AVT Marlin Preliminary Technical Manual Allied Vision Technologies GmbH Taschenweg 2a D-07646 Stadtroda / Germany
MARLIN Technical Manual
Before operation We place the highest demands for quality on our cameras. This technical manual is the guide to the installation and settingup of the camera for operation. Please read through this manual carefully before operating the camera. We also refer to the technical manuals, available on CD or as download for every camera type. Legal notice For customers in the U.S.A.
Allied Vision Technologies GmbH 12/2003 All rights reserved. Managing Director: Mr. Frank Grube Tax-ID: DE 184383113 Copyright Support: Taschenweg 2A D-07646 Stadtroda, Germany Tel.: +49/36428/6770 Fax: +49/36428/677-28 email: info@alliedvisiontec.com All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may they be used on web sites.
Contents 1 Safety instructions ...................................................................................... 1 1.1 2 3 4 Marlin types and highlights.......................................................................... 2 System components..................................................................................... 3 Specifications ............................................................................................. 5 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 5 6 MF-033B.....
8.7 Shading correction .......................................................................................... 47 8.7.1 Automatic generation of correction data ....................................................... 47 8.7.2 Loading a shading image into the camera...................................................... 52 8.8 Color interpolation and correction ..................................................................... 53 8.8.1 Interpolation (BAYER demosaicing) ...................................
11.3.6 Inquiry register for feature presence ............................................................94 11.3.7 Inquiry register for feature elements............................................................95 11.3.8 Inquiry register for absolute value CSR offset address .....................................96 11.3.9 Status and control register for feature..........................................................97 11.3.10 Feature control error status register ..........................................
Conventions used in this manual To give this manual an easily understood layout and to emphasize important information, the following typographical styles and symbols are used: Styles Style Courier upper case italics parentheses and/or blue Function Programs, inputs, etc. Register Modes, fields Links Example “Input” REGISTER Mode (Link) Symbols: This symbol highlights important instructions that malfunctions.
Safety instructions 1 Safety instructions There are no switches or parts inside the camera that require adjustment. The guarantee becomes void upon opening the camera casing. If the product is disassembled, reworked or repaired by other than a recommended service person, AVT or its suppliers will takeno responsibility for the subsequent performance or quality of the camera. The camera does NOT generate dangerous voltages internally.
Marlin types and highlights 2 Marlin types and highlights With Marlin cameras, entry into the world of digital image processing is simpler and more costeffective than ever before. With the new MARLIN, Allied Vision Technologies presents a whole series of attractive digital camera entry-level models of the FireWire ™type. These products offer an unequalled price-performance relationship and make the decision to switch from using analogue to digital technology easier that ever before.
System components 3 System components The following system components are included with each camera:: AVT Marlin 4.5m 1394 standard cable Jenofilt 217 IR cut filter (built in) 4.
System components To demonstrate the properties of the camera, all examples in this manual are based on the “FirePackage” OHCI API software and the “FireView” application. These utilities can be obtained from Allied Vision Technologies. A free demo version of “FireView” is available for download at www.alliedvisiontec.com. The camera also works with all IIDC (formerly DCAM) compatible IEEE 1394 programs and image processing libraries. AVT offers different lenses from a variety of manufacturers.
Specifications 4 Specifications 4.1 MF-033B Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.2 MF-033C Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Color Modes Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.3 MF-046B Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.4 MF-046C Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Color Modes Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.5 MF-080B Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/3 " (diag.
Specifications 4.6 MF-080C Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Color Modes Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/3 " (diag.
Specifications 4.7 MF-145B2 Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.8 MF-145C2 Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Color Modes Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.9 F-131B Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 2/3 " (diag.
Specifications 4.10 Spectral sensitivity Figure 2: Spectral sensitivity of MF-033B without cut filter and optics.
Specifications Figure 4: Spectral sensitivity of MF-046B without cut filter and optics. Figure 5: Spectral sensitivity of MF-046C without cut filter and optics.
Specifications Figure 6: Spectral sensitivity of MF-080B without cut filter and optics Figure 7: Spectral sensitivity of MF-080C without cut filter and optics.
Specifications Figure 8: Spectral sensitivity of MF-145B2 without cut filter and optics Figure 9: Spectral sensitivity of MF-145C2 without cut filter and optics MARLIN Technical Manual Page 17
Specifications Figure 10: Spectral sensitivity of MF-131B without cut filter and optics MARLIN Technical Manual Page 18
Quick start 5 Quick start To connect up an IEEE-1394 camera you need a PC with an IEEE-1394 port and the appropriate software. This IEEE-1394 port is already present in many modern PCs and laptops. Should this not be the case, you can upgrade by installing one or more IEEE-1394 ports in the form of a card for the PCI slot, or as a PC card (PCMCIA) for the PC card slot. AVT offers a range of adaptors for different requirements.
