https://airwiki.elet.polimi.it/api.php?action=feedcontributions&user=Domenicogsorrenti&feedformat=atomAIRWiki - User contributions [en]2024-03-29T07:35:12ZUser contributionsMediaWiki 1.25.6https://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=18297Laser Range Finders2016-11-29T13:55:22Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Attualmente in prestito (insieme a cavo Ethernet) a Domenico Sorrenti di Unimib. nota 29.11.2016: oltre al cavo ethernet c'è anche il cavo alimentazione, non c'è scatola; reso tutto il 29.11.2016.<br />
* [[Sick LMS200]], luogo di default: sul sensor frame di [[Robocom]]; <br />
**dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]), reso il 16/03/2012 (reso solo il sensore, i cavi alimentazione e comunicazione ed i corrispondenti connettori sono ancora in prestito).<br />
**solo il sensore, dal 18.05.12 in prestito a Bascetta/Magnani per il progetto quadrivio, reso a [[User:Domenicogsorrenti]] il 13.06.12;<br />
**solo il sensore, dal 13.06.12 di nuovo in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]);<br />
**vedo oggi 29.11.2016 che qui l'ultimo dato segnato è che LMS200 sarebbe in mano mia, ma ciò è falso, era stato reso per quadrivio e mai più ridato in prestito, invece era stato prestato LMS100; c'era invece ancora in prestito la sua scatola, con dentro un connettore e cavo di alimentazione, non il cavo ethernet ed annesso connettore. oggi resa di scatola e connettore e cavo alimentazione assieme a LMS100, 29.11.2016.<br />
* [[Sick LMS2xx]] (quello grigio), luogo di default: ???;<br />
**dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]); reso 13.06.12 e dato direttamente a zardo (dottorando bascetta/magnani/rocco) da [[User:Domenicogsorrenti]], (solo il sensore, non i cavi alimentazione e comunicazione ed i corrispondenti connettori);<br />
**13.06.12 in prestito a zardo (bascetta/magnani/rocco);<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_2_rs422]] a 2 porte; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_4_rs422]] a 4 porte; al 18.5.12 c'e' la scatola, ma non si trova la scheda (nota di [[User:Domenicogsorrenti]] del 13.06.12: mi pare che moxa + connettori sick del grigio + cavi siano pure in prestito per quadrivio)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=15137Laser Range Finders2012-06-13T10:44:50Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS200]], luogo di default: sul sensor frame di [[Robocom]]; <br />
**dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]), reso il 16/03/2012 (reso solo il sensore, i cavi alimentazione e comunicazione ed i corrispondenti connettori sono ancora in prestito)<br />
**solo il sensore, dal 18.05.12 in prestito a Bascetta/Magnani per il progetto quadrivio, reso a [[User:Domenicogsorrenti]] il 13.06.12;<br />
**solo il sensore, dal 13.06.12 di nuovo in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]);<br />
* [[Sick LMS2xx]] (quello grigio), luogo di default: ???;<br />
**dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]); reso 13.06.12 a zardo (dottorando bascetta/magnani/rocco) da [[User:Domenicogsorrenti]], (solo il sensore, non i cavi alimentazione e comunicazione ed i corrispondenti connettori);<br />
**13.06.12 in prestito a zardo (bascetta/magnani/rocco);<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_2_rs422]] a 2 porte; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_4_rs422]] a 4 porte; al 18.5.12 c'e' la scatola, ma non si trova la scheda (nota di [[User:Domenicogsorrenti]] del 13.06.12: mi pare che moxa + connettori sick del grigio + cavi siano pure in prestito per quadrivio)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=15136Laser Range Finders2012-06-13T10:43:34Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS200]], luogo di default: sul sensor frame di [[Robocom]]; <br />
**dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]), reso il 16/03/2012 (reso solo il sensore, i cavi alimentazione e comunicazione ed i corrispondenti connettori sono ancora in prestito)<br />
**solo il sensore, dal 18.05.12 in prestito a Bascetta/Magnani per il progetto quadrivio, reso a [[User:Domenicogsorrenti]] il 13.06.12;<br />
**solo il sensore, dal 13.06.12 di nuovo in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]);<br />
* [[Sick LMS2xx]] (quello grigio), luogo di default: ???;<br />
**dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]); reso 13.06.12 a zardo (dottorando bascetta/magnani/rocco) da [[User:Domenicogsorrenti]], (solo il sensore, non i cavi alimentazione e comunicazione ed i corrispondenti connettori);<br />
**13.06.12 in prestito a zardo (bascetta/magnani/rocco);<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_2_rs422]] a 2 porte; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_4_rs422]] a 4 porte; al 18.5.12 c'e' la scatola, ma non si trova la scheda ([[User:Domenicogsorrenti]] 13.06.12: mi pare che moxa + connettori sick del grigio + cavi siano pure in prestito per quadrivio)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Sick_LMS200&diff=13964Sick LMS2002011-10-18T14:18:31Z<p>Domenicogsorrenti: moved Sick LMS290 to Sick LMS200: typo in the name</p>
<hr />
<div>See a description of the device in the following .pdf file<br />
<br />
[https://www.mysick.com/saqqara/get.aspx?id=im0012759]<br />
<br />
The airlab version includes a serial communication cable (rs422) and a power supply cable, with connector.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Sick_LMS290&diff=13965Sick LMS2902011-10-18T14:18:31Z<p>Domenicogsorrenti: moved Sick LMS290 to Sick LMS200: typo in the name</p>
<hr />
<div>#REDIRECT [[Sick LMS200]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=13963Laser Range Finders2011-10-18T14:17:58Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS200]], luogo di default: sul sensor frame di [[Robocom]]; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_2_rs422]]; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rotary_tables&diff=13962Rotary tables2011-10-18T14:17:02Z<p>Domenicogsorrenti: </p>
<hr />
<div>*[[Parker Daedal Division]], dal 18.10.11 in prestito a [[User:Domenicogsorrenti | Domenico G. Sorrenti]] ovvero [http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rotary_tables&diff=13961Rotary tables2011-10-18T14:16:32Z<p>Domenicogsorrenti: </p>
<hr />
<div>*[[Parker Daedal Division]], dal 18.10.11 in prestito a [[User:Domenicogsorrenti]] ovvero [http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rotary_tables&diff=13960Rotary tables2011-10-18T14:16:22Z<p>Domenicogsorrenti: </p>
<hr />
<div>*[[Parker Daedal Division]], dal 18.10.11 in prestito a [[User::Domenicogsorrenti]] ovvero [http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rotary_tables&diff=13959Rotary tables2011-10-18T14:12:50Z<p>Domenicogsorrenti: </p>
<hr />
<div>*[[Parker Daedal Division]], dal 18.10.11 in prestito a [[Domenicogsorrenti]] ovvero [http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Parker_Daedal_Division&diff=13958Parker Daedal Division2011-10-18T14:11:12Z<p>Domenicogsorrenti: </p>
<hr />
<div>fotografia<br />
<br />
rotary table Parker Daedal division con motore e encoder magnetico, del lontano 1903 (1993)<br />
<br />
ulteriori informazioni da recuperare via internet a cura di [http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Parker_Daedal_Division&diff=13957Parker Daedal Division2011-10-18T14:10:54Z<p>Domenicogsorrenti: Created page with "fotografia rotary table Parker Daedal division con motore e encoder magnetico, del lontano 1903 (1993) ulteriori informazioni da recuperare via internet a cura di [http://irawi..."</p>
<hr />
<div>fotografia<br />
<br />
rotary table Parker Daedal division con motore e encoder magnetico, del lontano 1903 (1993)<br />
<br />
ulteriori informazioni da recuperare via internet a cura di [http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rotary_tables&diff=13956Rotary tables2011-10-18T14:09:13Z<p>Domenicogsorrenti: Created page with "*Parker Daedal Division"</p>
<hr />
<div>*[[Parker Daedal Division]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=What%27s_in_the_AIRLab&diff=13955What's in the AIRLab2011-10-18T14:08:24Z<p>Domenicogsorrenti: /* Control and actuation */</p>
<hr />
<div>This page is used to keep track of the hardware that you can find in the various AIRLab sites (a list of which is given in [[The Labs]]). The gear is divided into categories, and you must go to the relevant one to know what is available, its main characteristics, and where it is now. The way this page is used (and the way ''you'' must use it) is described below, in this [[#HOWTO use this page (read this first!)|HOWTO]].<br />
