STVS1 and MERGE3D2

Hello esteemed colleagues,

Have any of you guys ever used the Karel STVS1 and MERGE3D2 programs for creating frames? I am looking for different ways to create a frame using vision and I was reading the manual and found these two very interesting options but sadly lacks more detail about it.

Thanks for you reply! I was looking at B-83914EN-1/06 which has basically the same information about it...Have you used it before? Does it have any merit than creating the frame by getting the coordinates of a feature?

Because currently I create a frame getting the X, Y and Z of a feature, take another 2 pictures to calculate the R and for W and P I get from my reference frame created using AGFS with the calibration grid.

I tested in Roboguide and seems like STSV1 only give X,Y and Z. So if I use STSV1 to get the X, Y and Z of 3 features, call MERGE3D2 and pass the 3 output PRs from the 3 STSV1 I would get a 3D frame, right?

But does not seem to be as accurate as I need.