Camera dimensions 6 Camera dimensions 6.
Camera dimensions 6.2 Marlin W90 This version has the sensor tilted by 90 degrees clockwise, so that it views upwards.
Camera dimensions 6.3 Marlin W270 This version has the sensor tilted by 270 degrees clockwise, so that it views downwards.
Camera dimensions 6.
Camera interfaces 7 Camera interfaces In addition to the two status LEDs, there are two jacks located at the rear of the camera. The 12-pin HiRose plug provides different control inputs and output lines. The IEEE-1394 connector with lock mechanism provides access to the IEEE-1394 bus and thus makes it possible to control the camera and output frames. Figure 16: Rear view of camera 7.
Camera interfaces 7.2 HiRose jack pin assignment The HiRose plug is also designed for industrial use and in addition to providing access to the inputs and outputs on the camera, it also provides a serial interface for the firmware update. The following diagram shows the pinning as viewed in pin direction. Figure 18: HiRose pin assignment Pin Signal 1 External GND 2 3 4 5 6 GPInput 1 (default trigger) Use Pin Signal 7 GPInput GND RS232 RxD RS232 TxD OutVCC 8 9 TTL, Edge, 10 progr.
Camera interfaces 7.3 Status LEDs On LED The green power LED indicates that the camera is being supplied with sufficient voltage and is ready for operation.
Camera interfaces 7.4 Operating the camera: Power for the camera is supplied only via the FireWire™ bus. The input voltage must be within the following range: Vcc min.: +8 V Vcc max.: +36 V An input voltage of 12 V is recommended to make most efficient use of the camera. The HiRose connector does not supply power to the camera. 7.5 Control and video data signals The camera has 2 inputs and 2 outputs. These can be configured by software. The different modes are described below. 7.5.
Camera interfaces The inputs can be connected directly to +5 V. If a higher voltage is used, an external resistor must be placed in series. Use @+12 V a 470 Ω and @+24 V a 1.2 kΩ resistor. Voltages above +45 V may damage the optical coupler Setting inputs to high-speed mode requires very clean input signals. It is recommended to use the normal speed mode (default). The optical coupler inverts all input signals. Polarity is controlled via the IO_INP_CTRL1..2 register.
Camera interfaces Triggers All inputs configured as triggers are linked by AND. If several inputs are being used as triggers, a high signal must be present on all inputs in order to generate a trigger signal. The polarity for each signal can be set separately via the inverting inputs. The camera must be set to "external triggering" to trigger image capture by the trigger signal. All input and output signals running over the HiRose plug are controlled by an advanced feature register.
Camera interfaces 7.5.2 Outputs The camera has 2 non-inverting outputs with open emitters. These are shown in the following diagram: Max. emitter current 500 mA Max. collector emitter voltage 45 V Voltage above +45 V may damage the optical coupler Depending on the voltage applied at OutVCC, it may be necessary to switch a resistor in series between Gpoutl and ground. Figure 21: Output schematics Output features are configured by software. Any signal can be placed on any output.
Camera interfaces Output function Output polarity IntEna FVal Opto- Busy Output signal coupler Output state Figure 22: Output block diagram IO_OUTP_CTRL 1-2 The outputs are controlled via two advanced feature registers. The Polarity flag determines whether the output is low active (0) or high active (1). The output mode can be seen in the following table. The current status of the output can be queried and set via the PinState flag.
Camera interfaces Output mode ID 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09..0x0F 0x10..
Camera interfaces The following diagram illustrates the dependencies of the various output signals. Figure 23: Output Impulse Diagram Please note that polarity of the signals can be changed. Firing a new trigger while IntEna is still active may lead to image corruption because of double exposure.
Camera interfaces 7.6 Pixel data Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface described in IIDC v. 1.3. The first packet of a frame is identified by the “1” in the sync bit (sy) of the packet header. Table 20: Isochronous data block packet format: Source: IIDC v. 1.3 specification Video data for each pixel are output in an 8-bit format. Each pixel has a range of 256 shades of gray. The digital value 0 is black and 255 is white.
Camera interfaces Table 22: Y8 and Y16 format: Source: IIDC v. 1.3 specification Table 23: Data structure: Source: IIDC v. 1.
Description of the data path 8 Description of the data path 8.1 Block diagrams of the cameras The following diagrams illustrate the data flow and the bit resolution of image data after being read from the CCD or CMOS sensor chip in the camera. The individual blocks are described in more detail in the following paragraphs.
Description of the data path 8.1.
Description of the data path 8.1.
Description of the data path 8.2 Sensor The Marlin family is equipped with various sensor types and resolutions. Both CCD and CMOS types are available in color and monochrome . The following table gives an overview: Model Techn. MFCCD 033B MF-033C CCD MFCCD 046B MF-046C CCD MFCCD 080B MF-080C CCD Manufacturer SONY SONY SONY SONY SONY SONY MF145B2 MF145C2 CCD SONY CCD SONY MF131B CMOS FillFactory Sensor Type ICX-414AL Sensor MicroChip Size Size lens [mm] ½” (8 mm) Yes, HAD 7.48 x 6.
