|Surveyor Robotics Journal|
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)
Surveyor SVS officially launched !
Press release here - Tue, 16 Sep 2008
RoboRealm support for Surveyor SVS stereo vision system
A test version of RoboRealm supporting the Surveyor SVS has been posted (v22.214.171.124 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.