider) at the bottom of the disparity image
• multiproc_en (boolean)
  • Default: 0
  • Use SVS multiprocessing capabilities (see SVS manual)

Example

driver
(
  name "stoc"
  provides ["stereo:0"]
  
  ## ---[ Misc camera parameters: all -1 values assume SVS defaults
  # Color mode: 0 (both), 1 (left only), 2 (right only)
  color_mode 0
  # Color algorithm: COLOR_ALG_BEST (2), or COLOR_ALG_FAST (0) - check SVS manual
  color_alg 2
  
  # Processing mode for STOC: PROC_MODE_OFF (0), PROC_MODE_NONE (1), PROC_MODE_TEST (2),
  #                           PROC_MODE_RECTIFIED (3), PROC_MODE_DISPARITY (4), PROC_MODE_DISPARITY_RAW (5)
  # Check your STOC camera manual for extra details.
  proc_mode 5
  
  # Image rate in fps
  rate 15
  
  # Image rectification: enabled (1) / disabled (0)
  rectification 1

  ## ---[ Stereo parameters: all -1 values assume SVS defaults
  # Points to disconsider at the bottom of the disparity image (due to errors in SVS?)
  cut_di 32
  
  # Number of disparities, 8 to 128
  ndisp 64
  
  # Texture filter threshold (confidence)
  tex_thresh 4

  # Uniqueness filter threshold
  unique 3
  
  # Correlation window size, 7 to 21
  corrsize 15
  
  # Minimum disparity region size
  speckle_size 400
)

Author

Radu Bogdan Rusu