Description of the data path 8.2.1 IBIS5A multiple slope The MF-131 sensor has a high dynamic range of about 60 dB. This can be further extended to almost 100 dB by switching to a special mode.. This is called dual (in the case of rolling shutter) or multiple slope mode (in the case of global shutter). The following diagram taken from FillFactory’s application note, explains the functionality.
Description of the data path It is important to notice that pixel signals above the dual slope reset level will not be influenced at all (green P1 and green P2). The Marlin F131 offers two knee-points when in rolling shutter mode, and up to three kneepoints when in global shutter mode. This functionality is basically controlled via the following registers.
Description of the data path For further tuning, readjust KNEEPOINT_X but maintain ratio KNEEPOINT_1 > KNEEPOINT_2 > KNEEPOINT_3 8.3 White balance The color cameras have both manual and automatic white balance and can be set via the analog red and blue gain in the 0...+12 dB range. White balance is used so that non-colored image parts are displayed non-colored. These settings are made in register 80Ch of IIDC v. 1.3.
Description of the data path Figure 27: Automatic white balance sequence Finally, the calculated correction values can be read from the WHITE_BALANCE register 80Ch. 8.4 Manual gain The following ranges can be used when manually setting the gain for the analog video signal: B/W CCD-cameras: B/W CMOS camera: 0 … 24 dB 0 … 13.5 dB Color CCD-cameras: 0 … 16 dB The increment length is ~0.0354 dB/step for CCD-models and 1.25 dB for CMOS.
Description of the data path 8.5 Setting the offset (black level) It is possible to set the black value in the camera within the following ranges: CCD-models: 0...+16 gray values (@ 8 bit). Increments are in 1/16 LSB (@ 8 bit). CMOS-model: 0 … +127 (@ 8 bit) The formula for gain and offset setting is: Y`= GxY+0 8.6 Lookup tables (LUT) The camera provides one user-defined LUT. This is also used for the gamma correction. The lookup table converts the 10 bits from the digitizer to 8 bits.
Description of the data path The input value is the 10-bit value from the digitizer. The LUT outputs the most significant 8 Bit. Because gamma correction is also implemented via the lookup table, it is not possible to use a different LUT when gamma correction is switched on. 8.6.1 Loading a LUT into the camera Loading the LUT is carried out through the data exchange buffer called GPDATA_BUFFER.
Description of the data path The table below describes the registers required. Offset 0xF1000240 0xF1000244 0xF1000248 Name LUT_CTRL LUT_MEM_CTRL LUT_INFO Field Presence_Inq Bit [0] --ON_OFF [1..5] [6] --LutNo [7..25] [26..31] Presence_Inq [0] --EnableMemWR [1..4] [5] --AccessLutNo AddrOffset Presence_Inq [6..7] [8..15] [16..31] [0] --NumOfLuts [1..7] [8..15] MaxLutSize [16..
Description of the data path 8.7 Shading correction Shading correction is used to compensate for non-homogeneities caused by lighting or optical characteristics within specified ranges. To correct a frame, a multiplier from 1...2 is calculated for each pixel in 1/256 steps – this allows for shading to be compensated by up to 50 %. Besides generating shading data off-line and downloading it to the camera, the camera allows correction data to be generated automatically in the camera itself.
Description of the data path After this, a search is made for the brightest pixel in the mean value frame. A factor is then calculated for each pixel to be multiplied by, giving it the gray value of the brightest pixel. All of these multipliers are saved in a “shading reference image“. The time required for this process depends on the number of frames to be calculated. Correction alone can compensate for shading by up to 50 % and relies on 10 bit pixel data to avoid the generation of missing codes.
Description of the data path The table below describes the registers required. Offset 0xF1000250 0xF1000254 0xF1000258 Name SHDG_CTRL SHDG_MEM_CTRL SHDG_INFO Field Presence_Inq Bit [0] BuildError --ShowImage [1] [2..3] [4] BuildImage [5] ON_OFF Busy --GrabCount [6] [7] [8..23] [24..31] Presence_Inq [0] --EnableMemWR [1..4] [5] EnableMemRD [6] --AddrOffset Presence_Inq [7] [8..31] [0] --MaxImageSize [1..7] [8..
Description of the data path The following pictures illustrate the sequence of commands for the generation of the shading image. Shading corrected output image (unfocused lens): Figure 32: Generation of shading image The calculation of shading data is always carried out at the current resolution set. If the Area of Interest (AOI) is bigger than the window in which correction data was being calculated, none of the pixels lying outside are corrected.