<br />
As we are on the topic of "where things are", please keep in mind that ''other'' people want to find things as much as ''you'' want that, so '''if you are moving some piece of hardware away from its storage location, or taking it from someone who has finished using it, please update the AIRWiki *now*'''.<br />
<br />
If something you need is missing, ask your advisor or [[User:GiulioFontana|Giulio Fontana]].<br />
In case, after being instructed about what to do to be reimbursed, and authorized, you may go in a shop and get what you need.<br />
Here is a list of [[Dealers|dealers]] that we used in the past.<br />
<br />
Remember that there are '''risks''' associated to the use of some kind of hardware. They are described, along with the instructions to avoid them, in the [[Safety norms]]. You are '''required''' to know these norms (actually, to access the AIRLab you have to sign a document stating that you know them: see [[Bureaucracy]]), and you have full responsibility for anything you do in the AIRLab.<br />
<br />
===HOWTO use this page (read this first!)===<br />
This is the page where ''every'' piece of hardware available to AIRLab's users must be listed. To see some examples, go to the categories below. This page is used to document what is available, and (crucially) to '''find things'''.<br />
<br />
As a general rule: if a piece of equipment is somewhere in the AIRLab (see [[The Labs]]), it must also be possible to ''find'' it by going to the right one of the categories listed in the following part of this page. If the right category doesn't exist, and you are currently using the equipment, ''you'' must create a new category. If the category exists but the piece of equipment you are using is not listed in it, ''you'' must add it to the category. This is also needed if you bought something new.<br />
<br />
Each category is a collection of links. Each link points to a page of the AIRWiki dedicated to a specific class of hardware. Such "class page" must ''at least'' contain a table where - for every piece of hardware included into the class - the following data are specified:<br />
* make and model;<br />
* where it is located when not in use;<br />
* who is using it currently (put here a link to one of the user pages in [[Special:Listusers]]).<br />
These are the data necessary to find a piece of hardware; in addition to those, it's very nice if you add to the table:<br />
* the main specifications;<br />
* a link to the datasheet and/or the user's manual (in the maker's website).<br />
<br />
If you really want to go over the top, and be kindly remembered forever by AIRLab users, you can complete the "class page" with a short introduction about the kind of hardware it is dedicated to. It's also very good if you put here a description of the key points and the pitfalls in the choice and use of such hardware, so that your experience (and misfortunes) are not wasted. If you want an example of such an introduction, look at the [[Cameras, lenses and mirrors]] page (a less verbose version is good too!).<br />
<br />
===Robots===<br />
*[[LURCH - The autonomous wheelchair]]<br />
*[[Robocom]]<br />
*[[MRT, the Milan Robocup Team]]<br />
*[[The MO.RO. family]]<br />
*[[Tilty]]<br />
*[[Spykee]]<br />
*[[Lego Mindstorms NXT]]<br />
*[[Manipulators]]<br />
*[[Humanoid and bio-inspired robots]]<br />
*[[Roomba - vacuuming robots | Roomba]]<br />
<br />
===Sensors===<br />
*[[Cameras, lenses and mirrors]]<br />
*[[Laser Range Finders]]<br />
*[[Sonars]]<br />
*[[Inertial Measurement Units]]<br />
*[[Absolute position sensors]] (e.g. GPS)<br />
<br />
===Human/machine interfaces===<br />
*[[Electroencephalographs]]<br />
*[[Biofeedback and neurofeedback systems]]<br />
*[[WIIMote]]<br />
<br />
===Instruments===<br />
*[[Oscilloscopes and waveform generators]]<br />
<br />
===Power===<br />
*[[Power supplies]]<br />
*[[Batteries and chargers]]<br />
<br />
===Control and actuation===<br />
*[[Microcontrollers and accessories]]<br />
*[[Motors, gearboxes & encoders]]<br />
*[[Motor control boards]]<br />
*[[Servomechanisms (aka "Servos")]]<br />
*[[Rotary tables]]<br />
<br />
===Mechanics===<br />
*[[Tools]]<br />
*[[Aluminium profiles and accessories]]<br />
*[[Lathe]]<br />
<br />
===Computers===<br />
*[[User-accessible PCs]]<br />
*[[PCBricks]]<br />
*[[Number crunching]] (or: how you can do experiments in hours instead of days)<br />
*Internet access for laptops: see [[Bureaucracy#HOW TO connect your laptop to the Internet]]<br />
<br />
===Other (Camcorder, Dymo, ...)===<br />
*[[Camcorder]]<br />
*[[contact printer]] (also called bromograph)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Moxa_board_2_rs422&diff=13954Moxa board 2 rs4222011-10-18T14:04:11Z<p>Domenicogsorrenti: Created page with "fotografia scatola con cavo da connettore lato scheda a 2 (due) connettori db9 lato periferica e scheda pci"</p>
<hr />
<div>fotografia<br />
scatola con cavo da connettore lato scheda a 2 (due) connettori db9 lato periferica e scheda pci</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=13953Laser Range Finders2011-10-18T14:01:51Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS290]], luogo di default: sul sensor frame di [[Robocom]]; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])<br />
* board for acquisition of rs422 signals, by moxa [[moxa_board_2_rs422]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Sick_LMS200&diff=13952Sick LMS2002011-10-18T13:59:58Z<p>Domenicogsorrenti: </p>
<hr />
<div>See a description of the device in the following .pdf file<br />
<br />
[https://www.mysick.com/saqqara/get.aspx?id=im0012759]<br />
<br />
The airlab version includes a serial communication cable (rs422) and a power supply cable, with connector.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=13951Laser Range Finders2011-10-18T13:59:03Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS290]], luogo di default: sul sensor frame di [[Robocom]]; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio Salanitri Elio])</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=13950Laser Range Finders2011-10-18T13:58:53Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS290]], luogo di default: sul sensor frame di [[Robocom]]; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/irawiki/index.php/Salanitri_Elio | Salanitri Elio])</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=13949Laser Range Finders2011-10-18T13:57:08Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS290]], luogo di default: sul sensor frame di [[Robocom]]; dal 18.10.11 in prestito a Domenicogsorrenti ([http://irawiki.disco.unimib.it/Salanitri_Elio])</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Sick_LMS200&diff=13948Sick LMS2002011-10-18T13:55:43Z<p>Domenicogsorrenti: Created page with "See a description of the device in the following .pdf file [https://www.mysick.com/saqqara/get.aspx?id=im0012759]"</p>
<hr />
<div>See a description of the device in the following .pdf file<br />
<br />
[https://www.mysick.com/saqqara/get.aspx?id=im0012759]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Laser_Range_Finders&diff=13947Laser Range Finders2011-10-18T13:48:19Z<p>Domenicogsorrenti: /* SICK Laser Range Finder */</p>
<hr />
<div>== Hokuyo Laser Range Finder ==<br />
* hokuyo, n. x, quello con la usb guasta, polimi, prestato a unimib, lo prendera' domenico il 13.02.08; reso da domenico a matteo brevi manu il 03.10.08 (con usb riparata!)<br />
<br />
<br />
* One Hokuyo is now involved in the project of [[User:PaoloCalloni]]<br />
<br />
== SICK Laser Range Finder ==<br />
* [http://www.sick.com.hk/DME2000.pdf Sick DME2000] montato su base mobile. Si trova presso l'airlab di Lambrate.<br />
* [https://www.mysick.com/eCat.aspx?go=FinderSearch&Cat=Row&At=Fa&Cult=English&FamilyID=344&List=1&Category=Produktfinder&Selections= Sick LMS 100] Ufficio T11. Dei [[User:SimoneTognetti]]<br />
* [[Sick LMS290]], luogo di default: sul sensor frame di [[Robocom]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=10856Cameras, lenses and mirrors2010-03-12T15:52:55Z<p>Domenicogsorrenti: /* Cameras */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin will cause damage.<br />
<br />
==Cameras==<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
*'''ST Camera boards'''. Cameras with cell phone sensor and ARM processor for onboard computation.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
