Version 4.2d
February 2006
Firmware dialog only in smallvcal
User reconfiguration of STOC
Initialization of conf and uniq parameters is now correct for stereo
mode of STOC
Custom calibration pattern can be specified after loading cal images
Version 4.2c
February 2006
DCSG/STOC button in calibration dialog
PROC_MODE_OFF allows pass-through processing of stereo data for STOCs
svsWrite3DArray and svsWrite3DCloud output wrong 3D points and would
sometimes crash. Fixed.
Removed unneeded warptabgen.cpp file from smallv
Version 4.2b
January 2006
More support for STOC devices, including color
Fixed bug in origAddr, UnrectImagePoint
Fixed bug in adding more than 10 calibration images
Version 4.2a
December 2005
Initial support for STOC devices
Fixed bug in autoexposure for VAR devices
Upgraded to CMU MSW drivers version 6.3
Calibration targets now can accept different numbers of squares
Version 4.1g
December 2005
Firmware 3.x and 4.x now show up in local parameter dialog
SetExposure() with three arguments has been eliminated
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Version 4.1f
November 2005
Disparity range not divisible by 16 gave errors
Showed in multi-scale stereo at 48 disparities
Fixed problems with pixcap.so and smallvcal
Fixed hanging problem with MEGA-D devices on latest 2.6 kernels
Support for Matrox Meteor analog cards discontinued
flwin displays images in correct aspect ratio
Fixed problem with BMP image width not being divisible by 4
generates new size internally
BMP files can now be 24 bpp for L/R grayscale, converted internally
added bw parameter to svsReadFileBMP
Added VNET++ 2003 projects
Calibration load sequence can start on any number, clears all old images
Fixed some problems with deleting calibration images
Memory error in Calc3D zeroing fixed
samples/planar example works
Removed X,Y,Z,V arrays from svsStereoImage
Version 4.1e
September 2005
Initialized all border pts in Calc3D
In Calc3D, pt->A holds disparity value (integer). It is 0 or negative
for filtered points
Calc3D disparity cutoff changed to distance cutoff
Fixed bug in larger disparity resolution (> 1Mx1M)
Fixed bug in parameter loading - string bounds
Fedora Core 4 works, using stdlib++.so.5
Fixed segfault in Linux smallv when asking for firmware parameters of
a -VAR device
Dual-DCAM devices are now recognized
Nasty bug in live acquisition buffer handling, fixed
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Version 4.1d
August 2005
320x240 mode works for DCSG-VAR devices
Added features to calc3D for max/min, disparity cutoff, arbitrary
transform
Changed svs3Dpoint structure: element A is an integer, set to
1 for valid disparity, 0 for invalid
Version 4.1c
August 2005
Shift in disparity image corrected
Fixed problem with max decimation in color DCSG
Disabled 320x240 decimated format for DCSG VAR models
Version 4.1b
June 2005
Fixed MEGA-D drivers for MSW and Linux - wouldn't accept higher than
320x240 resolution
Fixed problem with offchip autogain/autoexposure in MDCS driver
Version 4.1a
May 2005
Release version
Fixed MEGA-D interface for 2.6 kernels - still needs patch on IEEE1394
driver
Added SetGamma function to svsVideoImages class
Fixed problems with initialization of video parameters after start of
streaming, under MSW
Support for DCSG devices
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Version 4.0d
May 2005
Got rid of MSVCRTD dll in svs.dll
Version 4.0c
April 2005
Fixed display of XYZ values in smallv windows
Fixed vertical lines in non-MMX disparity calculation
Version 4.0b
April 2005
Warping (rectification) was extremely slow because of unnecessary
computations
closeVideoObject() added to bttvcap.so
Bug fixes
Version 4.0a
March 2005
Basic changes to stereo algorithm
- speed increased by ~x2
- new uniqueness check, instead of L/R check
- better fill-in for left side of disparity image
- better quality of disparity results for horizontal and
diagonal features
New functions and data structures for conversion to 3D points: X,Y,Z
structures rather than arrays. NOTE: UNITS IN METERS, not MM
Fixes to display of odd-sized images in svsWindow (some caused
crashes)
Reverted to standard FLTK libraries, no custom changes (FLTK 1.1.6)
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Version 3.3a
February 2005
svsCheckMMX fully implemented
Changes to basic stereo correlation, now runs faster with SSE2
instructions
closeVideoObject added to allow driver to clean up
Version 3.2h
December 2004
image_io now reads in BMPs with indexed grayscale correctly
added WriteWRL() method to svsStereoImages for writing VRML files
of 3D point clouds
Version 3.2g
November 2004
Firmware parameters available for viewing and changing
- 50/60 Hz
- Inversion of images on VAR devices
- Vertical offset adjustment on VAR devices
Edge-aware color interpolation algorithm available - slower but much
better images. Added parameter color_alg to svsVideoImages.