Description of the data path After the lens has been focused again you see the previous image, but now with a considerably more uniform gradient. This is also made apparent in the graph.
Description of the data path 8.7.2 Loading a shading image into the camera GPDATA_BUFFER is used to load a shading image into the camera.
Description of the data path 8.8 Color interpolation and correction In the sensors, used color information is captured via the primary color filters placed over the individual pixels in a ”BAYER mosaic” layout. An effective Bayer -> RGB color interpolation already takes place in all Marlin color version cameras. Before converting to the YUV format, color correction is done after Bayer demosaicing. 8.8.
Description of the data path 8.8.2 Color correction Color correction is calculated before YUV conversion and mapped via a matrix as follows. red * = Crr ⋅ red + Cgr ⋅ green + Cbr ⋅ blue green * = Crg ⋅ red + Cgg ⋅ green + Cbg ⋅ blue blue * = Crb ⋅ red + Cgb ⋅ green + Cbb ⋅ blue Sensor specific coefficients Cxy are scientifically generated to ensure that GretagMacbeth™ ColorChecker® colors are displayed with highest color fidelity and color balance.
Controlling image capture 9 Controlling image capture The cameras support the SHUTTER_MODES specified in IIDC V1.3. For all CCD-models this shutter is a global shutter; meaning that all pixels are exposed to the light at the same moment and for the same time span. In continuous modes the shutter is opened shortly before the vertical reset happens, thus acting in a frame-synchronous way.
Controlling image capture 9.1 Exposure time The exposure (shutter) time for continuous mode and Trigger_Mode_0 is based on the following formula: Shutter register value x timebase + offset The register value is the value set in the corresponding IIDC register (SHUTTER [81Ch]). This number is in the range between 1 and 4095. The shutter register value is multiplied by the time base register value (see TIMEBASE). The default value here is set to 20 µs.
Controlling image capture 9.2 One-Shot The camera can record an image by setting “OneShot” in the 61Ch register. This bit is automatically cleared after the image is captured. If the camera is placed in Iso_Enable mode (see ISO_Enable / Free-Run), this flag is ignored. If OneShot mode is combined with the external trigger, the “OneShot” command is used to arm it. The following screenshot shows the sequence of commands needed to put the camera into this mode.
Controlling image capture 9.2.2 End of exposure to first packet on the bus After the exposure, the CCD or CMOSsensor is read out; some data is written into the FRAME_BUFFER before being transmitted to the bus. The time from the end of exposure to the start of transport on the bus is: 500µs ± 62.5µs This time jitters with the cycle time of the bus (125µs). Figure 38: Data flow and timing after end of exposure 9.
Controlling image capture Multi-Shot can also be combined with the external trigger in order to grab a certain number of images based on an external trigger. This is especially helpful in combination with the socalled Deferred_Mode to limit the amount of grabbed images to the FIFO size. 9.4 ISO_Enable / Free-Run Setting the MSB (bit 0) in the 614h register (ISO_ENA) puts the camera into ISO_Enable mode or Continuous_Shot. The camera captures an infinite series of images.
Controlling image capture 9.6 Jitter at start of exposure The following chapter discusses the latency time which exists for all CCD-models when either a hardware or software trigger is generated, until the actual image exposure starts. Owing to the well-known fact that an Interline Transfer CCD-sensor has both a light sensitive area and a separate storage area, it is common to interleave image exposure of a new frame and output that of the previous one.
Controlling image capture 9.7 Frame memory and deferred image transport An image is normally captured and transported in consecutive steps. The image is taken, read out from the sensor, digitized and sent over the 1394 bus. As all Marlin cameras are equipped with builtin image memory, this order of events can be paused or delayed by using the deferred image transport feature. Marlin cameras are equipped with 8 MB of RAM. The table below shows how many frames can be stored by each model.
Controlling image capture 9.7.1 HoldImg mode By setting the HoldImg flag, transport of the image over the 1394 bus is stopped completely. All captured images are stored in the internal ImageFiFo. The camera reports the maximum possible number of images in the FiFoSize variable. Pay attention to the maximum number of images that can be stored in FiFo. If you capture more images than the number in FiFoSize, the oldest images are overwritten.
Controlling image capture The following screenshot displays the sequence of commands needed to work with deferred mode. ……………………….Stop continuous mode of camera …………………….Check pres. of deferred mode and FiFo size (Dh= 13 fr.) …………………….Switch deferred mode on …………………….Do first One_shot …………………….Do second One_shot …………………….Check that two images are in FiFo …………………….Read out the first image of FiFo …………………….Check how many images are left in FiFo …………………….Read out the second image of FiFo ……………………….
Controlling image capture 9.8 Sequence mode This mode enables certain image settings to be adjusted differently for every image, e.g. gain and shutter can be changed on the fly by the host computer by writing into the gain and shutter register even while the camera is running. An uncertainty of one image remains because normally the host does not know (especially with external trigger) when the next image will arrive.