==List of Cameras==<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (1/3), [[User:SimoneTognetti| Simone Tognetti]](from 19/05/2009, dal 14/12/2009 sono impiegate per esperimenti Affective nell'Airlab del DEI)(2/3)<br />
|RAWSEEDS (1/3), Driving companions (2/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8),<br />
<br />
presa 1 a fine febbraio10 con lente wide (quella di riserva di robocom), montaggio "a la rizzi" con lastrine di plexiglass e pezzo di profilato item [[User:Domenicogsorrenti]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST1-Cam + ST2-Cam<br />
|integrated<br />
|2<br />
|ST1-Cam [[User:AndreaBonarini| Andrea Bonarini]], ST2-Cam [[User:LorenzoConsolaro | Lorenzo Consolaro]] and [[User:DarioCecchetto | Dario Cecchetto]] <br />
|<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST5-CamMic + ST6-CamMic<br />
|integrated with microphone<br />
|2<br />
|ST1-CamMic [[User:AndreaBonarini| Andrea Bonarini]], ST2-CamMic [[User:AndreaBonarini|Andrea Bonarini]] <br />
|<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST4-DC (Demo board)<br />
|integrated<br />
|1<br />
|[[User:RaffaelePetta|Raffaele Petta]]<br />
|<br />
|<br />
|}<br />
<br><br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a CS-mount lens can be mounted on a C-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a C-mount lens on a CS-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0, with IR coating<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Frame grabbers==<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list<br />
<br />
==Cable==<br />
The complete list of cable for camera connection and/or power is under construction. You can partecipate listing below which cables are you using...<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!Type<br />
!length<br />
!how many?<br />
!where?<br />
!project<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|2<br />
|Bicocca (refer to Domenico G. Sorrenti, 2009-11-11)<br />
|?<br />
|-<br />
|FireWire 6-6 <br />
|?<br />
|1<br />
|on LURCH wheelchair<br />
|LURCH<br />
|}</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Criteria_for_passing_the_internal_review_before_the_registration_deadline_of_the_German_Open_2010&diff=9772Criteria for passing the internal review before the registration deadline of the German Open 20102009-12-23T18:26:40Z<p>Domenicogsorrenti: Draft version of the criteria for passing the "internal review before the registration deadline of the German Open 2010"; domenico 23.12.09 moved to Criteria for passing the internal review before the registration deadline of the German Open 2010</p>
<hr />
<div>= Criteria for passing the "internal review before the registration deadline of the German Open 2010 =<br />
<br />
== credibile piano finanziario ==<br />
È necessario che sia disponibile un documento chiamato ''piano finanziario'' che descriva:<br />
* la lista delle spese che ci si aspetta si debbano affrontare;<br />
* la descrizione di come si intende ottenere la disponibilità di denaro per sostenere le spese della lista (ad esempio mediante il reperimento di uno sponsor, cui andranno promessi adeguati ritorni di immagine);<br />
Questo documento dovrà risultare essere convincente, come piano finanziario relativo al reperimento delle risorse per il sostentamento della partecipazione alla competizione. Dovrà anche risultare chiaro come la partecipazione alla competizione possa portare a introiti di denari per nuovi sviluppi (robocup o meno) della ricerca.<br />
<br />
Andrea nota che lui avrebbe una persona che potrebbe fare da micro-sponsor "(Marco Bellini, me l'ha detto esplicitamente nella lettera di auguri), non so con quanto".<br />
<br />
== funzionamento corretto con la RefBox selezionata ==<br />
I robot dovranno mostrare di essere in grado di ricevere tutti i segnali delal refbox<br />
<br />
== entrata in campo autonoma e posizionamento ==<br />
Al segnale della refbox i robot che si trovano disposti sul lato del campo, dovranno partire autonomamente per la loro posizione di partenza<br />
<br />
== partenza gioco ==<br />
Al segnale della refbox i robot dovranno iniziare a giocare<br />
<br />
== controllo di palla ==<br />
I robot dovranno mostrare di essere in grado di dribblare senza problemi. Per effettuare una valutazione obiettiva di questo criterio si userà il challenge di quest'anno con la palla di gioco (quindi non necessariamente una palla arbitraria, ma una di quelle che potrebbero essere sorteggiate per il gioco, ad esempio quella gialla che c'è in bovisa).<br />
* occorre che il robot schivi un paio di ostacoli (ad esempio robot fissi o box neri);<br />
* occorre che successivamente il robot passi la palla a un altro robot;<br />
* occorre che questo altro robot riceva il passaggio;<br />
* occorre che questo altro robot poi effettui un tiro in porta;<br />
* occorre che tutto quanto sopra avvenga senza perdere palla;<br />
* l'ideale sarebbe vedere un attaccante e un difensore in azione, con l'attaccante che riesce a dribblare il difensore (o viceversa).<br />
<br />
== strategia ==<br />
I robot dovranno mostrare di poter fare scelte alternative; ad esempio, ponendo dei box neri fissi come avversari nel campo, si dovrà assistere a comportamenti diversi al variare delle posizioni dei box. Non andare contro un box "in possesso di palla" sarebbe già una strategia migliore di quella di molte delle squadre attualmente in campo.<br />
<br />
== corretto comportamento con le regole 2010, che sono appena uscite, sulle rimesse in gioco e sui falli ==<br />
La applicazione delle nuove regole 2010 non è richiesta per la review interna pre-registration.<br />
<pre><br />
matteo<br />
>> OK, anche qui magari Andrea fara' un riassunto ai reviewer in fase di verifica oppure si docvranno definire opportuni test per verificarlo.<br />
domenico<br />
> mah... sono appena uscite. chiedere che siano gia' implementate mi sa un po' "di volere la luna".<br />
andrea<br />
Non c'e' molto di diverso, se non le distanze rispetto alla palla e le regole del passaggio nel tiro a due, che non si puo' fare stando attaccati, ma bisogna stare a 1 metro di distanza l'uno dall'altro (se ricordo bene). Nulla che non sia alla portata di chi era in grado di seguire le regole vecchie. Non e' la luna.<br />
andrea<br />
[Il criterio informatore dei vari criteri è] "Che i robot ci siano e funzionino almeno come avrebbero dovuto a Graz".<br />
</pre><br />
<br />
== gestione uscite con RefBox ==<br />
* i robot dovranno essere in grado di rilevare il segnale della RefBox per l'uscita,<br />
* bisogna che ci sia un gruppo di persone pronte che sappiano come gestire l'uscita:<br />
** le persone devono stare fuori dal recinto,<br />
** vanno spenti i motori dei robot, ma senza spegnere tutto i robot,<br />
** ecc.<br />
* bisogna che i robot recepiscano e gestiscano il segnale dei 30 secondi passati che viene dalla refbox,<br />
* bisogna che i robot gestiscano il fatto che si puo' rientrare solo al primo restart dopo i 30 secondi.<br />
Si tratta di operazioni abbastanza semplici, ma che dimostrerebbero l'esistenza di una organizzazione di squadra e un delal presenza di quel minimo di logica nella gestione della ri-attivazione che non si e' vista in passato.<br />
<br />
== possibilità di gioco con palla non arancione, come da regole 2010 ==<br />
I robot dovranno mostrare di essere in grado di giocare anche con una palla, pur prevalentemente colorata, ma di un colore diverso dall'arancione usato nelle competizioni pre-2010. Ad esempio quella gialla che c'è in Bovisa.<br />
<br />
== possibilità di affrontare il challenge obbligatorio (palla arbitraria: dribbling e passaggio) ==<br />
È richiesto che i robot affrontino il challenge, pur essendo riconosciuto che potrebbero non essere in grado di superarlo; questo sviluppo (il portare i robot a superare il challenge obbligatorio) è compatibile con "il miglioramento delle performance" che si può effettuare dopo la registration.<br />
<br />
== verifica della risoluzione del problema della localizzazione con bussola (problema dei cavi elettrici sotto al campo, come a Graz) ==<br />
Al momento non è chiaro se ricreare il setup che c'era a Graz (cosa che potrebbe anche risultare molto onerosa). Per la verifica pre-registration sarà sufficiente mostrare di aver concluso lo spostamento di tutte le bussole sopra la testa, cosa che dovrebbe attenuare di molto il problema. La questione andrà comunque approfondita, ad esempio sentendo l'organizzazione sulla capacità di garantire la aasenza di questo genere di disturbi sul campo delle partite.<br />
