AVT Pike Technical Manual V4.0.
Legal notice For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential environment.
Contents Introduction ...........................................................................................................10 Document history ......................................................................................................... 10 Conventions used in this manual..................................................................................... 12 Styles .....................................................................................................................
Specifications .......................................................................................................36 PIKE F-032B / F-032B fiber ............................................................................................ 37 PIKE F-032C / F-032C fiber............................................................................................. 39 PIKE F-100B / F-100B fiber ............................................................................................
IO_INP_CTRL 1-2 ................................................................................................. 96 Trigger delay ....................................................................................................... 97 Outputs .................................................................................................................. 99 IO_OUTP_CTRL 1-4 ............................................................................................. 103 Output modes.....................
How to transfer parameters to the camera.................................................................. Encapsulated Update (begin/end)...................................................................... Parameter-List Update ...................................................................................... Standard Update (IIDC)..................................................................................... Packed 12-Bit Mode....................................................................
Manual stepping & reset (new for 3.x) .................................................................. 192 Which new sequence mode features are available?....................................................... 194 Setup mode....................................................................................................... 194 I/O controlled sequence stepping mode.............................................................. 194 I/O controlled sequence pointer reset ....................................
Mono8 (raw data) .............................................................................................. 244 Configuration of the camera ......................................................................245 Camera_Status_Register............................................................................................... Example................................................................................................................ Sample program ........................................
Auto gain control ................................................................................................... Autofunction AOI ................................................................................................... Color correction ..................................................................................................... Trigger delay ......................................................................................................... Mirror image..........................
Introduction Introduction Document history Version Date Remarks V2.0.0 07.07.2006 New Manual - RELEASE status PRE_V3.0.0 22.09.2006 Minor corrections Added Pike F-145 Pike F-210 AOI frame rates corrected: Chapter PIKE F-210: AOI frame rates (no sub-sampling) on page 232 New advanced registers: Chapter Advanced features on page 278 V3.0.1 29.09.2006 Minor corrections V3.1.0 13.02.
Introduction Version Date Remarks continued from last page V3.2.0 22.08.2007 Minor corrections Added CE in Chapter Declarations of conformity on page 14. Added Value field in Table 48: Shutter CSR on page 120. Added Chapter Cross section: CS-Mount (only PIKE F-032B/C) on page 78. Added detailed description of BRIGHTNESS (800h) in Table 130: Feature control register on page 272 Added detailed description of WHITE-BALANCE (80Ch) in Table 130: Feature control register on page 272 et seq.
Introduction Version Date Remarks continued from last page V4.0.0 15.01.
Introduction Style Function Example Italics Modes, fields Mode Parentheses and/or blue Links (Link) Table 2: Styles Symbols Note This symbol highlights important information. L Caution a www Ý This symbol highlights important instructions. You have to follow these instructions to avoid malfunctions. This symbol highlights URLs for further information. The URL itself is shown in blue. Example: http://www.alliedvisiontec.
Declarations of conformity Declarations of conformity Allied Vision Technologies declares under its sole responsibility that the following products Category Name Model Name Digital Camera (IEEE 1394) PIKE F-032B PIKE F-032C PIKE F-032B fiber PIKE F-032C fiber PIKE F-100B PIKE F-100C PIKE F-100B fiber PIKE F-100C fiber PIKE F-145B* PIKE F-145C* PIKE F-145B fiber* PIKE F-145C fiber* PIKE F-210B PIKE F-210C PIKE F-210B fiber PIKE F-210C fiber PIKE F-421B PIKE F-421C PIKE F-421B fiber PIKE F-421C fiber PIKE F
Declarations of conformity Following the provisions of 89/336/EEC directive(s), amended by directive 91/263 EEC, 92/31/EEC and 93/68/EEC. *: also -15fps variant PIKE Technical Manual V4.0.
Safety instructions Safety instructions Note • L • • 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 take no responsibility for the subsequent performance or quality of the camera. The camera does NOT generate dangerous voltages internally.
Safety instructions • • • Wired Electric Communication Detailed Law 17 by the Ministry of Posts and Telecom Law for Electric Equipment Dentori law issued by the Ministry of Trading and Industry Fire law issued by the Ministry of Construction Cautions Caution • a • • • Make sure NOT to touch the shield of the camera cable connected to a computer and the ground terminal of the lines at the same time. Use only DC power supplies with insulated cases.
PIKE types and highlights PIKE types and highlights With Pike cameras, entry into the world of digital image processing is simpler and more cost-effective than ever before. With the new Pike, Allied Vision Technologies presents the broadest range of cameras in the market with IEEE 1394b interfaces. Moreover, with daisy chain as well as Direct Fiber technology they gain the highest level of acceptance for demanding areas of use in manufacturing industry.
PIKE types and highlights Pike type Sensor Picture size (max.) Frame rates, Format_7 Mode_0 full resolution PIKE F-210B/C Type 1 KODAK KAI-2093 1920 (h) x 1080 (v) Up to 31 fps PIKE F-210B/C fiber Progressive Scan CCD imager PIKE F-421B/C Type 1.