Controlling image capture 9.8.1 How is sequence mode implemented? There is a FIFO (first in first out) memory for each of the IIDC v. 1.3 registers listed above. The depth of each FIFO is determined by the maximum number of images contained in the sequence. Functionality is controlled by the following advanced registers. Offset 0xF1000220 0xF1000224 Name SEQUENCE_CTRL SEQUENCE_PARAM Field Presence_Inq Bit [0] Description Indicates presence of this feature (read only) --AutoRewind ON_OFF [1..
Controlling image capture The following flow diagram shows how to set up a sequence. Figure 41: Sequence mode flow diagram During sequencing, the camera obtains the required parameters, image by image, from the corresponding FIFOs (e.g. information for exposure time).
Controlling image capture What to pay attention to when working with a sequence: If more images are recorded than defined in SeqLength ,the settings for the last image remain in effect. If sequence mode is cancelled, the camera can use the FIFO for other tasks. For this reason, a sequence must be loaded back into the camera after sequence mode has been cancelled. To repeat the sequence, stop the camera and send the “MultiShot” or “IsoEnable” command again. Each of these two commands resets the sequence.
Controlling image capture What to pay attention to when changing the parameters: If the ApplyParameters flag is used when setting the parameters, all not-configured values are set to default values. As changing a sequence normally affects only the value of a specific register, and all other registers should not be changed, the ApplyParameters flag may not be used here. The values stored for individual images can no longer be read. If the camera is switched into sequence mode, the changes to the IIDC v. 1.
Video formats, modes and bandwidth 10 Video formats, modes and bandwidth The different Marlin models support different video formats, modes and frame rates. These formats and modes are standardized in the IIDC (formerly DCAM) specification. Resolutions smaller than the generic sensor resolution are generated from the center of the sensor and without binning. 10.
Video formats, modes and bandwidth 10.3 MF-080B/ MF-080C Format 0 1 7 Mode Resolution 60 fps 0 1 2 3 4 5 6 160 x 120 320 x 240 640 x 480 640 x 480 640 x 480 640 x 480 640 x 480 YUV444 YUV422 YUV411 YUV422 RGB MONO8 MONO16 0 1 2 800 x 600 800 x 600 800 x 600 3 4 5 6 7 1024 x 768 1024 x 768 1024 x 768 800 x 600 1024 x 768 0 1032 x 778 MONO8 1032 x 776 YUV 30 fps 15 fps 7.5 fps 3.
Video formats, modes and bandwidth 10.
Video formats, modes and bandwidth 10.
Video formats, modes and bandwidth 10.6 Area of interest (AOI) The image sensor on the camera has a defined resolution. This indicates the maximum number of lines and pixels per line that the recorded image may have. However, often only a certain section of the entire image is of interest. The amount of data to be transferred can be decreased by limiting the image to a section when reading it out from the camera.
Video formats, modes and bandwidth The left position + width and the upper position + height may not exceed the maximum resolution of the sensor. The coordinates for width and height must be divisible by 4. In addition to the Area of Interest, some other parameters have an effect on the maximum frame rate: the time for reading the image from the sensor and transporting it into the FRAME_BUFFER the time for transferring the image over the FireWire™ bus the length of the exposure time.
Video formats, modes and bandwidth 10.7 Frame rates An IEEE-1394 camera requires bandwidth to transport images. The IEEE-1394a bus has very large bandwidth of at least 32 MB/s for transferring (isochronously) image data. Per cycle up to 4096 bytes (or around 1000 quadlets = 4 bytes) can thus be transmitted. Depending on the video format settings and the configured frame rate, the camera requires a certain percentage of maximum available bandwidth.
Video formats, modes and bandwidth Format Mode Resolution 30 fps 15 fps 7.5 fps 3.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 1 1280 x 960 YUV (4:2:2) 16 bit/pixel 1280 x 960 RGB 24 bit/pixel 2 1280 x 960 Y (MONO8) 8 bit/pixel 0 4 1600 x 1200 YUV(4:2:2) 16 bit/pixel 1600 x 1200 RGB 24 bit/pixel 5 1600 x 1200 Y (MONO) 8 bit/pixel 3 2 6 7 30 fps 1280 x 960 Y (MONO16) 16 bit/pixel 1600 x 1200Y(MONO16) 16 bit/pixel 15 fps 2H 2560p 640q 5/2H 4000p 1000q 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth In video Format_7 frame rates are no longer fixed but can be varied dynamically by the parameters described below.
Video formats, modes and bandwidth 10.7.1 MF-033 Different parameters apply for the different models. fps = fps = 1 TCh arg eTrans + TDummy + TDump + TScan 1 30 µs + 68.5µs + (494 − AOI _ HEIGHT ) ⋅ 3.45µs + AOI _ HEIGHT ⋅ 27.
