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