PIKE types and highlights Warning Special warning for all PIKE models with GOF connectors: a GOF connectors are very sensitive. Any dust or dirt may cause damage. • • • • Always keep the GOF connector and optical fiber plug clean. If GOF connection is not in use, keep GOF dust cover on the GOF connector. Reduce mating cycles to a minimum to prevent abrasion. Please note that optical fiber cables have a very limited deflection curve radius. PIKE Technical Manual V4.0.
FireWire FireWire Overview FireWire provides one of the most comprehensive, high-performance, costeffective solutions platforms. FireWire offers very impressive throughput at very affordable prices. Definition FireWire (also known as i.Link or IEEE 1394) is a personal computer and digital video serial bus interface standard, offering high-speed communications and isochronous real-time data services. FireWire has low implementation costs and a simplified and adaptable cabling system.
FireWire • • • • • • • • Guaranteed bandwidth features to ensure fail-safe communications Interoperability with multiple different camera types and vendors Diverse camera powering options, including single-cable solutions up to 45 W Effective multiple-camera solutions Large variety of FireWire accessories for industrial applications Availability of repeaters and optical fibre cabling Forwards and backward compatibility blending 1394a and 1394b Both real-time (isochronous) and demand-driven asynchronous da
FireWire In case of 1394b no gaps are needed due to parallel arbitration, handled by bus owner supervisor selector (BOSS) (see the following diagram). Whereas 1394a works in half duplex transmission, 1394 does full duplex transmission.
FireWire Capabilities of 1394a (FireWire 400) FireWire 400 (S400) is able to transfer data between devices at 100, 200 or 400 MBit/s data rates. Although USB 2.0 claims to be capable of higher speeds (480 Mbit/s), FireWire is, in practice, not slower than USB 2.0. The 1394a capabilities in detail: • 400 Mbit/s • Hot-pluggable devices • Peer-to-peer communications • Direct Memory Access (DMA) to host memory • Guaranteed bandwidth • Multiple devices (up to 45 W) powered via FireWire bus IIDC V1.
FireWire Compatibility between 1394a and 1394b 1394a port 1394b port 1394b camera 1394a camera 1394a camera connected to 1394b bus 1394b camera connected to 1394a bus The cable explains dual compatibility: This cable serves to connect an IEEE 1394a camera with its six-pin connector to a bilingual port (a port which can talk in a- or b-language) of a 1394b bus. The cable explains dual compatibility: In this case, the cable connects an IEEE 1394b camera with its nine-pin connector to a 1394a port.
FireWire Image transfer via 1394a and 1394b Technical detail 1394a 1394b Transmission mode Half duplex (both pairs needed) Full duplex (one pair needed) 400 Mbit/s data rate 1 Gbit/s signaling rate, 800 Mbit/s data rate aka: a-mode, data/strobe (D/S) mode, legacy mode 10b/8b coding (Ethernet), aka: b-mode (beta mode) Devices Up to 63 devices per network Number of cameras Up to 16 cameras per network Number of DMAs 4 to 8 DMAs (parallel) cameras / bus Real time capability Image has real time
FireWire 1394b bandwidths According to the 1394b specification on isochronous transfer, the largest data payload size of 8192 bytes per 125 µs cycle is possible with a bandwidth of 800 Mbit/s. For further details read Chapter How does bandwidth affect the frame rate? on page 241. Requirements for PC and 1394b One PIKE camera connected to a PC’s 1394b bus saturates the standard PCI bus. 1394b also requires low latency for data transmission (due to small receiveFIFO).
FireWire Figure 5: Block diagram of modern PC (915 chipset by INTEL) Requirements for laptop and 1394b As mentioned above, 1394b requires low latency for data transmission (small receive-FIFO). In order to get the most out of your camera-to-laptop configuration, we recommend the following chipset for your laptop: • For Intel-based laptops, chipset 915 (or higher) • For non-Intel based laptops (e.g.
FireWire Figure 7: ExpressCard technology www ExpressCard is a new standard set by PCMCIA. Ý For more information visit: http://www.expresscard.org/web/site/ Example1: 1394b bandwidth of PIKE cameras PIKE model Resolution Pike F-032 B/C VGA Pike F-100 B/C Frame rate Bandwidth 208 fps 62.5 MByte/s 1 megapixel 60 fps 57.62 MByte/s Pike F-145 B/C 1.45 megapixel 30 fps 41.41 MByte/s Pike F-210 B/C 2.1 megapixel 31 fps 62.5 MByte/s Pike F-421 B/C 4 megapixel 15 fps 62.
FireWire Example 2: More than one PIKE camera at full speed Due to the fact that one PIKE camera saturates a 32 bit PCI bus, you are advised to use either a PCI Express card and/or multiple 64-bit PCI bus cards, if you want to use 2 or more PIKE cameras simultaneously (see the following table).