Video formats, modes and bandwidth 10.7.2 MF-046 fps = fps = 1 TCh arg eTrans + TDummy + TDump + TScan 1 31µs + 88µs + (582 − AOI _ HEIGHT ) ⋅ 4.15µs + AOI _ HEIGHT ⋅ 32.
Video formats, modes and bandwidth 10.7.3 MF-080 fps = fps = 1 TCh arg eTrans + TDummy + TDump + TScan 1 71.93µs + 129.48µs + (779 − AOI _ HEIGHT ) ⋅ 8.24 µs + AOI _ HEIGHT ⋅ 63.
Video formats, modes and bandwidth 10.7.4 MF-145B2 1 fps = fps = TCh arg eTrans + T Dummy + T Dump + TScan 1 105µs + 288µs + (1040 − AOI _ HEIGHT ) ⋅19.6 µs + AOI _ HEIGHT ⋅ 92.
Video formats, modes and bandwidth 10.7.5 MF-131 This model uses a CMOS sensor with global as well as rolling shutter. As mentioned earlier for the most useful global shutter, the integration time must be added to the readout time to define the maximum frame rate.
Video formats, modes and bandwidth 10.8 How does bandwidth affect the frame rate? In some modes the IEEE-1394a bus limits the attainable frame rate. According to the 1394a specification on isochronous transfer, the largest data payload size of 4096 bytes per 125 µs cycle is possible with bandwidth of 400 Mb/s. In addition, because of a limitation in an IEEE1394 module (GP2Lynx), only a maximum number of 4095 packets per frame are allowed.
Video formats, modes and bandwidth 10.9 Test images The b/w cameras have two test images that look the same. Both images show a gray bar running diagonally. One test image is static, the other moves upwards by 1 pixel/frame.
Video formats, modes and bandwidth Mono8 (raw data): Figure 46: Bayer-coded test image The color camera outputs Bayer-coded raw data in Mono8 instead of – as described in IIDC v. 1.3 – a real Y signal. The first pixel of the image is always the red pixel from the sensor.
Configuration of the camera 11 Configuration of the camera All camera settings are made by writing specific values into the corresponding registers. This applies to both values for general operating states such as video formats and modes, exposure times, etc. and to all extended features of the camera that are turned on and off and controlled via corresponding registers. 11.
Configuration of the camera Figure 48: Configuration of the camera Sample program: The following sample code in C shows how the register is set for frame rate, video mode/format and trigger mode using the FireCtrl DLL from the FirePackage API.
Configuration of the camera 11.2 Configuration ROM The information in the Configuration ROM is needed to identify the node, its capabilities and which drivers are required. The base address for the “configuration ROM” for all registers is FFFF F0000000h.
Configuration of the camera The entry with key 8D in the root directory (420h in this case) provides the offset for the unique ID leaf node as follows: 420h + 000002 * 4 = 428h Offset 0-7 8-15 16-23 24-31 Node unique ID leaf 428h 00 02 CA 71 42Ch 00 0A 47 01 430h 00 00 Serial number The entry with key D1 in the root directory (424h in this case) provides the offset for the unit directory as follows: 424h + 000004 * 4 = 434h Offset 0-7 8-15 Unit directory 16-23 24-31 434h 00 03 93
Configuration of the camera 448h 40 3C 00 00 44Ch 81 00 00 02 450h 82 00 00 06 Unit dependent info Table 48: ConfigRom cont. And finally, the entry with key 40 (448h in this case) provides the offset for the camera control register: FFFF F0000000h + 3C0000h * 4 = FFFF F0F00000h The base address of the camera control register is thus FFFF F0F00000h. The offset entered in the table always refers to the base address of F0F00000h.
Configuration of the camera 11.3 Implemented registers The following tables show how standard registers from IIDC v. 1.3 are implemented in the camera. Differences and explanations can be found in the third column. 11.3.1 Camera initialize register Offset 000h Name INITIALIZE Notes Table 49: Camera initialize register 11.3.2 Inquiry register for video format Offset 100h Name V_FORMAT_INQ Notes Table 50: Format inquiry register 11.3.
Configuration of the camera 11.3.4 Inquiry register for video frame rate and base address Offset 200h 204h 208h 20Ch 210h 214h 218h 21Ch … 21Fh 220h 224h 228h 22Ch 230h 234h 238h 23Ch 240h 244h 248h 24Ch 250h 254h 258h 25Ch 260h … 2BFh 2C0h 2C4h ..
Configuration of the camera 11.3.5 Inquiry register for basic function Offset 400h Name BASIC_FUNC_INQ Notes Table 53: Basic function inquiry register 11.3.6 Inquiry register for feature presence Offset 404h 408h 40Ch .. 47Fh 480h Name Feature_Hi_Inq Feature_Lo_Inq Reserved Notes Advanced_Feature_Inq This register is the offset for the Access_Control_Register and thus the base address for Advanced Features. Access_Control_Register does not prevent access to advanced features.
