MobileRanger C3D Stereo Camera Data
From MobileRobots Research and Academic Customer Support
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.
A disparity image is 752 x 480 pixels, and the value of each pixel (1 - 64, currently) represents the number of disparities (differences in the stereo images at or near that pixel in the left and right images), which can then be interpreted as a distance (depth), or combined with other image processing in a machine vision system. If the disparity cannot be calculated with sufficient confidence for a given pixel, the data returned is zero.
A sample disparity image is below. Black represents unknown disparity, lighter pixel values are higher disparity (implying that the object is likely closer to the camera) while darker values are less disparity (farther).
and the corresponding raw image:
A video showing MobileRanger detecting various surfaces outdoors in motion:
The drivers and software are located at our MobileRanger_Software page.