Hardware design of a stereo camera module based on MT9V034 sensor and Teensy3.6 microcontroller board
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
Project Outputs for Camera
Camera.PrjPCB
Camera_pcb.PcbDoc
Camera_schematics.SchDoc
Job1.OutJob
LICENSE
README.md
Schematic36_USBHS.png
connections.ods
teensycam_front_tiny.jpg

README.md

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