FireWire FireWire Plug & play capabilities FireWire devices implement the ISO/IEC 13213 configuration ROM model for device configuration and identification, to provide plug & play capability. All FireWire devices are identified by an IEEE EUI-64 unique identifier (an extension of the 48-bit Ethernet MAC address format) in addition to well-known codes indicating the type of device and protocols it supports. For further details read Chapter Configuration of the camera on page 245.
System components System components Each camera package consists of the following system components: AVT PIKE 4.5 m cable with screw locking Color version: Jenofilt 217 IR cut filter (built-in) B/w version: only protection glass (no filter) CD with driver and documentation Optional: tripod adapter Optional: GOF cable Optional: HIROSE connector for cable mount HR10A-10P-12S Figure 8: System components PIKE Technical Manual V4.0.
System components The following illustration shows the spectral transmission of the IR cut filter: Figure 9: Spectral transmission of Jenofilt 217 Note L www Ý Note L To demonstrate the properties of the camera, all examples in this manual are based on the FirePackage OHCI API software and the SmartView application. These utilities can be obtained from Allied Vision Technologies (AVT). A free version of SmartView is available for download at: www.alliedvisiontec.
System components Camera lenses AVT offers different lenses from a variety of manufacturers. The following table lists selected image formats depending on camera type, distance and the focal length of the lens. Focal length for type 1/3 sensors PIKE F-032 Distance = 0.5 m Distance = 1 m 4.8 mm 0.375 m x 0.5 m 0.75 m x 1 m 8 mm 0.22 m x 0.29 m 0.44 m x 0.58 m 12 mm 0.145 m x 0.19 m 0.29 m x 0.38 m 16 mm 11 cm x 14.7 cm 22 cm x 29.4 cm 25 mm 6.9 cm x 9.2 cm 13.8 cm x 18.4 cm 35 mm 4.
System components Focal length for type 1 sensors PIKE F-210 Distance = 0.5 m Distance = 1 m 8 mm 0.6 m x 0.8 m 1.2 m x 1.6 m 12 mm 0.39 m x 0.52 m 0.78 m x 1.16 m 16 mm 0.29 m x 0.38 m 0.58 m x 0.76 m 25 mm 18.2 cm x 24.2 cm 36.4 cm x 48.8 cm 35 mm 12.8 cm x 17.02 cm 25.6 cm x 34.04 cm 50 mm 8.8 cm x 11.7 cm 17.6 cm x 23.4 cm Table 11: Focal length vs.
Specifications Specifications Note H-binning means horizontal binning. L V-binning means vertical binning. H-sub-sampling means horizontal sub-sampling. V-sub-sampling means vertical sub-sampling. PIKE Technical Manual V4.0.
Specifications PIKE F-032B / F-032B fiber Feature Specification Image device Type 1/3 (diag. 5.92 mm) type progressive scan KODAK IT CCD KAI340 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.5 mm (see Figure 34: Pike C-Mount dimensions (VGA size filter for Pike F032) on page 79) Adjustable CS-Mount: 12.526 mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 7.
Specifications Feature Specification Digital interface IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy chain) fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF connector (2 x optical fiber on LCLC), (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC) (full resolution and maximal frame rates) Dimensions 96.8 mm x 44 mm x 44 mm (L x W x H); incl.
Specifications PIKE F-032C / F-032C fiber Feature Specification Image device Type 1/3 (diag. 5.92 mm) type progressive scan KODAK IT CCD KAI340 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.5 mm (see Figure 34: Pike C-Mount dimensions (VGA size filter for Pike F032) on page 79) Adjustable CS-Mount: 12.526 mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 7.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), color correction, hue, saturation, real-time shading correction, LUT, 64 MByte image memory, mirror, sub-sampling, High SNR, storable user sets Two configurable inputs, four configurable outputs RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications PIKE F-100B / F-100B fiber Feature Specification Image device Type 2/3 (diag. 10.5 mm) type progressive scan KODAK IT CCD KAI1020 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC) Dimensions 96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod and lens Mass 250 g (without lens) Operating temperature + 5 °C ... + 50 °C housing temperature (without condensation) Storage temperature - 10 °C ...
Specifications PIKE F-100C / F-100C fiber Feature Specification Image device Type 2/3 (diag. 10.5 mm) type progressive scan KODAK IT CCD KAI1020 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Digital interface IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy chain) fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF connector (2 x optical fiber on LCLC), (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC) Dimensions 96.8 mm x 44 mm x 44 mm (L x W x H); incl.
Specifications PIKE F-145B / F-145B fiber (-15fps*) * Variant: F-145-15fps only This variant offers lower speed (only 15 fps), but better image quality. Feature Specification Image device Type 2/3 (diag. 11.2 mm) type progressive scan SONY ICX285 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), real-time shading correction, LUT, 64 MByte image memory, mirror, binning, sub-sampling, High SNR, storable user sets Two configurable inputs, four configurable outputs RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications PIKE F-145C / F-145C fiber (-15fps*) * Variant: F-145-15fps only This variant offers lower speed (only 15 fps), but better image quality. Feature Specification Image device Type 2/3 (diag. 11.2 mm) type progressive scan SONY ICX285 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), color correction, hue, saturation, real-time shading correction, LUT, 64 MByte image memory, mirror, sub-sampling, High SNR, storable user sets Two configurable inputs, four configurable outputs RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications PIKE F-210B / F210B fiber Feature Specification Image device Type 1 (diag. 15.3 mm) type progressive scan KODAK IT CCD KAI2093 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Digital interface IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy chain) fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF connector (2 x optical fiber on LCLC), (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical 5.5 watt (@ 12 V DC); fiber: typical 6.25 watt (@ 12 V DC) Dimensions 96.8 mm x 44 mm x 44 mm (L x W x H); incl.