Configuration of the camera 11.3.7 Inquiry register for feature elements Offset 500h 504h 508h 50Ch 510h 514h 518h 51Ch 520h 524h 528h 52Ch 530h 534 .. 57Ch 580h 584h 588h 58Ch 590 .. 5BCh 5C0h 5C4h 5C8h ..
Configuration of the camera 11.3.8 Inquiry register for absolute value CSR offset address Offset 700h 704h 708h 70Ch 710h 714h 718h 71Ch 720h 724h 728h 72Ch 730h 734 .. 77Fh 780h 784h 788h 78Ch 790h .. 7BFh 7C0h 7C4h 7C8h ..
Configuration of the camera 11.3.9 Status and control register for feature The OnePush feature, WHITE_BALANCE, is currently implemented. If this flag is set, the feature becomes immediately active, even if no images are being input (see Automatic white balance). Offset 800h 804h 808h 80Ch Name BRIGHTNESS AUTO-EXPOSURE SHARPNESS WHITE-BALANCE Notes 880h 814h 818h 81Ch HUE SATURATION GAMMA SHUTTER 820h 824h 828h 82Ch 830h GAIN IRIS FOCUS TEMPERATURE TRIGGER-MODE 834h .. 87C 880h 884h 888h 88Ch 890 ..
Configuration of the camera 11.3.10 Feature control error status register Offset 640h 644h Name Feature_Control_Error_Status_HI Feature_Control_Error_Status_LO Notes always 0 always 0 Table 58: Feature control error register 11.3.11 Video mode control and status registers for Format_7 The offset to the base address is in V_CSR_INQ_7_x. The offset 100h must be added for Mode 1, 200h for Mode 2 200h and 300h for Mode 3.
Configuration of the camera 11.4 Advanced features The camera has a variety of extended features going beyond the possibilities described in IIDC v. 1.3. The following chapter summarizes all available advanced features in ascending register order. Advanced features should always be activated before accessing them. The color and B/W models of the camera vary in their availability in some of the advanced features. Currently all registers can be written without being activated.
Configuration of the camera 11.4.2 Advanced feature inquiry Offset 0xF1000040 Name ADV_INQ_1 0xF1000044 ADV_INQ_2 0xF1000048 0xF100004C ADV_INQ_3 ADV_INQ_4 Field MaxResolution TimeBase ExtdShutter TestImage --Sequences -Lookup Tables Shading DeferredTrans HDR mode --GP_Buffer Input_1 Input_2 Input_3 --Output_1 Output_2 Output_3 --IntEnaDelay IncDecoder ------- Bit [0] [1] [2] [3] [4] [5] [6..7] [8] [9] [10] [11] [12..30] [31] [0] [1] [2] [3..7] [8] [9] [10] [11..15] [16] [17] [18..31] [0..31] [0..
Configuration of the camera 11.4.4 Timebase Corresponding to IIDC, exposure time is set via a 12-bit value in the corresponding register (SHUTTER_INQ [51Ch] and SHUTTER [81Ch]). This means that a value in the range of 1 to 4095 can be entered. Marlin cameras use a time-base which is multiplied by the shutter register value. This multiplier is configured as the time base via the TIMEBASE register.
Configuration of the camera 11.4.5 Extended shutter The exposure time for long-term integration of up to 67 sec can be entered with µs- precision via the EXTENDED_SHUTTER register. Offset 0xF100020C Name EXTD_SHUTTER Field Presence_Inq Bit [0] --ExpTime [1.. 5] [6..31] Description Indicates presence of this feature (read only) Exposure time in µs Table 66: Extended shutter configuration register The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
Configuration of the camera 11.4.6 Test images Bits 8-14 indicate which test images are saved. Setting bits “28-31” activates or deactivates existing test images. Offset 0xF1000210 Name TEST_IMAGE Field Presence_Inq Bit [0] --Image_Inq_1 [1..7 [8] Image_Inq_2 [9] Image_Inq_3 [10] Image_Inq_4 [11] Image_Inq_5 [12] Image_Inq_6 [13] Image_Inq_7 [14] --TestImage_ID [15..27] [28..
Configuration of the camera 11.4.7 Sequence control It is possible to make certain settings for a sequence of images beforehand by using this register. Offset 0xF1000220 0xF1000224 Name SEQUENCE_CTRL SEQUENCE_PARAM Field Presence_Inq Bit [0] --AutoRewind ON_OFF [1..4] [5] [6] --MaxLength [7..15] [16..23] SeqLength [24..31] --ApplyParameters [0..4] [5] IncImageNo [6] --ImageNo [7..23] [24..