<br />
== verifica della risoluzione del problema della comunicazione tra agorà in dcdt ==<br />
Qui va chiarito (Marcello) se sia sufficiente mostrare una 20 - 30 minuti di gioco continuo oppure se invece sia necessario impostare un appostito test per scongiurare che si ripeta di nuovo.<br />
<br />
== questione ruote triskar risolta per tutti i robot ==<br />
Tutti i triskar dovranno avere ruote montate, testate e risultate funzionanti al test rispetto al problema che si possono impiantare i rullini e che gli stessi rullini non ballino troppo e che le ruote stesse non ballino troppo sull'asse e che non ci siano problemi di perdita di tenuta assiale tra l'uscita della trasmissione e la ruota.<br />
<br />
== questione portapalla risolta per tutti i robot (dita fisse + parte mobile con elastico) ==<br />
Tutti i triskar dovranno avere dita fisse + parte mobile con elastico montate e funzionanti.<br />
<br />
== questione kickers di diversa potenza tra i vari triskar ==<br />
Tutti i triskar dovranno mostrare calci di potenza non eccessivamente difforme.<br />
<br />
== questione riflessi per teste omnidir ==<br />
Detta anche "questione spillo" (la decisione d provare con lo spillo, invece che con la eliminazione del cilindro di plexiglass è stata presa): qui dipendiamo da amico matteo per la fornitura del materiale. È già evidente che non avremo la soluzione pronta per la review. I robot dovranno comunque comportarsi in maniera decente alla review. Se ciò non risultasse possibile a causa della presenza di riflessi allora niet: review non passata.<br />
<br />
== questione connessione testa_omnidir - corpo_robot ==<br />
Tutti i robot dovranno avere una connessione testa_omnidir - corpo_robot che sia chiaramente resistente a vibrazioni causate dal moto dei robot e loro urti, che sia resistente a leggeri urti con la palla e che si rompa per urti forti con palla o altri ostacoli cendendo per salvaguardare la testa ominidir. non si deve piegare il metallo delle basi inferiore o superiore delle teste omnidir.<br />
<br />
== localizzazione palla frontale "flying" ==<br />
Noi (team) pensiamo che il codice attuale, compilato con intel ipp (che sono gratis per l'accademia) possa già renderlo ok per la performance temporale. Noi (team) pensiamo che per la accuratezza di localizzazione siamo insoddisfatti, ma reputiamo che questo problema debba essere oggetto di sviluppo post-review. Il criterio di passaggio della review è che i roboto mostrino una performance "decente".</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Draft_version_of_the_criteria_for_passing_the_%22internal_review_before_the_registration_deadline_of_the_German_Open_2010%22;_domenico_23.12.09&diff=9773Draft version of the criteria for passing the "internal review before the registration deadline of the German Open 2010"; domenico 23.12.092009-12-23T18:26:40Z<p>Domenicogsorrenti: Draft version of the criteria for passing the "internal review before the registration deadline of the German Open 2010"; domenico 23.12.09 moved to Criteria for passing the internal review before the registration deadline of the German Open 2010</p>
<hr />
<div>#REDIRECT [[Criteria for passing the internal review before the registration deadline of the German Open 2010]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Milan_Robocup_Team_Robot_development&diff=9771Milan Robocup Team Robot development2009-12-23T18:20:32Z<p>Domenicogsorrenti: </p>
<hr />
<div>Here are some projects dedicated to developments of the robots of the [http://robocup.elet.polimi.it/MRT | Milan Robocup Team]<br />
<br />
* [[ MRT: Adding an electronic compass to existing robots ]]<br />
* [[ MRT: Development of a multi-purpose debugger for MRT-based robots ]]<br />
* [[ MRT: Assembling and testing two robots Triskar]]<br />
* [[ MRT: Design of the electrical and wiring diagram of the robots Triskar]]<br />
<br />
<br />
Draft version of the [[criteria for passing the internal review before the registration deadline of the German Open 2010]]; domenico 23.12.09.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Criteria_for_passing_the_internal_review_before_the_registration_deadline_of_the_German_Open_2010&diff=9770Criteria for passing the internal review before the registration deadline of the German Open 20102009-12-23T17:50:49Z<p>Domenicogsorrenti: New page: = Criteria for passing the "internal review before the registration deadline of the German Open 2010 = == credibile piano finanziario == È necessario che sia disponibile un documento chi...</p>
<hr />
<div>= Criteria for passing the "internal review before the registration deadline of the German Open 2010 =<br />
<br />
== credibile piano finanziario ==<br />
È necessario che sia disponibile un documento chiamato ''piano finanziario'' che descriva:<br />
* la lista delle spese che ci si aspetta si debbano affrontare;<br />
* la descrizione di come si intende ottenere la disponibilità di denaro per sostenere le spese della lista (ad esempio mediante il reperimento di uno sponsor, cui andranno promessi adeguati ritorni di immagine);<br />
Questo documento dovrà risultare essere convincente, come piano finanziario relativo al reperimento delle risorse per il sostentamento della partecipazione alla competizione. Dovrà anche risultare chiaro come la partecipazione alla competizione possa portare a introiti di denari per nuovi sviluppi (robocup o meno) della ricerca.<br />
<br />
Andrea nota che lui avrebbe una persona che potrebbe fare da micro-sponsor "(Marco Bellini, me l'ha detto esplicitamente nella lettera di auguri), non so con quanto".<br />
<br />
== funzionamento corretto con la RefBox selezionata ==<br />
I robot dovranno mostrare di essere in grado di ricevere tutti i segnali delal refbox<br />
<br />
== entrata in campo autonoma e posizionamento ==<br />
Al segnale della refbox i robot che si trovano disposti sul lato del campo, dovranno partire autonomamente per la loro posizione di partenza<br />
<br />
== partenza gioco ==<br />
Al segnale della refbox i robot dovranno iniziare a giocare<br />
<br />
== controllo di palla ==<br />
I robot dovranno mostrare di essere in grado di dribblare senza problemi. Per effettuare una valutazione obiettiva di questo criterio si userà il challenge di quest'anno con la palla di gioco (quindi non necessariamente una palla arbitraria, ma una di quelle che potrebbero essere sorteggiate per il gioco, ad esempio quella gialla che c'è in bovisa).<br />
* occorre che il robot schivi un paio di ostacoli (ad esempio robot fissi o box neri);<br />
* occorre che successivamente il robot passi la palla a un altro robot;<br />
* occorre che questo altro robot riceva il passaggio;<br />
* occorre che questo altro robot poi effettui un tiro in porta;<br />
* occorre che tutto quanto sopra avvenga senza perdere palla;<br />
* l'ideale sarebbe vedere un attaccante e un difensore in azione, con l'attaccante che riesce a dribblare il difensore (o viceversa).<br />
<br />
== strategia ==<br />
I robot dovranno mostrare di poter fare scelte alternative; ad esempio, ponendo dei box neri fissi come avversari nel campo, si dovrà assistere a comportamenti diversi al variare delle posizioni dei box. Non andare contro un box "in possesso di palla" sarebbe già una strategia migliore di quella di molte delle squadre attualmente in campo.<br />
<br />
== corretto comportamento con le regole 2010, che sono appena uscite, sulle rimesse in gioco e sui falli ==<br />
La applicazione delle nuove regole 2010 non è richiesta per la review interna pre-registration.<br />
<pre><br />
matteo<br />
>> OK, anche qui magari Andrea fara' un riassunto ai reviewer in fase di verifica oppure si docvranno definire opportuni test per verificarlo.<br />
domenico<br />
> mah... sono appena uscite. chiedere che siano gia' implementate mi sa un po' "di volere la luna".<br />
andrea<br />
Non c'e' molto di diverso, se non le distanze rispetto alla palla e le regole del passaggio nel tiro a due, che non si puo' fare stando attaccati, ma bisogna stare a 1 metro di distanza l'uno dall'altro (se ricordo bene). Nulla che non sia alla portata di chi era in grado di seguire le regole vecchie. Non e' la luna.<br />
andrea<br />
[Il criterio informatore dei vari criteri è] "Che i robot ci siano e funzionino almeno come avrebbero dovuto a Graz".<br />
</pre><br />
<br />
== gestione uscite con RefBox ==<br />
* i robot dovranno essere in grado di rilevare il segnale della RefBox per l'uscita,<br />
