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 interface_stereo interface.

Compile-time dependencies
  • none
Provides
  • interface_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