Added setRate and setFrameDiv commands to cwrap/cmat code.
Fixed bug in RectImagePoint(), was returning FALSE when rectification
present.
Fixed bug in Project3D, performed the projection calculation wrong.
Version 3.2f
October 2004
Parameter files now change the resolution of the video image.
Fixed problem with VAR models not getting monochrome image during
color transfer of left (reversed) image
Fixed annoying revision of directory name in first call to Load and
other file functions.
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Version 3.2e
October 2004
MatLab 7 now works with the CMAT sample program, and with Linux.
Added max_framediv and framediv parameters to parameter file.
Changed settings in samples/ MSVC++ projects, so they point to
local DLLs and create local executables.
Rationalized the use of framediv, decimation, and binning
parameters.
STH-MDCS2, interpolation on decimation for smoother images.
Version 3.2d
October 2004
MatLab interface extended - MatLab can now load functions to control
a Videre Design device from within MatLab itself, in samples/cmat.
SVS Users' Manual updated with information about the MatLab
interface.
Version 3.2c
September 2004
Confidence images can be returned from the stereo calculation: see
the API under CalcStereo().
Example of using images in memory to run stereo - samples/loader
Version 3.2b
July 2004
New calibration parameter for X-offset calibrations (e.g., verged
cameras). Disparity at infinity can be different from 0.
cwrap library for C syntax access to the SVS libraries.
Download/upload of parameter files to stereo devices with latest
firmware.
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Version 3.2a
June 2004
Added SetFrameDiv() function as an alternative to SetSample(), to make
it easier to keep frame sizes while changing resolution.
Support for 2.6 kernels in Linux.
Multiscale is working again.
Support for Linux 2.6 kernels
Added acqTime variable to svsAcquireImages, give frame time in ms from
start of system open.
New SetExposure() method, allows auto gain on/off. Old one still works.
Version 3.1j
May 2004
Added support for local parameters, including vertical offset.
VADJUST tool for variable baseline devices, requires latest firmware.
Added Enumerate() and DeviceIDs() member functions to Dual DCAM
interface; can open a particular set of devices by giving an argument
to Open(char *devname) of the form "#LLLLL:#RRRRR".
Menu item in Debug window for saving to file.
Linux version support gamma value in color display svsWindow.
Fixed minor bug in DCS Open() routine, would sometimes not open a VAR
pair if another camera was on the bus.
DCS interface now allows serial numbers in the call to Open("xxxx"),
to open a specific device.
DCS interface always calls Enumerate() when videoObject is created.
Fixed problem with badpix driver enumeration for some early devices.
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Version 3.1i
April 2004
Fixed bug in color interpolation for STH-MDCS, left-color non MMX
mode.
Debug window now can be resized, saved, copied.
Added functions for original->rectified coords, 3D->rectified coords.
Dual-DCAM SetRate() function fixed.
Version 3.1h
April 2004
Added autoexposure parameter to .ini files. Cameras can now assert
both autogain and autoexposure.
More efficient way of calculating X,Y,Z from x,y,d.
Dual-DCAM crash fixed.
Version 3.1g
March 2004
Selection of stereo device now allowed in dcscap.so.
Rectified image pixel is zeroed if there is no corresponding pixel in
the input image.
Changed symbols in DCAM library to have dcam1394 prefix instead of
dc1394, interfered with the libdc1394 functions.
Deleted unnecessary ReadFromFile() function in svsFileImages.
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Version 3.1f
February 2004
smallvcal.exe was segfaulting in MSW, fixed.
Version 3.1e
January 2004
Support for image-reversed STH-MDCS-VAR, with smaller baseline (5
cm).
Fixed bug in non-binning mode for STH-MDCS-VAR-C color processing.
Display gamma setting work correctly for MDCS-type cameras - setting
the gamma in the svsDCSAcquireVideo object will set it for the returned
stereo images.
Fixed bug in MEGA-D drivers, not setting IP params correctly, and so
bombed out on warping.
Version 3.1d
December 2003
Odd bug in correlation and mswpix code under MSVC++ 6.0 - EBX frame
pointer. Should have affected the algorithm in previous versions
(???). Fixed.
Version 3.1c
December 2003
Linux handles multiple OHCI cards using the
/dev/video1394/0,1,2... interface. Automatically uses correct card
based on detected cameras. Old interface /dev/video1394 still works
for single OHCI card.