* bisogna che ci sia un gruppo di persone pronte che sappiano come gestire l'uscita:<br />
** le persone devono stare fuori dal recinto,<br />
** vanno spenti i motori dei robot, ma senza spegnere tutto i robot,<br />
** ecc.<br />
* bisogna che i robot recepiscano e gestiscano il segnale dei 30 secondi passati che viene dalla refbox,<br />
* bisogna che i robot gestiscano il fatto che si puo' rientrare solo al primo restart dopo i 30 secondi.<br />
Si tratta di operazioni abbastanza semplici, ma che dimostrerebbero l'esistenza di una organizzazione di squadra e un delal presenza di quel minimo di logica nella gestione della ri-attivazione che non si e' vista in passato.<br />
<br />
== possibilità di gioco con palla non arancione, come da regole 2010 ==<br />
I robot dovranno mostrare di essere in grado di giocare anche con una palla, pur prevalentemente colorata, ma di un colore diverso dall'arancione usato nelle competizioni pre-2010. Ad esempio quella gialla che c'è in Bovisa.<br />
<br />
== possibilità di affrontare il challenge obbligatorio (palla arbitraria: dribbling e passaggio) ==<br />
È richiesto che i robot affrontino il challenge, pur essendo riconosciuto che potrebbero non essere in grado di superarlo; questo sviluppo (il portare i robot a superare il challenge obbligatorio) è compatibile con "il miglioramento delle performance" che si può effettuare dopo la registration.<br />
<br />
== verifica della risoluzione del problema della localizzazione con bussola (problema dei cavi elettrici sotto al campo, come a Graz) ==<br />
Al momento non è chiaro se ricreare il setup che c'era a Graz (cosa che potrebbe anche risultare molto onerosa). Per la verifica pre-registration sarà sufficiente mostrare di aver concluso lo spostamento di tutte le bussole sopra la testa, cosa che dovrebbe attenuare di molto il problema. La questione andrà comunque approfondita, ad esempio sentendo l'organizzazione sulla capacità di garantire la aasenza di questo genere di disturbi sul campo delle partite.<br />
<br />
== verifica della risoluzione del problema della comunicazione tra agorà in dcdt ==<br />
Qui va chiarito (Marcello) se sia sufficiente mostrare una 20 - 30 minuti di gioco continuo oppure se invece sia necessario impostare un appostito test per scongiurare che si ripeta di nuovo.<br />
<br />
== questione ruote triskar risolta per tutti i robot ==<br />
Tutti i triskar dovranno avere ruote montate, testate e risultate funzionanti al test rispetto al problema che si possono impiantare i rullini e che gli stessi rullini non ballino troppo e che le ruote stesse non ballino troppo sull'asse e che non ci siano problemi di perdita di tenuta assiale tra l'uscita della trasmissione e la ruota.<br />
<br />
== questione portapalla risolta per tutti i robot (dita fisse + parte mobile con elastico) ==<br />
Tutti i triskar dovranno avere dita fisse + parte mobile con elastico montate e funzionanti.<br />
<br />
== questione kickers di diversa potenza tra i vari triskar ==<br />
Tutti i triskar dovranno mostrare calci di potenza non eccessivamente difforme.<br />
<br />
== questione riflessi per teste omnidir ==<br />
Detta anche "questione spillo" (la decisione d provare con lo spillo, invece che con la eliminazione del cilindro di plexiglass è stata presa): qui dipendiamo da amico matteo per la fornitura del materiale. È già evidente che non avremo la soluzione pronta per la review. I robot dovranno comunque comportarsi in maniera decente alla review. Se ciò non risultasse possibile a causa della presenza di riflessi allora niet: review non passata.<br />
<br />
== questione connessione testa_omnidir - corpo_robot ==<br />
Tutti i robot dovranno avere una connessione testa_omnidir - corpo_robot che sia chiaramente resistente a vibrazioni causate dal moto dei robot e loro urti, che sia resistente a leggeri urti con la palla e che si rompa per urti forti con palla o altri ostacoli cendendo per salvaguardare la testa ominidir. non si deve piegare il metallo delle basi inferiore o superiore delle teste omnidir.<br />
<br />
== localizzazione palla frontale "flying" ==<br />
Noi (team) pensiamo che il codice attuale, compilato con intel ipp (che sono gratis per l'accademia) possa già renderlo ok per la performance temporale. Noi (team) pensiamo che per la accuratezza di localizzazione siamo insoddisfatti, ma reputiamo che questo problema debba essere oggetto di sviluppo post-review. Il criterio di passaggio della review è che i roboto mostrino una performance "decente".</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Milan_Robocup_Team_Robot_development&diff=9769Milan Robocup Team Robot development2009-12-23T16:55:39Z<p>Domenicogsorrenti: </p>
<hr />
<div>Here are some projects dedicated to developments of the robots of the [http://robocup.elet.polimi.it/MRT | Milan Robocup Team]<br />
<br />
* [[ MRT: Adding an electronic compass to existing robots ]]<br />
* [[ MRT: Development of a multi-purpose debugger for MRT-based robots ]]<br />
* [[ MRT: Assembling and testing two robots Triskar]]<br />
* [[ MRT: Design of the electrical and wiring diagram of the robots Triskar]]<br />
<br />
<br />
[[Draft version of the criteria for passing the "internal review before the registration deadline of the German Open 2010"; domenico 23.12.09]].</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Milan_Robocup_Team_Robot_development&diff=9768Milan Robocup Team Robot development2009-12-23T16:50:48Z<p>Domenicogsorrenti: </p>
<hr />
<div>Here are some projects dedicated to developments of the robots of the [http://robocup.elet.polimi.it/MRT | Milan Robocup Team]<br />
<br />
* [[ MRT: Adding an electronic compass to existing robots ]]<br />
* [[ MRT: Development of a multi-purpose debugger for MRT-based robots ]]<br />
* [[ MRT: Assembling and testing two robots Triskar]]<br />
* [[ MRT: Design of the electrical and wiring diagram of the robots Triskar]]<br />
<br />
<br />
[[Draft version of the criteria for passing the "internal review before the registration deadline to the German Open 2010"]].</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=6476Cameras, lenses and mirrors2009-05-18T15:55:18Z<p>Domenicogsorrenti: /* Cameras */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
===Cameras===<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
*'''ST Camera boards'''. Cameras with cell phone sensor and ARM processor for onboard computation.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST1-Cam + ST2-Cam<br />
|integrated<br />
|2<br />
|ST1-Cam [[User:AndreaBonarini| Andrea Bonarini]], ST2-Cam [[User:LorenzoConsolaro | Lorenzo Consolaro]] and [[User:DarioCecchetto | Dario Cecchetto]] <br />
|<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST5-CamMic + ST6-CamMic<br />
|integrated with microphone<br />
|2<br />
|ST1-CamMic [[User:Andrea Bonarini| Andrea Bonarini]], ST2-CamMic [[User:Andrea Bonarini| Andrea Bonarini]] <br />
|<br />
|<br />
|-<br />
|?<br />
|color<br />
|?<br />
|?<br />
|?<br />
|ST Microelectronics<br />
|ST4-DC (Demo board)<br />
|integrated<br />
|1<br />
|Lambrate (workshop closet)<br />
|<br />
|<br />
|}<br />
<br><br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
<br />
<br />
<br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0, with IR coating<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list<br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
<br />
<br />
<br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0, with IR coating<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale => 06.05.09 E' in bovisa montata sul triskar #3<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Ridan_-_field_player&diff=6420Ridan - field player2009-05-18T10:20:14Z<p>Domenicogsorrenti: </p>
<hr />
<div>Please refer to the MRT website for a description of this robot.<br />
<br />
back (http://airwiki.elet.polimi.it/mediawiki/index.php/MRT%2C_the_Milan_Robocup_Team)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rigo_-_field_player&diff=6419Rigo - field player2009-05-18T10:20:09Z<p>Domenicogsorrenti: </p>
<hr />
<div>Please refer to the MRT website for a description of this robot.<br />
<br />
back (http://airwiki.elet.polimi.it/mediawiki/index.php/MRT%2C_the_Milan_Robocup_Team)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Recam_-_field_player&diff=6418Recam - field player2009-05-18T10:19:18Z<p>Domenicogsorrenti: </p>
<hr />
<div>Please refer to the MRT website for a description of this robot.<br />