Specifications PIKE F-210C / F-210C fiber Feature Specification Image device Type 1 (diag. 15.3 mm) type progressive scan KODAK IT CCD KAI2093 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), color correction, hue, saturation, real-time shading correction, LUT, 64 MByte image memory, mirror, sub-sampling, High SNR, storable user sets Two configurable inputs, four configurable outputs RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications PIKE F-421B / F-421B fiber Feature Specification Image device Type 1.2 (diag. 21.4 mm) type progressive scan KODAK IT CCD KAI4021 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Digital interface IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy chain) fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF connector (2 x optical fiber on LCLC), (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical 5.5 watt (@ 12 V DC); fiber: typical 6.25 watt (@ 12 V DC) Dimensions 96.8 mm x 44 mm x 44 mm (L x W x H); incl.
Specifications PIKE F-421C / F-421 C fiber Feature Specification Image device Type 1.2 (diag. 21.4 mm) type progressive scan KODAK IT CCD KAI4021 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), color correction, hue, saturation, real-time shading correction, LUT, 64 MByte image memory, mirror, sub-sampling, High SNR, storable user sets Two configurable inputs, four configurable outputs RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications PIKE F-505B / F-505B fiber Feature Specification Image device Type 2/3 (diag. 11.016 mm) progressive scan SONY ICX625 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Digital interface IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy chain) fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF connector (2 x optical fiber on LCLC), (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical 5.75 watt (@ 12 V DC); fiber: typical 6.50 watt (@ 12 V DC) Dimensions 96.8 mm x 44 mm x 44 mm (L x W x H); incl.
Specifications PIKE F-505C / F-505C fiber Feature Specification Image device Type 2/3 (diag. 11.016 mm) type progressive scan SONY ICX625 Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 12.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), color correction, hue, saturation, real-time shading correction, LUT, 64 MByte image memory, mirror, sub-sampling, High SNR, storable user sets Two configurable inputs, four configurable outputs RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications Spectral sensitivity Figure 10: Spectral sensitivity of Pike F-032B Figure 11: Spectral sensitivity of Pike F-032C PIKE Technical Manual V4.0.
Specifications Figure 12: Spectral sensitivity of Pike F-100B Figure 13: Spectral sensitivity of Pike F-100C PIKE Technical Manual V4.0.
Specifications Figure 14: Spectral sensitivity of Pike F-145B Figure 15: Spectral sensitivity of Pike F-145C PIKE Technical Manual V4.0.
Specifications Figure 16: Spectral sensitivity of Pike F-210B Figure 17: Spectral sensitivity of Pike F-210C PIKE Technical Manual V4.0.
Specifications Figure 18: Spectral sensitivity of Pike F-421B Figure 19: Spectral sensitivity of Pike F-421C PIKE Technical Manual V4.0.
Specifications Figure 20: Spectral sensitivity of Pike F-505B Figure 21: Spectral sensitivity of Pike F-505C PIKE Technical Manual V4.0.
Camera dimensions Camera dimensions Note For information on sensor position accuracy: L (sensor shift x/y, optical back focal length z and sensor rotation α) see Chapter Sensor position accuracy of AVT cameras on page 322. PIKE standard housing (2 x 1394b copper) Note: different from GOF version see next page Body size: 96.8 mm x 44 mm x 44 mm (L x W x H) Mass: 250 g (without lens) Figure 22: Camera dimensions (2 x 1394b copper) PIKE Technical Manual V4.0.
Camera dimensions PIKE (1394b: 1 x GOF, 1 x copper) Note: different from 2 x copper version see previous page Body size: 96.8 mm x 44 mm x 44 mm (L x W x H) Mass: 250 g (without lens) Figure 23: Camera dimensions (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V4.0.
Camera dimensions Tripod adapter This tripod adapter is only designed for standard housings, but not for the angled head versions. Note L If you need a tripod adapter for angled head versions, please contact AVT support. Figure 24: Tripod dimensions PIKE Technical Manual V4.0.
