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TeensyCam-HW

Hardware design of TeensyCam - a stereo camera module based on MT9V034 sensor and Teensy3.6 microcontroller board.

TeensyCam stereo camera module

Status:

  • mature (more-or-less)

Features:

  • Created using Altium Designer software suite
  • Main components: two MT9V034 imaging sensors + Teensy 3.6 microcontroller board
  • Hardware synchronized simultaneous image capture
  • Stereo baseline: 8 cm
  • Resolution: 720 x 480 (vertical can be reduced to save bandwidth)
  • Image format: raw, uncompressed, 10 bits per dot (monochrome)
  • Interface: single USB 2.0 high speed port, CDC device profile
  • Power: through USB, 150 mA
  • Horizontal field of view: 105°
  • Speed: 30 FPS max (configurable)
  • Exposure control: pre-set or automatic
  • Analog gain control: pre-set or automatic
  • Compounding mode control
  • Configurable number of lines to send to host

Module schematics diagram: PDF

Teensy3.6 USB high speed device mode connetion diagram: PNG


Firmware

MCUXpresso-based embedded software project: https://github.com/icboredman/TeensyCam-SW

Software

ROS node running on host computer: https://github.com/icboredman/camera_node


More info in my blog page: https://BoredomProjects.net/index.php/projects/robot-navigation-using-stereo-vision-part-2

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Hardware design of a stereo camera module based on MT9V034 sensor and Teensy3.6 microcontroller board

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