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Cameras: Software: Triclops™ SDK

Triclops SDK

Point Grey Research's IEEE-1394 (FireWire) Stereo Vision camera systems are provided as complete hardware and software packages. Every Point Grey Stereo Vision camera system includes a free copy of the FlyCapture SDK, which is used for image acquisition and camera control, and the Triclops SDK, which performs image rectification and stereo processing.

 

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Triclops™ SDK

The Triclops™ Software Development Kit (SDK) is included with all Point Grey IEEE-1394 Stereo Vision products and is used to provides real-time depth range images using stereo vision technology. It allows users to accurately measure the distance to every valid pixel in an image.

*New features in Triclops SDK version 3.3.0.2*
Multithreading enhancements and first-ever Triclops 64-bit OS support on both Linux and Windows.
When combined, these improvements enable full stereo image rendering at frame rates and resolutions that were not possible before. Developers can leverage concurrency and memory architecture features found in new generation hardware and operating systems, resulting in frame rates 3 to 4 times faster than was achievable in previous releases on a single core machine, with the added benefit of 64-bit memory addressing.

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Stereo Algorithm
  • An area based correlation with SAD (Sum of Absolute Differences) is done on band passed images.
  • The algorithm is fairly robust and it has a number of validation steps that reduce the level of noise.
  • The method requires texture and contrast to work correctly. Occlusions, repetitive features and specularities can cause problems.
  • Stereo can be performed with both 2-camera and 3-camera stereo configurations
Speed
  • This chart illustrates the speed of the Triclops™ SDK using a 640x480 B&W Digiclops® on a P4 2.4GHz PC. The Digiclops® baseline is 10cm. The Bumblebee® baseline is 12cm and is therefore more accurate.
  • The disparity range was selected so that it corresponds to a distance range of 0.5m to infinity
  • The data was obtained using the demo program that is supplied with the Triclops SDK
  • The number of disparities is proportional to the speed. Therefore, if you cut the number of disparities in half, the system will run roughly twice as fast. The speed of processing is independent of the mask size.
T = Texture, U = Uniqueness, S = Segmentation
Resolution
Disparity Range
Subpixel
Validation
Frames/Second
160x120
32
No
T, U
91
160x120
32
Yes
T, U
91
160x120
32
Yes
T, U, S
83
320x240
48
No
T, U
31
320x240
48
Yes
T, U
26
320x240
48
Yes
T, U, S
25
640x480
96
No
T, U
4.5
640x480
96
Yes
T, U
4.3
640x480
96
Yes
T, U, S
4.4

Performance
Accuracy

Development Kit Contents

  • Included with all Point Grey Stereo Vision Products.

Emissions and RoHS Compliance
Not applicable.

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Related Articles

Knowledge Base Articles
Click here to view Triclops SDKknowledge base articles

The following graph shows the depth resolution over a variety of operating distances and fields of view given an image resolution of 640x480




Technical Manuals
 Product Catalogue
 Stereo Accuracy Chart
 Bandwidth Calculator
 SDK Software Download
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