From MobileRobots Research and Academic Customer Support

Data Format

The MobileRanger C3D Stereo Camera shows up in Windows or Linux as a set of video devices. There are system calls to set up these devices as raw video (left or right cameras), rectified video (left or right cameras, corrected to be aligned relative to each other), or as disparity data. The data can be accessed using instructions here Capturing_Video at the desired rate. The resolution of all of these images is 752 x 480 pixels.

Disparity Image

A disparity image is 752 x 480 pixels, and the value of each pixel (1 - 64, currently) represents the number of disparities (differences between that pixel in the left and right images), which can then be converted to distance. If the disparity cannot be calculated with sufficient confidence for a given pixel, the data returned is zero.

A sample disparity image:

and the corresponding raw image:

Software

The drivers and software are located at our MobileRanger_Software page.