<br />
back (http://airwiki.elet.polimi.it/mediawiki/index.php/MRT%2C_the_Milan_Robocup_Team)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rabbiati_-_the_goalkeeper&diff=6417Rabbiati - the goalkeeper2009-05-18T10:18:49Z<p>Domenicogsorrenti: </p>
<hr />
<div>Please refer to the MRT website for a description of this robot.<br />
<br />
back (http://airwiki.elet.polimi.it/mediawiki/index.php/MRT%2C_the_Milan_Robocup_Team)</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rigo_-_field_player&diff=6416Rigo - field player2009-05-18T10:17:53Z<p>Domenicogsorrenti: New page: Please refer to the MRT website for a description of this robot.</p>
<hr />
<div>Please refer to the MRT website for a description of this robot.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Ridan_-_field_player&diff=6415Ridan - field player2009-05-18T10:17:48Z<p>Domenicogsorrenti: New page: Please refer to the MRT website for a description of this robot.</p>
<hr />
<div>Please refer to the MRT website for a description of this robot.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rabbiati_-_the_goalkeeper&diff=6412Rabbiati - the goalkeeper2009-05-18T10:16:50Z<p>Domenicogsorrenti: </p>
<hr />
<div>Please refer to the MRT website for a description of this robot.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=MRT,_the_Milan_Robocup_Team&diff=6411MRT, the Milan Robocup Team2009-05-18T10:16:37Z<p>Domenicogsorrenti: </p>
<hr />
<div>MRT, the Milan Robocup Team, is a joint effort between the AIRlab and the IRAlab (dept. Informatica, Sistemistica e Comunicazione of Universita` degli Studi di Milano - Bicocca).<br />
<br />
The many robots under this headline have been developed and used for the Robocup (http://www.robocup.org) competitions in autonomous soccer robots, in the Robocup middle-size league. For more details, including a list of the present and past robots fielded by the team see the MRT team website at http://robocup.elet.polimi.it/MRT/index.html.<br />
<br />
The sensors and other part used onboard each robot are not currently listed by taking the robot name as the key. Please use instead the lists of each type of component, e.g., cameras, mirrors, lenses, etc., to check the ones used for the MRT robots.<br />
<br />
===The current set of robots (as for 18.05.09)===<br />
*[[Rabbiati - the goalkeeper]]<br />
*[[Recam - field player]]<br />
*[[Ridan - field player]]<br />
*[[Rigo - field player]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Recam_-_field_player&diff=6410Recam - field player2009-05-18T10:15:55Z<p>Domenicogsorrenti: </p>
<hr />
<div>Please refer to the MRT website for a description of this robot.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Recam_-_field_player&diff=6409Recam - field player2009-05-18T10:15:43Z<p>Domenicogsorrenti: New page: Please refer to MRT website for a description of this robot.</p>
<hr />
<div>Please refer to MRT website for a description of this robot.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Rabbiati_-_the_goalkeeper&diff=6408Rabbiati - the goalkeeper2009-05-18T10:15:29Z<p>Domenicogsorrenti: New page: Please refer to MRT website for a description of this robot.</p>
<hr />
<div>Please refer to MRT website for a description of this robot.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=MRT,_the_Milan_Robocup_Team&diff=6405MRT, the Milan Robocup Team2009-05-18T10:11:52Z<p>Domenicogsorrenti: </p>
<hr />
<div>MRT, the Milan Robocup Team, is a joint effort between the AIRlab and the IRAlab (dept. Informatica, Sistemistica e Comunicazione of Universita` degli Studi di Milano - Bicocca).<br />
<br />
The many robots under this headline have been developed and used for the Robocup (http://www.robocup.org) competitions in autonomous soccer robots, in the Robocup middle-size league. For more details, including a list of the present and past robots fielded by the team see the MRT team website at http://robocup.elet.polimi.it/MRT/index.html.<br />
<br />
The sensors and other part used onboard each robot are not currently listed by taking the robot name as the key. Please use instead the lists of each type of component, e.g., cameras, mirrors, lenses, etc., to check the ones used for the MRT robots.</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Implementing_steering_on_a_Golf_Cart&diff=6188Implementing steering on a Golf Cart2009-05-04T13:58:40Z<p>Domenicogsorrenti: </p>
<hr />
<div>==== [[ Brake Pedal Implementing on a Golf Cart ]] ====<br />
dear sysop, this page can be safely deleted (duplicate page) (domenicogsorrenti 04.05.09)!<br />
----<br />
<br />
== Project name ==<br />
Implementing a steering a Golf Cart<br />
<br />
== Project short description ==<br />
<br />
This project is aimed at implementing a steering system of a Golf Cart. The command about when and how steering is received by a PIC that sends it to a high level Command Unit (Notebook).<br />
<br />
== Dates ==<br />
<br />
Start date: 2008/04/01<br />
<br />
End date: 2008/12/31<br />
<br />
==People involved==<br />
*[[User:AndreaBiraghi|Andrea Biraghi ]]<br />
<br />
*[[User:AlessandroGiacomazzo | Alessandro Giacomazzo]]<br />
<br />
*[[User:CarloColombo | Carlo Colombo]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Robotizing_a_Golf_Cart&diff=6187Robotizing a Golf Cart2009-05-04T13:57:10Z<p>Domenicogsorrenti: </p>
<hr />
<div>This project is aimed at robotizing an Alpaca Golf Cart, to make it an urban outdoor robot.<br />
<br />
* [[ Computer controlled Braking on the Alpaca Golf Cart ]]<br />
* [[ Computer controlled Steering on the Alpaca Golf Cart ]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Robotizing_a_Golf_Cart&diff=6183Robotizing a Golf Cart2009-05-04T13:54:38Z<p>Domenicogsorrenti: deleted link to a wrong project page (duplicated)</p>
<hr />
<div>This project is aimed at robotizing and Alpaca Golf Cart, to make it and outdoor robot<br />
<br />
* [[ Computer controlled Braking on the Alpaca Golf Cart ]]<br />
* [[ Computer controlled Steering on the Alpaca Golf Cart ]]</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=6182Cameras, lenses and mirrors2009-05-04T13:41:10Z<p>Domenicogsorrenti: </p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
===Cameras===<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|}<br />
<br><br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
<br />
<br />
<br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0, with IR coating<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 e' a bovisa nelle mani di marcello<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 04.05.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=6157Cameras, lenses and mirrors2009-04-29T11:26:46Z<p>Domenicogsorrenti: /* M12 lenses */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
===Cameras===<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|}<br />
<br><br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
<br />
<br />
<br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0, with IR coating<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 non si sa dove sia<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 29.04.09<br />
|MRT midsize, robowii, monoslam<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=6156Cameras, lenses and mirrors2009-04-29T11:25:08Z<p>Domenicogsorrenti: /* Lenses */</p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
===Cameras===<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|}<br />
<br><br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
<br />
<br />
===C-mount and CS-mount lenses===<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|}<br />
<br><br />
<br />
<br />
<br />
<br />
<br />
===M12 lenses===<br />
We also use M12 lenses. These lenses are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread. They are commonly used for webcams, and usually do not provide the top optical quality.<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|2.1mm<br />
|f2.0, with IR coating<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
1 non si sa dove sia<br />
<br />
1 e' a lambrate su un giano riusato come robowii<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 29.04.09<br />
|MRT midsize<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=6023Cameras, lenses and mirrors2009-04-22T10:41:00Z<p>Domenicogsorrenti: </p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
===Cameras===<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09<br />
<br />
1 nuova e' la frontale di recam<br />
<br />
1 nuova sulla testa omnidir di ridan<br />
