Video captured from SVS mounted on SRV-1 robot base - view with anaglyph (red/cyan) glasses
Stereo Vision System Specifications
Two SRV-1 Blackfin camera modules separated by 10.75 cm (4.25"). Each camera module includes:
500MHz Analog Devices Blackfin BF537 Processor (1000 integer MIPS), 32MB SDRAM, 4MB SPI Flash, JTAG, external 32-pin i/o header w/ 2 UARTS, 4 timers (PWM/PPM), SPI, I2C, 16 GPIO
Omnivision OV9655 1.3 megapixel sensor with AA format header and interchangeable lens - M12 P0.5 format - 3.6mm f2.0 (90-deg FOV) or optional 2.2mm f2.5 (120-deg FOV)
Processor-to-processor communications via SPI bus (64MHz)
Lantronix Matchport WLAN 802.11g radio w/onboard 3dB dipole antenna for Wifi communications
On-board 3.3V high efficiency switching regulator (Recom R-783.3-1.0) for battery input (4.75 - 18.0 VDC)
Headers for 8 servos (5V supply provided)
Dual H-bridge motor driver (Fairchild FAN8200) with 1000mA drive current per motor
Two switching transistor drivers with 100mA drive current for lights and laser pointers
Low battery detect circuit
Headers for 8 servos (5V regulator provided)
Extended pin headers for full access to S-32 Board dimensions - 60 mm x 150 mm (2.5" x 6.0"), 140g (5 oz)
1" x 2" mounting hole pattern for compatibility with SRV-1 robot base (dual and quad motor versions)
Total power draw - 300mA @ 7.4V (approx 2 watts)
RoHS compliant
Default Firmware
GPL Open Source - download from http://www.surveyor.com/blackfin/#blackfin3
Full-speed frame capture direct to SDRAM at 1280x1024, 640x480, 320x240 or 160x120 pixel resolutions
JPEG (Motion JPEG) compression
Basic image processing - histogram, pixel sampling, mean, frame difference, blob, scan, count, find
Stereo correspondence and image rectification functions (in development)
Motor control for PWM (H-bridge) and PPM (servo) interfaces
Built-in interpreters for Small C or Lisp languages for autonomous operation
Real-Time-Clock (milliseconds since reset), internal timer resolution to 10 nanoseconds
Direct control of I2C and SPI devices
In-Application-Programming (IAP) of flash memory
XMODEM protocol for reliable file transfer
Direct support for up to 4 Maxbotics ultrasound rangers per camera module
Compiled with GNU Blackfin Toolchain (bfin-elf-gcc) - download from http://www.surveyor.com/blackfin/#blackfin4
Command Protocol Definition - SRV_protocol
Schematics and Drawings
Host Software Support
SRV1Test.java - new test console source code
compile with "javac SRV1Test.java" launch with "java SRV1Test"
SRV1Test.jar - precompiled class files - launch with "java -cp SRV1Test.jar SRV1Test"
command line options:
-remote_addr (SRV-1 IP address - default is 169.254.0.10)
-remote_port (SRV-1 port - default is 10001)
-local_port (host computer port - default is 10001)
-protocol (TCP or UDP - default is TCP)
-archive (capture all frames to named directory)
sample script for stereo feeds -
SRV1Test is described here -
http://www.surveyor.com/cgi-bin/robot_journal2.cgi/2008/06/12#166
http://www.surveyor.com/cgi-bin/robot_journal2.cgi/2008/06/12#167
stereo.c - C-based cross-platform (Win, OS/X, Linux) console employing SDL libraries
anaglyph stereo viewing archive to PPM, use scripts to encode to AVI, MPEG, e.g.
for f in *ppm ; do convert -quality 100 $f `basename $f ppm`jpg ; done
mencoder "mf://*.jpg" -mf fps=10 -o test.avi -ovc lavc -lavcopts vcodec=mjpeg:vbitrate=1000
simple robot control with keypad arrows + space bar (halt)
ability to image map commands with mouse clicks on the display window
forum discussion - http://www.surveyor.com/cgi-bin/yabb2/YaBB.pl?num=1222462001
SDL library downloads
gcc command line
Windows mingw32: mingw32-gcc -O2 -o stereo.exe stereo.c -I/mingw/include/sdl -L/mingw/lib -lmingw32 -lSDLmain -lSDL -lSDL_image -lSDL_net
OS/X gcc: gcc -g -O2 -I/usr/local/include/SDL -D_GNU_SOURCE=1 -D_THREAD_SAFE -Wl,-framework -Wl,Cocoa -Wl,-bind_at_load -L/usr/local/lib -lSDLmain -lSDL -lSDL_net -lSDL_image -o stereo stereo.c
Linux gcc: gcc -g -O2 -I/usr/include/SDL -L/usr/lib -lSDLmain -lSDL -lSDL_net -lSDL_image -o stereo stereo.c
Tips for setting up SDL in Windows - http://lazyfoo.net/SDL_tutorials/lesson01/windows/index.php
AForge.NET - open source C# framework with SRV-1 and SVS support
DelphiSRV
Sentience Stereo Vision Software Version 0.2
RoboRealm
SRV-1 Blackfin Camera .
here for online ordering information . Academic discounts are available. Contact sales@surveyor.com by email for additional information.
Surveyor SVS shown here with Lynxmotion BPT-KT pan/tilt head SRV-1q robot base
Shown here is the underside of the SVS with extended pin headers for the two Blackfin S-32 expansion buses
Shown here is an original SRV-1 robot base with the SVS upgrade
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