libvisiontransfer  4.1.5
Vision Transfer Library 4.1.5

The given library provides functionally for receiving and transmitting image pairs over a computer network. It is typically used for receiving the processing results of the SP1 stereo vision sensor. However, the library also provides functionality for transmitting image pairs. It can thus be used for emulating the SP1 when performing systems development, or for transmitting image data to the SP1 when using network image input.

Images can be transmitted with a bit depth of either 8 or 12 bits. In case of 12-bit images the library inflates the images internally to 16 bits, in order to allow for more efficient processing.

When receiving data from the SP1 stereo vision sensor, the first image of an image pair is usually the rectified image of the left camera, with a bit depth of 8 bits. The second image is a disparity map with subpixel resolution, which is transmitted as a 12-bit image. Each value in the disparity map has to be divided by 16 in order to receive disparietes at the correct scale.

There exist three possible ways for receiving and transmitting image pairs:

Further, the library includes the class Reconstruct3D, which can be used for transforming a received disparity map into a set of 3D points.


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