<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|<br />
1 e' sulla testa omnidir di rigo<br />
<br />
1 e' sulla testa omnidir di recam<br />
<br />
1 e' sulla testa omnidir mrt05-03 (armadio domenico@unimib)<br />
<br />
1 e' sulla testa omnidir mrt05-04 (armadio domenico@unimib)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|}<br />
<br><br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
At the AIRLab we also use lenses specifically designed for Unibrain's ''board cameras'': they are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread.<br />
<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|2.1mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|<br />
2 non si sa dove siano<br />
<br />
1 e' a bovisa sulla frontale del triskar recam<br />
<br />
1 e' in mano a martino per fare una frontale<br />
<br />
1 l'ha Davide Migliore per acquisizioni monoslam<br />
<br />
1 e' sulla testa omnidir di rabbiati<br />
<br />
Domenicogsorrenti 22.04.09<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list</div>Domenicogsorrentihttps://airwiki.elet.polimi.it/index.php?title=Cameras,_lenses_and_mirrors&diff=6019Cameras, lenses and mirrors2009-04-21T14:00:50Z<p>Domenicogsorrenti: </p>
<hr />
<div>==IMPORTANT NOTES==<br />
'''Never touch the sensor element (CCD or CMOS) of a camera with anything!''' It can very easily be scratched.<br />
<br />
'''Never touch the glass elements of a lens with your hands!''' The oil from human skin is harmful.<br />
<br />
<br />
==Cameras and frame grabbers==<br />
===Cameras===<br />
In the AIRLab you can find different kind of cameras. These are the main groups:<br />
*'''Analogue cameras'''. Video output is given as an electrical signal, which needs analogue-to-digital conversion to be processed by a computer; this is done by a specific card called ''frame grabber'' or ''video capture card'' (the latter tend to be the lowest-performance items; see [[Cameras, lenses and mirrors#Frame grabbers]] for details). Analogue video is outdated for computer vision and robotics applications, due to its cost, low performance and complexity; nowadays digital camera systems (such as all the ones listed below) are always preferred.<br />
*'''USB cameras'''. Usually very cheap, they are suitable for low-performance applications (i.e. those where low frame rate is needed and low image quality can be accepted). Their main advantage (along with cost) is the fact that every modern computer has USB ports. The fact that the USB standard includes 5V DC power supply lines helps simplifying camera design and use.<br />
*'''FireWire cameras'''. The FireWire (or IEEE1394) bus is generally used for low-end industrial cameras, i.e. devices with technical characteristics much superior to those typical of USB cameras but low-performance according to typical machine vision standards. Industrial cameras usually give to the user a much wider control over the acquisition parameters compared to consumer cameras, and therefore they are usually preferred in robotics; their downside is the higher cost. There are different versions of IEE1394 link (see http://en.wikipedia.org/wiki/Firewire for details), with different bitrates, starting from the 400Mbit/s FireWire 400. Generally they are all considered superior to USB 2.0, even if theoretical bandwidth is lower for FireWire 400. Firewire ports can include power supply lines, but some interfaces (and in particular those on portable computers) omit them. Although the use of FireWire interfaces has expanded in recent years, they are not yet considered a standard feature for motherboards.<br />
*'''GigE Vision cameras'''. GigE Vision (or Gigabit Ethernet Vision) is a rather new connection standard for machine vision, based upon the established Ethernet protocol in its Gigabit (i.e. 1000Mbps) version. It is very interesting, as complex multiple-camera systems can be easily built using existing (Gigabit) Ethernet hardware, such as cables and switches. Vision data is acquired simply through a generic Ethernet port, commonly found on motherboards or easily added. However, 100Mbps (or ''fast Ethernet'') ports are not guaranteed to work and can sustain only modest video streams; on the other hand, 1000Mbps ports are now standard on motherboards, so this will not be a problem anymore in a few years. It seems that GigE Vision is becoming the most common interface for low- to medium-performance industrial cameras.<br />
*'''CameraLink cameras'''. Cameralink is a high-speed interface expressly developed for high-performance machine vision applications. It is a point-to-point link, i.e. a CameraLink connection is used to connect a single camera to a digital acquisition card (''frame grabber''). Its diffusion is limited to applications where extreme frame rates ''and'' resolutions are needed, because CameraLink gear is very expensive.<br />
<br />
The following is a list of the cameras available in the AIRLab. (To be precise, it is a list of the cameras that are modern enough to be useful.) For each of them the main specifications (and a link to the full specifications) are given. Details on the different types of lens mount are given below in [[Cameras, lenses and mirrors#Lenses]]. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it.<br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are taking it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!resolution<br />
!B/W, color<br />
!max. frame rate<br />
!sensor size<br />
!interface<br />
!maker<br />
!model<br />
!lens mount<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications and/or manuals<br />
|-<br />
|1628x1236<br />
|B/W<br />
|24fps<br />
|1/1.8"<br />
|CameraLink<br />
|Hitachi<br />
|KP-F200CL<br />
|C-mount<br />
|1<br />
|DEI<br />
|<br />
|[[media:KP-F200-Op_Manual.pdf]]<br />
|-<br />
|752x480<br />
|color<br />
|70fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC750C<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|659x493<br />
|color<br />
|90fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC650C<br />
|C-mount<br />
|1<br />
|Lambrate<br />
|RAWSEEDS<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|1024x768<br />
|color<br />
|30fps<br />
|1/3"<br />
|GigE<br />
|Prosilica<br />
|GC1020C<br />
|C-mount<br />
|2<br />
|Lambrate (2/2)<br />
|RAWSEEDS (2/2)<br />
|http://www.prosilica.com/products/gc_series.html<br />
|-<br />
|CCIR (625 lines)<br />
|B/W<br />
|CCIR (50fps, interlaced)<br />
|2/3"<br />
|analogue<br />
|Sony<br />
|XC-ST70CE<br />
|C-mount<br />
|2<br />
|DEI (2/2)<br />
|<br />
|[[media:XCST70E_manual.pdf]]<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i 400 industrial<br />
|C-mount<br />
|3<br />
|Lambrate (3/3)<br />
|RAWSEEDS (3/3)<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_400_Industrial.htm<br />
|-<br />
|659x494<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i board camera<br />
|proprietary<br />
|8<br />
|Lambrate (3/8), Bovisa (2/8), [[User:PaoloCalloni]] (1/8), [[User:DavideMigliore]] (1/8), [[User:CristianoAlessandro]] (1/8)<br />
|RAWSEEDS (2/8), MRT (?/8)<br />
queste sono quelle "nuove"? se si una e' su rabbiati, portiere di mrt, sin da cuvio, e' nella testa omnidir Domenicogsorrenti 21.04.09 <br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|640x480<br />
|color<br />
|30fps<br />
|1/4"<br />
|FireWire 400<br />
|Unibrain<br />
|Fire-i digital camera<br />
|fixed optics (4.3mm, f2.0)<br />
|4<br />
|sono forse queste le 4 camere fire-i "vecchie"? se si' sono sui robot di mrt, non in unimib Domenicogsorrenti 21.04.09 (was: Univ. Mi-Bicocca (4/4))<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_DC.htm<br />
|-<br />
|640x480 dual sensor, 9cm baseline<br />
|color<br />
|30fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|STOC stereo-on-a-chip stereo camera<br />
|C-mount, fitted with two 3.5mm, f1.6, 1/2" lenses<br />
|1<br />
|Lambrate => li lin office => Domenicogsorrenti 13.01.09 => giulio fontana 23.01.09<br />
|<br />
|http://www.videredesign.com/vision/stoc.htm<br />
|-<br />
|640x480<br />
|color<br />
|60fps<br />
|1/3"<br />
|FireWire 400<br />
|Videre Design<br />
|DCSG (associated with STOC)<br />
|C-mount, fitted with one 3.5mm, f1.6, 1/2" lens<br />
|1<br />
|Lambrate<br />
|<br />
|http://www.videredesign.com/vision/dcsg.htm<br />
|}<br />
<br><br />
<br />
===Frame grabbers===<br />
