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Mon, 29 Sep 2008
"stereo.c" - source code for cross-platform SVS console posted
stereo.c is a C-based cross-platform (Win, OS/X, Linux) console for the Surveyor SVS employing SDL libraries. It provides live anaglyph stereo viewing
, archiving to PPM files with scripts to encode to video, simple robot control via keyboard, and the ability to image map commands with mouse clicks on the viewing window.
More details are found on the Surveyor robot forum. Download links and documentation are found here - www.surveyor.com/stereo
The SDL libraries provide a very nice framework for the new console. Though we have not yet taken advantage of this, several GUI libraries and OpenGL provide SDL support. In theory, we should be able to interface to shuttered stereo viewing glasses and other VRML-compatible displays that are supported by Open GL.
Here is a video that was captured from the Surveyor SVS mounted on an SRV-1 base under control of the new console. Frames were archived by the console and subsequently encoded to AVI using imageMagick and memcoder, then uploaded to www.vimeo.com. Anaglyph
(red/cyan) glasses are required for proper viewing.
download robot_test001.avi (12Mb)
Posted Mon, 29 Sep 2008 09:36 | HTML Link | see additional stories ...
Tue, 23 Sep 2008Surveyor SVS officially launched !
Press release here - Nice coverage already on -
Posted Tue, 23 Sep 2008 11:10 | HTML Link | see additional stories ...
Fri, 19 Sep 2008Pericynthion SRV1-X IMU/GPS/SD expansion card now available !!!
The Pericynthion SRV1-X expansion board for Surveyor SRV-1 Blackfin camera and SVS stereo vision system has just started to ship. The SRV1-X employs a 40MIPS dsPIC33 processor and includes 3-axis accel, 3-axis gyros, compass, GPS (choice of Trimble Lassen iQ or u-blox LEA-55), as well as 10 extra 12-bit A/D channels, lots of servo channels, and a MicroSD flash card socket. It measures 2.1" x 2.6", and costs in the range of $320 (w/Trimble GPS) to $390 (w/u-blox GPS) with a full set of sensors.
The photo above shows the SRV1-X configured with SRV-1 Blackfin camera and Matchport b/g Wifi radio.
Here, the SRV1-X is attached to the new Surveyor SVS (stereo vision system).
Full details on the SRV1-X, including order details, are found here - http://www.pericynthion.org/srv1x.
Posted Fri, 19 Sep 2008 11:01 | HTML Link | see additional stories ...
Tue, 16 Sep 2008RoboRealm support for Surveyor SVS stereo vision system
A test version of RoboRealm supporting the Surveyor SVS has been posted (v1.8.21.1 or later) - download from http://www.roborealm.com/registration/index.php. It provides a variety of stereo viewing modes as well as access to the wealth of RoboRealm's existing image processing functions.
Download the configuration file - surveyor_stereo.robo and edit to set the correct IP address. Also, for web based viewing, download http://www.surveyor.com/blackfin/srv.html. srv.html should be placed in the RoboRealm folder next to the index.html file. Make certain to enable the RoboRealm WebServer function (Options->Web Server).
Depth map functions (stereo correspondence) are still in the works, but we should see some test versions of those soon.
Posted Tue, 16 Sep 2008 16:50 | HTML Link | see additional stories ...