Camera dimensions Pike W90 (2 x 1394b copper) This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. Figure 25: Pike W90 (2 x 1394b copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W90 (1394b: 1 x GOF, 1 x copper) This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. Figure 26: Pike W90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W90 S90 (2 x 1394b copper) This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. The sensor is also rotated by 90 degrees clockwise. Figure 27: Pike W90 S90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W90 S90 (1394b: 1 x GOF, 1 x copper) This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. The sensor is also rotated by 90 degrees clockwise. Figure 28: Pike W90 S90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W270 (2 x 1394b copper) This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. Figure 29: Pike W270 (2 x 1394b copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W270 (1394b: 1 x GOF, 1 x copper) This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. Figure 30: Pike W270 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W270 S90 (2 x 1394b copper) This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. The sensor is also rotated by 90 degrees clockwise. Figure 31: Pike W270 S90 (2 x 1394b copper) PIKE Technical Manual V4.0.
Camera dimensions Pike W270 S90 (1394b: 1 x GOF, 1 x copper) This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. The sensor is also rotated by 90 degrees clockwise. Figure 32: Pike W270 S90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V4.0.
Camera dimensions Cross section: CS-Mount (only PIKE F-032B/C) Figure 33: Pike CS-Mount dimensions (only PIKE F-032B/C) PIKE Technical Manual V4.0.
Camera dimensions Cross section: C-Mount (VGA size filter) PIKE F-032 cameras are equipped with VGA size filter. Figure 34: Pike C-Mount dimensions (VGA size filter for Pike F-032) PIKE Technical Manual V4.0.
Camera dimensions Cross section: C-Mount (large filter) PIKE F-100, PIKE F-145, PIKE F-210, PIKE F-421, PIKE F-505 are equipped with a large filter. Figure 35: Pike C-Mount dimensions (large filter for Pike F-100, F-145, F-210, F-421, F-505) PIKE Technical Manual V4.0.
Camera dimensions Adjustment of C-Mount PIKE cameras allow the precise adjustment of the back focus of the C-Mount by means of a back focus ring which is threaded into the C-Mount and held by two screws on either side of the camera. The mechanical adjustment of the imaging device is important in order to achieve a perfect alignment with the focal point of the lens.
Camera dimensions F-Mount, K-Mount, M39-Mount Note L Note L For other mounts (e.g. F-Mount, K-Mount) please contact your distributor. Pike F-210 and Pike F-421 can be equipped at factory site with M39-Mount instead of C-Mount. M39-Mount is ideally suited for Voigtländer (aka Voigtlander) short focal length optics. See drawing below for further details. Please ask AVT or your local dealer if you require further information.
Camera interfaces Camera interfaces In addition to the two status LEDs (see Chapter Status LEDs on page 90), there are three jacks located at the rear of the camera. • The 12-pin camera I/O connector provides different control inputs and output lines. • Both IEEE 1394b connectors with screw lock mechanism provide access to the IEEE 1394 bus and thus makes it possible to control the camera and output frames. Connect the camera by using either of the connectors.
Camera interfaces PIKE fiber All PIKE cameras are also available as fiber version with 1 x GOF connector and 1 x copper connector. The GOF connector is of the following type: 2 x optical fiber on LCLC The GOF transmission uses MMF (multi-mode fiber at 850 nm). Connect the camera by using either of the connectors. The other connector can be used to daisy chain a second camera.
Camera interfaces IEEE 1394b connector GOF (2x optical fiber on LCLC) Dust cover off IEEE 1394b connector (copper) Figure 41: Rear view of camera (1394b: 1 x GOF, 1 x copper) Warning Special warning for all PIKE models with GOF connectors: a GOF connectors are very sensitive. Any dust or dirt may cause damage. • • • • Always keep the GOF connector and optical fiber plug clean. If GOF connection is not in use, keep GOF dust cover on the GOF connector.
Camera interfaces IEEE 1394b port pin assignment The IEEE 1394b connector is designed for industrial use and has the following pin assignment as per specification: 4 3 2 1 5 6 7 8 9 Figure 42: IEEE 1394b connector Pin Signal 1 TPB- 2 TPB+ 3 TPA- 4 TPA+ 5 TPA (Reference ground) 6 VG (GND) 7 N.C.
Camera interfaces Camera I/O connector pin assignment The camera I/O connector 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 e.g. the firmware update. The following diagram shows the pinning as viewed in pin direction.
Camera interfaces Order text Length I/O cable 12-pin HIROSE female to open end I/O cable Order number 5.0 m E1000786 10.0 m E1000749 12-pin HIROSE female to open end Table 27: Order numbers: trigger and I/O cables Figure 43: Camera I/O connector pin assignment Pin Signal Direction Level Description 1 External GND GND for RS232 External Ground for RS232 and and ext. power external power 2 ExtPower +8...
Camera interfaces Pin Signal Direction Level Description 7 CameraIn GND In Common GND for inputs Camera Common Input Ground (In GND) See Figure 47: Input Ground (InGND) (Pin no. 7 from camera I/O connector) on page 94 8 RxD_RS232 In RS232 Terminal Receive Data 9 TxD_RS232 Out RS232 Terminal Transmit Data 10 CameraOutPower In Common VCC for outputs max. 35 V DC Camera Output Power for digital outputs (OutVCC) 11 CameraIn2 In CMOS/TTL max.
Camera interfaces Status LEDs On LED (green) The green power LED indicates that the camera is being supplied with sufficient voltage and is ready for operation.