As previously said, a '''frame grabber''' is an electronic board that connects to one or more cameras, and converts the signals from the cameras into a data stream that can be elaborated by a computer. They are usually designed as expansion boards to be fitted into the computer case. Frame grabbers are necessary for ''analogue cameras'' (as they include the analogue/digital converters) or for CameraLink digital cameras (in this case the frame grabber is essentially a high speed dedicated digital interface). Other kinds of digital cameras don't need a frame grabber: this is one of the main advantages of digital cameras over analogue ones in machine vision applications, where the processing is almost always performed by computers.<br />
In the AIRLab two models of frame grabber are available:<br />
*a digital frame grabber from Euresys, model Expert 2, having two CameraLink inputs (http://www.euresys.com/Products/grablink/GrablinkSeries.asp). ''Notes: needs a PCI-X slot; one of the inputs is not working due to a fault.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two multichannel analogue frame grabbers from Matrox, model Meteor II/Multi-Channel, having three analogue inputs that can be combined into a single three-channel RGB analogue input (http://www.matrox.com/imaging/support/old_products/home.cfm). ''Note: one item is permanently mounted on the MO.RO.1 robot: see [[The MO.RO. family]] for details.''<br />
*two single-channel analogue frame grabbers from Matrox, models Meteor and Meteor Pro (http://www.matrox.com/imaging/support/old_products/home.cfm).<br />
All the frame grabbers (except the one on the MO.RO.1) are currently in AIRLab/DEI. If you move one of them, please '''write it down here'''... and do it NOW!<br />
<br />
==Lenses==<br />
Industrial cameras usually have interchangeable lenses. This allows for the choice of the lens that is more suitable to the considered application. There are two main standards for industrial camera lenses: '''C-mount''' and '''CS-mount'''. Both are screw-type mounts. CS-mount is simply a modified C-mount where the distance between the back of the lens and the sensor element (CCD or CMOS) is shorter: therefore a C-mount lens can be mounted on a CS-mount camera if an ''adapter ring'' (i.e. a distancing cylinder with suitable threads) is placed between them. It is impossible, though, to use a CS-mount lens on a C-mount camera: if you try you will almost certainly break the sensor, scratch the lens, or both. Just because a lens fits a camera, it doesn't mean it can be actually mounted on it!<br />
<br />
At the AIRLab we also use lenses specifically designed for Unibrain's ''board cameras'': they are very simple, with no iris, and very small. Their mounting system is an M12x0.5 metric screw thread.<br />
<br />
Be aware that sensor dimension (i.e. its diagonal, measured in fractions of an inch) is ''not'' the same for all cameras. Therefore one of the key specifications for a lens is the maximum sensor dimension supported. If you use a given lens with too big a sensor, the edges of the image will be black as they lie outside the circle of the projected image. Also beware of the strange convention used for sensor diagonals, i.e. a fraction in the form A/B" where A and B are integer ''or non-integer'' numbers. For instance an 1/2" sensor is smaller than an 1/1.8" one.<br />
The variability of sensor dimensions has another side effect: the same lens has a different angle of view if you change the sensor size. Therefore the same lens can behave as a wide-angle with a large sensor and as a telephoto with a small sensor.<br />
<br />
An useful guide to lenses (in Italian or English) can be found at http://www.rapitron.it/guidaob.htm.<br />
<br />
The following is a list of the actual lenses available in the AIRLab. For each of them the main specifications (and a link to the maker's or vendor's page for full specifications) are given. A '?' means an unknown parameter: if you know its value or experimentally find out it when using the lens (e.g. the maximum sensor size), please ''update the table'' before the information is lost again! Lenses having 'M12x0.5' in Column 'mount type' are only usable with Unibrain's Fire-i board cameras. A 'YES' in the 'Mpixel' column indicates a so-called ''Megapixel lens'', i.e. a high quality, low-distortion lens designed for high-resolution industrial cameras (typically having large sensors); please note that some of these are specifically designed for B/W (i.e. black and white) cameras. The 'how many?' field tells if multiple, identical items are available. Finally, the 'where?' field tells you in which of the AIRLab sites (listed in [[The Labs]]) you can find an item, and the 'project' field is used to specify which project (if any) is using it. <br />
<br />
Ah, one last thing. People like to actually ''find'' things when they look for them, so '''don't forget to update the table when you move something away from its current location'''. If you don't know where you are bringing it, just put your name in the table.<br />
<br />
<br />
{| border="1" cellpadding="5" cellspacing="0"<br />
!focal length<br />
!max. aperture<br />
!max. sensor size<br />
!mount type<br />
!maker<br />
!model<br />
!Mpixel<br />
!how many?<br />
!where?<br />
!project<br />
!link to full specifications<br />
|-<br />
|3.5mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|LURCH<br />
|?<br />
|-<br />
|4.0mm<br />
|f2.0<br />
|1/2"<br />
|C-mount<br />
|Microtron<br />
|FV0420<br />
|YES (B/W only)<br />
|2<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|4.5mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|4.8mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|M0518<br />
|NO<br />
|1<br />
|DEI<br />
|<br />
|http://www.computar.com/cctvprod/computar/mono/048.html<br />
|-<br />
|6mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|6mm<br />
|f1.4<br />
|1/2"<br />
|C-mount<br />
|Goyo<br />
|GMHR26014MCN<br />
|YES<br />
|4<br />
|DEI<br />
|RAWSEEDS (4/4)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|8mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR38014MCN<br />
|YES<br />
|2<br />
|DEI<br />
|RAWSEEDS (2/2)<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|8.5mm<br />
|f1.3<br />
|2/3"<br />
|C-mount<br />
|Computar<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|(old model)<br />
|-<br />
|12mm<br />
|f1.8<br />
|2/3"<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|2<br />
|DEI<br />
|<br />
|<br />
|-<br />
|12mm<br />
|f1.4<br />
|2/3"<br />
|C-mount<br />
|Goyo<br />
|GMHR31214MCN<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.goyooptical.com/products/industrial/hrmegapixel.html<br />
|-<br />
|15mm<br />
|f2.0<br />
|2/3"<br />
|C-mount<br />
|Microtron<br />
|FV1520<br />
|YES<br />
|1<br />
|DEI<br />
|<br />
|http://www.rapitron.it/obmegpxman1.htm<br />
|-<br />
|6-15mm<br />
|f1.4<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|Lambrate<br />
|<br />
|?<br />
|-<br />
|12.5-75mm<br />
|f1.8<br />
|?<br />
|C-mount<br />
|?<br />
|?<br />
|?<br />
|1<br />
|DEI<br />
|<br />
|?<br />
|-<br />
|2.1mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2042<br />
|NO<br />
|6<br />
|Bovisa (1/6), Lambrate (4/6), Davide Migliore (1/6)<br />
1 e' su rabbiati (testa omnidir) Domenicogsorrenti 21.04.09<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm, no IR filter<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2046<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|4.3mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2043<br />
|NO<br />
|3<br />
|Bovisa (1/3), Lambrate (2/3)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|-<br />
|8mm<br />
|f2.0<br />
|1/4"<br />
|M12x0.5<br />
|Unibrain<br />
|2044<br />
|NO<br />
|1<br />
|Lambrate (1/1)<br />
|<br />
|http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm<br />
|}<br />
<br><br />
<br />
==Mirrors==<br />
Much work has been done and is being done at the AIRLab on the topic of '''omnidirectional (machine) vision''' (sometimes referred to as ''omnivision''). Omnidirectional vision systems use special hardware to overcome the limitations of conventional vision systems in terms of field of view. The approach to this problem that we generally adopt is the use of conventional cameras in association with convex '''mirrors''', i.e. the capturing of the image reflected by a suitably-shaped mirror with a camera. The possibility of designing mirrors with specific geometric properties gives a very useful means to control the geometric behaviour of the whole camera+mirror system.<br />
<br />
TODO for someone who knows better ;-) : mirror list</div>Domenicogsorrenti