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Version 3.1b
November 2003
Bug-fix release
Windows XP now has correct default for device drivers
Linux by default prints to the debug window
16 byte alignment for images
Version 3.1a
October 2003
Revised version of MSW camera lookup, now just checks the registry
Version 3.0h
September 2003
Allow calibration images that are not multiples of 320x240
Allow fixed/nonfixed aspect ratio in calibration
Fixed rectification offsets for highly-distorted images
Still better color processing on STH-MDCS
Control over auto exposure using auto_bias
FLTK 1.1.3
Fixed bug in Video startup in dCamera that caused a crash
Version 3.0g
August 2003
Added smooth disparity interpolation fix.
Fixed bug in extra disparity code.
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Version 3.0f
July 2003
Fixing a nasty bug in the Linux version of smallvcal, which caused an
initial segfault -- whoops, not fixed yet...
Changed the calibration procedure to always rectify with 0 disparity
at infinity.
Version 3.0e
July 2003
Modified Linux MEGA-D drivers to work with kernels up to 2.4.20
In 2.4.21+ kernels, MEGA-D is shut down by broadcast packet. Kernel
patch for IEEE1394 driver must be applied.
Version 3.0d
July 2003
Confidence control level increased for MMX routines
Color gains implemented on host for MDCS cameras
PLANAR.EXE program added, finds strongest plane in 3D
Version 3.0c
June 2003
Auto-exposure for MDCS cameras, implemented in host software
Bug fixes for frame sizes in Linux
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Version 3.0b
May 2003
Version 3.0a and 3.0b are a new release sequence, with capabilities
for the new MDCS line of stereo video cameras.
The MDCS cameras (STH-MDCS(-C,-VAR) and the monocular MDCS) all
require SSE instructions, which are on Pentium III processors but not
Pentium II. Other PIII clones will also work - Athlon, Transmeta,
Eden.
Version 2.4a
First issue of the 2.4 version, with a new calibration routine.
Version 2.3i
Added video buffer capability for storing a sequence of video frames
in smallv (up to 200). Limit can be changed by recompiling smallv.
Fixed bug in which only 99 images in a sequence were read by the file
routines.
Version 2.3h
September 2002
Right color image fixes for Linux, now up-to-date with MSW versions
Re-installed dual-framegrabber mode for bttv driver
Version 2.3g
September 2002
All known color and video parameter problems fixed for the MEGA-D MSW
drivers. Right image color processing not yet ported to Linux for
non-binning modes.
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Version 2.3f
August 2002
Full color handling for MSW versions of Stereo DCAM and MEGA-D
devices; for Linux, full color handling for Stereo DCAMs.
Updated color modes for DCAMs -- 30 fps 640x480 YUV411 now available.
Version 2.3
December 2001
Full C++ version, with auto buffer handling
Completely rewritten API
Version 2.2d
August 2001
Added Dual DCAM interface
Multiple digital stereo heads available from a single application:
svsVideoImages::Enumerate() function
Right color image available to user programs
Version 2.2c
July 2001
Added scaling feature in calibration
Bug fixes
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Version 2.2a
June 2001
Completely re-written in C++, new API
Automatic buffer handling
Version 2.1c
March 2001
1. Last stable release before C++ version 2.2a
2. OpenGL window now has mouse-drag rotation, better rotation center
3. Minor changes to the interface
Version 2.1b
February 2001
1. Warping code now works with subwindows (no vergence yet)
2. Calibration procedure updated to include standard Videre Design
stereo head parameters
3. Added Debug Window for debuggin feedback
4. svsSP structure revised to have subwindow warping offsets
5. Color interpolation for non-binning modes
6. Linux fully in sync with MSW version
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Version 2.1a
December 2000
1. Latest 1394/FireWire updates to stereo head firmware, images are
stable under all pan/tilt motions
2. Calibration software uses checkerboard target, more distortion
parameters
3. Revised svsSP structure has all info about cameras
Version 2.0
July 2000
1. Platform-independent windowing system, FLTK, for display
2. Color support
3. OpenGL support
4. Digital framegrabber (1394) support
5. Shared libraries in Unix
Version 1.4
December 1999
1. Added calibration software using planar target
2. Added support for 3D transformation of disparities
Version 1.3
May 1999
1. Various bug fixes
Back to top
Version 1.2
August 1998
1. Added more LOG bits on Windows side
2. Added support for more framegrabbers, use svsgrab.dll in Windows
3. Added framegrabber left/right swap for line interlace
4. Added warping pre-filter and internal parameter code
5. Fixed .ssi file save bug
Version 1.1
April 1998
Bug fix release
1. Fixed bug with pb_1 constant uninitialized
2. Added more bits in LOG for Unix side, need to do it for Windows
Version 1.0
April 1998
First public release
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