Camera interfaces The following sketch illustrates the series of blinks for a Format_7_error_1: Figure 44: Warning and error states You should wait for at least 2 full cycles because the display of blinking codes starts asynchronously - e.g. on the second blink from S2. PIKE Technical Manual V4.0.
Camera interfaces Operating the camera Power for the camera is supplied either via the FireWire™ bus or the camera I/O connector's pin 2. The input voltage must be within the following range: Vcc min.: +8 V Vcc max.: +36 V Note • L • An input voltage of 12 V is recommended for most efficient use of the camera As mentioned above: The camera I/O supplies power to the camera via a diode. This means that there is no power out at pin 2 if the camera is powered via the bus.
Camera interfaces Flux voltage from LED type 1.5 V at 10 mA Initial on-current: 5 mA Max. off-current: 0.25 mA Max. input current: 15 mA Min. pulse width 2.2 µs Table 31: Input characteristics: Flux voltage Cycle delay of the optocoupler tpdLH: 2275 ns tpdHL: 2290 ns Table 32: Input characteristics: Cycle delay The inputs can be connected directly to +5 V. If a higher voltage is used, an external resistor must be placed in series. Use at +12 V a 820 Ω resistor and at +24 V a 2.2 kΩ resistor.
Camera interfaces Figure 46: Input block diagram 390R 390R In1 – Pin 4 In2 – Pin 11 InGND – Pin 7 Figure 47: Input Ground (InGND) (Pin no. 7 from camera I/O connector) 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. Each signal can be inverted. The camera must be set to external triggering to trigger image capture by the trigger signal.
Camera interfaces Input/output pin control All input and output signals running over the camera I/O connector are controlled by an advanced feature register. Register Name Field Bit Description 0xF1000300 IO_INP_CTRL1 Presence_Inq [0] Indicates presence of this feature (read only) --- [1..6] Reserved Polarity [7] 0: Signal not inverted 1: Signal inverted --- [8..10] Reserved InputMode [11..15] Mode see Table 34: Input routing on page 96 0xF1000304 IO_INP_CTRL2 --- [16..
Camera interfaces IO_INP_CTRL 1-2 The Polarity flag determines whether the input is low active (0) or high active (1). The input mode can be seen in the following table. The PinState flag is used to query the current status of the input. The PinState bit reads the inverting optocoupler status after an internal negation. See Figure 46: Input block diagram on page 94. This means that an open input sets the PinState bit to 0.
Camera interfaces Trigger delay The cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh x time base value. The following table explains the inquiry register and the meaning of the various bits.
Camera interfaces Register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0:N/ 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR. If this bit=1 the value in the value field has to be ignored. - [2..5] Reserved ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 - [7..19] Reserved Value [20..
Camera interfaces Note • L • Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only. Outputs The camera has 4 non-inverting outputs with open emitters. These are shown in the following diagram: OutVCC – Pin 10 GPOut1 – Pin 6 GND GND R GPOut2 – Pin 12 GND GND R GPOut3 – Pin 5 GND GND R GPOut4 – Pin 3 GND GND R Figure 48: Output schematics with external resistors R (pin no.
Camera interfaces Parameter Test condition Value Collector emitter voltage Max. 35 V Emitter collector voltage Max. 7 V Emitter current Max. 50 mA Collector current Max. 80 mA Collector peak current tp/T=0.5 100 mA t p ≤ 10ms Power dissipation 100 mW OutVCC Resistor value 5V 1 kΩ 12 V 2.4 kΩ 24 V 4.7 kΩ Note L • • • • • Voltage above +45 V may damage the optical coupler. The output connection is different to the AVT Dolphin series to achieve higher output swing.
Camera interfaces Parameter Symbol Value Delay time td 0.70 µs Rise time tr 0.56 µs Storage time ts 35.00 µs Fall time tf 12.00 µs Condition OutVCC = 5 V Resistor value=1 kΩ Figure 49: Output schematics: switching times Output features are configured by software. Any signal can be placed on any output. The main features of output signals are described below: Signal Description IntEna (Integration Enable) signal This signal displays the time in which exposure was made.
Camera interfaces Figure 50: Output block diagram PIKE Technical Manual V4.0.
Camera interfaces IO_OUTP_CTRL 1-4 The outputs (Output mode, Polarity) are controlled via 4 advanced feature registers (see Table 39: Output configuration register on page 103). The Polarity field determines whether the output is inverted or not. The output mode can be viewed in the table below. The current status of the output can be queried and set via the PinState. It is possible to read back the status of an output pin regardless of the output mode.
Camera interfaces Output modes ID Mode Default / description 0x00 Off 0x01 Output state follows PinState bit Using this mode, the Polarity bit has to be set to 0 (not inverted). This is necessary for an error free display of the output status. 0x02 Integration enable 0x03 Reserved 0x04 Reserved 0x05 Reserved 0x06 FrameValid 0x07 Busy 0x08 Follow corresponding input (Inp1 Out1, Inp2 Out2) 0x09..0x0F Reserved 0x10..
