<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; left:-2.1em; margin-bottom:0px; margin-top:0px; } li.menu { list-style-type: none; position:relative; #left:-0.5em; } #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;} #content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; } div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; } div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;} div.topbar { position: absolute; top:0px; left:9em; margin:1em; } </style> <TITLE>Player Manual</TITLE> </HEAD> <body> <div id="sidebar"> <h2 style="text-align:center;"> <a href="index.html"> <img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a> </h2> <div class="box"> <div class=title>Player</div> <ul class=menu> <li class=menu><a href="index.html">Frontpage</a> <li class=menu><a href="modules.html">Contents</a> </ul> </div> <div class="box"> <div class=title>User</div> <ul class=menu> <li class=menu><a href="install.html">Installation</a> <li class=menu><a href="start.html">Quick start</a> <li class=menu><a href="supported_hardware.html">Supported devices</a> <li class=menu><a href="group__tutorials.html">Tutorials</a> <li class=menu><a href="group__utils.html">Utilities</a> <li class=menu><a href="group__clientlibs.html">Client libraries</a> <li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a> <li class=menu><a href="help.html">Help</a> </ul> </div> <div class=box> <div class="title">Developer</div> <ul class=menu> <li class=menu><a href="architecture.html">Architecture</a> <li class=menu><a href="group__libplayercore.html">libplayercore</a> <ul class=menu1> <li class=menu><a href="group__interfaces.html">interfaces</a></li> </ul> <li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a> <ul class=menu1> <li class=menu><a href="group__drivers.html">drivers</a></li> </ul> <li class=menu><a href="group__libplayercommon.html">libplayercommon</a> <li class=menu><a href="group__libplayerutils.html">libplayerutils</a> <li class=menu><a href="group__libplayersd.html">libplayersd</a> <li class=menu><a href="group__libplayertcp.html">libplayertcp</a> <li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a> <li class=menu><a href="todo.html">TODO</a> </ul> </div> <div class=box> <!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> --> <div class="title">Online</div> <a href="http://playerstage.sourceforge.net">Homepage</a><br> <a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br> <a href="http://sourceforge.net/projects/playerstage">Project</a><br> <a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br> <a href="http://sourceforge.net/mail/?group_id=42445">Help</a> </div> </div> <div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>stoc<br/> <small> [<a class="el" href="group__drivers.html">Drivers</a>]</small> </h1> </div> </div> <div class="contents"> <p>STOC. <a href="#_details">More...</a></p> <table class="memberdecls"> </table> <p>STOC. </p> <p>The stoc driver controls Videre Design's STOC (Stereo on a Chip) cameras through the SVS (Small Vision System) library. The driver provides a <a class="el" href="group__interface__stereo.html">stereo</a> interface.</p> <dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl> <ul> <li>none</li> </ul> <dl class="user"><dt><b>Provides</b></dt><dd></dd></dl> <ul> <li><a class="el" href="group__interface__stereo.html">stereo</a> : left and right images, disparity image, and a 3d point cloud generated from the disparity</li> </ul> <dl class="user"><dt><b>Requires</b></dt><dd></dd></dl> <ul> <li>none</li> </ul> <dl class="user"><dt><b>Supported configuration requests</b></dt><dd></dd></dl> <ul> <li>none</li> </ul> <dl class="user"><dt><b>Properties provided</b></dt><dd></dd></dl> <p>-none yet</p> <dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl> <ul> <li>capture_type (integer)<ul> <li>Default: SVS defaults</li> <li>CAP_DUAL or CAP_INTERLACE</li> </ul> </li> </ul> <ul> <li>format (integer)<ul> <li>Default: SVS defaults</li> <li>MONOCHROME, YUV, or RGB24</li> </ul> </li> </ul> <ul> <li>channel (integer)<ul> <li>Default: SVS defaults</li> <li>0, 1, 2 etc, video channel on card</li> </ul> </li> </ul> <ul> <li>swap (boolean)<ul> <li>Default: SVS defaults</li> <li>Swapping left/right on or off</li> </ul> </li> </ul> <ul> <li>color_mode (integer)<ul> <li>Default: SVS defaults</li> <li>Color mode: 0 (both), 1 (left only), 2 (right only)</li> </ul> </li> </ul> <ul> <li>color_alg (integer)<ul> <li>Default: SVS defaults</li> <li>Color algorithm (see SVS manual)</li> </ul> </li> </ul> <ul> <li>rectification (boolean)<ul> <li>Default: SVS defaults</li> <li>Image rectification: enabled (1) / disabled (0)</li> </ul> </li> </ul> <ul> <li>proc_mode (integer)<ul> <li>Default: SVS defaults</li> <li>Processing mode for the STOC</li> </ul> </li> </ul> <ul> <li>rate (integer)<ul> <li>Default: SVS defaults</li> <li>Image rate</li> </ul> </li> </ul> <ul> <li>frame_div (integer)<ul> <li>Default: SVS defaults</li> <li>Image sampling</li> </ul> </li> </ul> <ul> <li>image_size (integer typle)<ul> <li>Default: 640 480</li> <li>Image width and height</li> </ul> </li> </ul> <ul> <li>z_max (float)<ul> <li>Default: 5 (meters)</li> <li>Cutoff distance on Z-axis</li> </ul> </li> </ul> <ul> <li>ndisp (integer)<ul> <li>Default: SVS defaults</li> <li>Set number of disparities, 8 to 128</li> </ul> </li> </ul> <ul> <li>tex_thresh (integer)<ul> <li>Default: SVS defaults</li> <li>Set texture filter threshold</li> </ul> </li> </ul> <ul> <li>unique (integer)<ul> <li>Default: SVS defaults</li> <li>Set uniqueness filter threshold</li> </ul> </li> </ul> <ul> <li>corrsize (integer)<ul> <li>Default: SVS defaults</li> <li>Set correlation window size, 7 to 21</li> </ul> </li> </ul> <ul> <li>horopter (integer)<ul> <li>Default: SVS defaults</li> <li>Set horopter (X offset)</li> </ul> </li> </ul> <ul> <li>speckle_size (integer)<ul> <li>Default: SVS defaults</li> <li>Set minimum disparity region size</li> </ul> </li> </ul> <ul> <li>speckle_diff (integer)<ul> <li>Default: SVS defaults</li> <li>Set disparity region neighbor difference</li> </ul> </li> </ul> <ul> <li>cut_di (integer)<ul> <li>Default: 0</li> <li>Number of lines to "cut" (disconsider) at the bottom of the disparity image</li> </ul> </li> </ul> <ul> <li>multiproc_en (boolean)<ul> <li>Default: 0</li> <li>Use SVS multiprocessing capabilities (see SVS manual)</li> </ul> </li> </ul> <dl class="user"><dt><b>Example</b></dt><dd></dd></dl> <div class="fragment"><pre class="fragment"> 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 ) </pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Radu Bogdan Rusu </dd></dl> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>