Configuration of the camera 11.4.8 Lookup tables (LUT) (FW > 0.90) The LUT_CTRL register activates this feature and enables certain LUTs. The LUT_INFO register indicates how many LUTs the camera can store and the maximum size of the individual LUTs. Offset 0xF1000240 0xF1000244 0xF1000248 Name LUT_CTRL LUT_MEM_CTRL LUT_INFO Field Presence_Inq Bit [0] --ON_OFF [1..5] [6] --LutNo [7..25] [26..31] Presence_Inq [0] --EnableMemWR [1..4] [5] --AccessLutNo AddrOffset Presence_Inq [6..7] [8..
Configuration of the camera 11.4.9 Shading correction Owing to technical circumstances, the interaction of recorded objects with one another, optical effects and lighting non-homogeneities may occur in the images. Because these effects are normally not desired, they should be eliminated as far as possible in subsequent image editing. The camera has automatic shading correction to do this. Provided that a shading image is present in the camera, the on/off bit can be used to enable shading correction.
Configuration of the camera Offset 0xF1000250 0xF1000254 0xF1000258 Name SHDG_CTRL SHDG_MEM_CTRL SHDG_INFO Field Presence_Inq Bit [0] BuildError --ShowImage [1] [2..3] [4] BuildImage [5] ON_OFF Busy [6] [7] --GrabCount [8..23] [24..31] Presence_Inq [0] --EnableMemWR [1..4] [5] EnableMemRD [6] --AddrOffset Presence_Inq [7] [8..31] [0] --MaxImageSize [1..7] [8..
Configuration of the camera 11.4.10 Deferred image transport Using the register, the sequence of recording and the transfer of the images can be paused. Setting “HoldImg” prevents transfer of the image. The images are stored in ImageFIFO. The images indicated by NumOfImages are sent by setting the “SendImage” bit. When “FastCapture” is set (in Format_7 only), images are recorded at the highest possible frame rate.
Configuration of the camera 11.4.12 High dynamic range mode (MF-131B/C only) The CMOS sensor of the MF-131 offers a special mode by which various nonlinearity points, the so-called knee-points, can be freely adjusted. This enables the high dynamic range of the sensor to be compressed into 8 Bit, preserving interesting details of the image. This mode is also known as multiple slope (dual slope).
Configuration of the camera 11.4.13 Input/output pin control All input and output signals running over the HiRose plug are controlled by this register. Offset 0xF1000300 0xF1000304 Name IO_INP_CTRL1 IO_INP_CTRL2 Field Presence_Inq Bit [0] --Polarity [1..6] [7] --InputMode --PinState [8..10] [11..15] [16..
Configuration of the camera IO_OUTP_CTRL 1-2 The Polarity flag determines whether the output is low active (0) or high active (1). The output mode can be seen in the following table. The current status of the output and be queried and set via the PinState flag. Offset Name Field 0xF1000320 IO_OUTP_CTRL1 Presence_Inq Bit [0] Description Indicates presence of this feature (read only) 0: low active, 1: high active --Polarity [1..6] [7] --Output mode --PinState [8..10] [11..15] Mode [16..
Configuration of the camera 11.4.14 Delayed Integration enable A delay time between initiating exposure on the sensor and the activation edge of the IntEna signal can be set using this register. The on/off flag activates/deactivates integration delay. The time can be set in µs in DelayTime. Please note that only one edge is delayed. If IntEna_Out is used to control an exposure, it is possible to have a variation in brightness or to precisely time a flash.
Firmware update 11.4.15 GPDATA_BUFFER GPDATA_BUFFER is a register that regulates the exchange of data between camera and host for programming the LUTs and the upload/download of the shading image. GPDATA_INFO GPDATA_BUFFER Buffer size query indicates the actual storage range Offset Name 0xF1000FFC GPDATA_INFO Field --BufferSize Bit Description [0..15] [16..
Declarations of conformity 13 Declarations of conformity MARLIN Technical Manual Page 114
Declarations of conformity MARLIN Technical Manual Page 115
Declarations of conformity MARLIN Technical Manual Page 116
Declarations of conformity MARLIN Technical Manual Page 117
Declarations of conformity MARLIN Technical Manual Page 118
Declarations of conformity MARLIN Technical Manual Page 119
Declarations of conformity MARLIN Technical Manual Page 120
Declarations of conformity MARLIN Technical Manual Page 121
Declarations of conformity MARLIN Technical Manual Page 122
Index 14 Index Advanced Feature Inquiry ............... 99, 100 Advanced features ......................94, 97, 99 Area of Interest .........................64, 73, 74 Asynchronous broadcast ........................ 59 Bandwidth........................... 69, 75, 77, 84 BAYER demosaicing .............................. 53 Black value..................................... 43, 44 Bus_Id................................................ 87 Busy Signal .........................................