Camera interfaces Figure 51: Output impulse diagram Note The signals can be inverted. L Caution a Firing a new trigger while IntEna is still active can result in missing image. PIKE Technical Manual V4.0.
Camera interfaces Note L • • Note that trigger delay in fact delays the image capture whereas the IntEna_Delay only delays the leading edge of the IntEna output signal but does not delay the image capture. As mentioned before, it is possible to set the outputs by software. Doing so, the achievable maximum frequency is strongly dependent on individual software capabilities. As a rule of thumb, the camera itself will limit the toggle frequency to not more than 700 Hz. PIKE Technical Manual V4.0.
Camera interfaces Pixel data Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface described in IIDC V1.31. The first packet of a frame is identified by the 1 in the sync bit (sy) of the packet header. sync bit 0-7 8-15 data_length 16-23 tg channel 24-31 tCode sy header_CRC Video data payload data_CRC Table 41: Isochronous data block packet format. Source: IIDC V1.
Camera interfaces The following table provides a description of the video data format for the different modes. (Source: IIDC V1.31; packed 12-bit mode: AVT) Figure 52: YUV 4:2:2 and YUV 4:1:1 format: Source: IIDC V1.31 specification Figure 53: Y8 and Y16 format: Source: IIDC V1.31 specification Y-(K+0) [11..4] Y-(K+1) [3..0] Y-(K+1) [11..4] Y-(K+2) [11..4] Y-(K+4) [11..4] Y-(K+5) [3..0] Y-(K+0) [3..0] Y-(K+3) [3..0] Y-(K+3) [11..4] Y-(K+2)[3..0] Y-(K+5) [11..4] Y-(K+4)[3..
Camera interfaces Figure 54: Data structure: Source: IIDC V1.31 specification Y component has 12-bit data. The data type is „unsigned“. Y Signal level (decimal) Data (hexadecimal) Highest 4095 0x0FFF 4094 0x0FFE . . . . 1 0x0001 0 0x0000 Lowest Table 44: Data structure of Packed 12-Bit Mode (mono and raw) PIKE Technical Manual V4.0.
Description of the data path Description of the data path 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 sensor chip in the camera. The individual blocks are described in more detail in the following paragraphs.
Sensor Analog 8 bit 16 bit Analog Sharpness HSNR control Offset 8 bit 14 bit ADC Camera control Hue Saturation Color correction Color conversion Horizontal sub-sampling Camera control Analog 8 bit 14 bit 14 bit IEEE 1394b interface Horizontal masking Channel balance 1394b 14 bit 14 bit LUT White balance 14 bit 14 bit Test-Pattern Color interpolation Frame memory Gain Shading correction Horizontal mirror Description of the data path Color cameras 14 bit HIROSE I/O RS232
Description of the data path Sensor The PIKE family is equipped with various sensor types and resolutions. CCD types are available in color and monochrome. The following table provides an overview (all models also with fiber): Model PIKE F-032B PIKE F-032C PIKE F-100B PIKE F-100C PIKE F-145B PIKE F-145C PIKE F-210B PIKE F-210C PIKE F-421B PIKE F-421C Techn Manufacturer Sensor Type Optical Format CCD KODAK KAI-340 type 1/3 CCD KODAK KAI-1020 type 2/3 10.
Description of the data path • • • PIKE camera with defocused lens PIKE color cameras set to RAW8 and RAW16 In case of using AOI, be aware that the middle vertical line (+/- 20 pixel) is part of the AOI. To carry out an adjustment in SmartView, perform the following steps: 1. In SmartView click Extras Adjust channels... or use Alt+Ctrl+A. The following window opens: Figure 57: SmartView: channel adjustment Note Program button is only available for AVT factory. L 2.
Description of the data path before after Figure 58: Example of channel adjustment: PIKE F-032B PIKE Technical Manual V4.0.
Description of the data path White balance PIKE color cameras have both manual and automatic white balance. White balance is applied so that non-colored image parts are displayed non-colored. From the user's point, the white balance settings are made in register 80Ch of IIDC V1.31. This register is described in more detail below.
Description of the data path The values in the U/B_Value field produce changes from green to blue; the V/R_Value field from green to red as illustrated below. Figure 59: U/V slider range Type Range Range in dB PIKE color cameras 0 ... 568 ± 10 dB Table 47: Manual gain range of the various PIKE types The increment length is ~0.0353 dB/step. One-push automatic white balance To configure this feature in control and status register (CSR): See Table 46: White balance register on page 115.
Description of the data path Note L The following ancillary conditions should be observed for successful white balance: • • There are no stringent or special requirements on the image content, it requires only the presence of monochrome pixels in the image. Automatic white balance can be started both during active image capture and when the camera is in idle state. If the image capture is active (e.g.
Description of the data path Automatic white balance The auto white balance feature continuously optimizes the color characteristics of the image. For the white balance algorithm the whole image or a subset of it is used. To set position and size of the control area (Auto_Function_AOI) in an advanced register: see Table 151: Advanced register for autofunction AOI on page 301. AUTOFNC_AOI affects the auto shutter, auto gain and auto white balance features and is independent of the Format7 AOI settings.
