stoc
Drivers

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

Last updated 12 September 2005 21:38:45