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Products and Services: Stereo Vision Products: 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. Additional stereo vision software components are available at no extra cost: the Censys3D SDK, which is ideal for people tracking; and the Multiclops software, which allows integration of multiple cameras into a single coordinate system.

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Overview
Specifications
Documents
Models
Pricing

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.

Distance Measurement: For every pixel in full field of view

Fast Range Calculations: Over 1,000,000 measurements/second

Image Rectification: Removes lens distortions and misalignments to within 0.05 pixels

Examples: Extensive example programs and source code

Upgrades: Free unlimited upgrades to the latest versions

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

Download Triclops library performance figures measured over different processor and memory configurations

Accuracy

Download our Point Grey Stereo Accuracy chart to calculate approximate accuracy measurements based on camera options.

Development Kit Contents

Included with all Point Grey Stereo Vision Products.

Emissions and RoHS Compliance
Not applicable.

Technical Datasheet | Performance Figures | Samples Gallery

Related Articles
Coming soon!

Not applicable (included with all Point Grey Stereo Vision Products).

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