Description of the data path Auto shutter In combination with auto white balance, PIKE cameras are equipped with auto-shutter feature. When enabled, the auto shutter adjusts the shutter within the default shutter limits or within those set in advanced register F1000360h in order to reach the reference brightness set in auto exposure register. Target grey level parameter in SmartView corresponds to Auto_exposure register 0xF0F00804 (IIDC).
Description of the data path To configure this feature in control and status register (CSR): Register Name Field Bit Description 0xF0F0081C SHUTTER Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit=1, the value in the Value field will be ignored. - [2..
Description of the data path Auto gain All PIKE cameras are equipped with auto gain feature. To configure this feature in an advanced register: See Table 150: Advanced register for auto gain control on page 300. When enabled auto gain adjusts the gain within the default gain limits or within the limits set in advanced register F1000370h in order to reach the brightness set in auto exposure register as reference.
Description of the data path Register Name Field Bit Description 0xF0F00804 AUTO_EXPOSURE Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit=1 the value in the value field has to be ignored. - [2..
Description of the data path Manual gain PIKE cameras are equipped with a gain setting, allowing the gain to be manually adjusted on the fly by means of a simple command register write. The following ranges can be used when manually setting the gain for the analog video signal: Type Range Range in dB PIKE color cameras 0 ... 565 0 ... 20 dB PIKE b/w cameras 1 ... 630 0 ... 22 dB PIKE F-145B 0 ... 900 0 ... 32 dB PIKE F-145C 0 ... 900 0 ... 32 dB PIKE F-145B-15fps 0 ... 900 0 ...
Description of the data path Note • L Setting the gain does not change the offset (black value). The IIDC register brightness at offset 800h is used for this purpose. The following table shows the BRIGHTNESS register.
Description of the data path Horizontal mirror function All PIKE cameras are equipped with an electronic mirror function, which mirrors pixels from the left side of the image to the right side and vice versa. The mirror is centered to the actual FOV center and can be combined with all image manipulation functions, like binning, shading and DSNU. This function is especially useful when the camera is looking at objects with the help of a mirror or in certain microscopy applications.
Description of the data path 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 How to store shading image There are two storing possibilities: • After generating the shading image in the camera, it can be uploaded to the host computer for nonvolatile storage purposes. • The shading image can be stored in the camera itself. The following pictures describe the process of automatic generation of correction data (PIKE F-032C). Surface plots and histograms were created using the ImageJ program. 255.0 surface plot 0.0 p 0.0 48 ls ixe 640.
Description of the data path Automatic generation of correction data Requirements Shading correction compensates for non-homogeneities by giving all pixels the same gray value as the brightest pixel. This means that only the background must be visible and the brightest pixel has a gray value of less than 255 when automatic generation of shading data is started. It may be necessary to use a neutral white reference, e.g. a piece of paper, instead of the real image.
Description of the data path To configure this feature in an advanced register: See Table 144: Shading control register on page 293. Note • The SHDG_CTRL register should not be queried at very short intervals. This is because each query delays the generation of the shading image. An optimal interval time is 500 ms. • The calculation of shading data is always carried out at the current resolution setting.
Description of the data path 255.0 surface plot 0.0 p 0.0 48 ls ixe histogram 0p 640. ixels 0 256 Count: 307200 Mean: 157.039 StdDev: 2.629 Min: 139 Max: 162 Mode: 158 (84449) Figure 65: Example of shaded image • • • On the left you see the image after shading correction. The surface plot on the right clearly shows nearly no more gradient of the brightness (0: brightest 255: darkest pixels).
Description of the data path Loading a shading image out of the camera GPDATA_BUFFER is used to load a shading image out of the camera.
Description of the data path Loading a shading image into the camera GPDATA_BUFFER is used to load a shading image into the camera.
Description of the data path Look-up table (LUT) and gamma function The AVT PIKE camera provides sixteen (0-15) user-defined look-up tables (LUT). The use of one LUT allows any function (in the form Output = F(Input)) to be stored in the camera's RAM and to be applied on the individual pixels of an image at run-time. The address lines of the RAM are connected to the incoming digital data, these in turn point to the values of functions which are calculated offline, e.g. with a spreadsheet program.
Description of the data path Note L • • • • The input value is the 14-bit value from the digitizer. The two gamma LUTs use LUT 14 and 15. Gamma 1 (gamma=0.7) switches on LUT 14, gamma 2 (gamma=0.45) switches on LUT 15. After overriding LUT 14 and 15 with a user defined content, gamma functionality is no longer available until the next full initialization of the camera. LUT content is volatile if you do not use the user profiles to save the LUT.
Description of the data path Binning (only PIKE b/w models) 2 x / 4 x / 8 x binning Definition Binning is the process of combining neighboring pixels while being read out from the CCD chip. Note L • • Only PIKE b/w cameras have this feature. Binning does not change offset, brightness or blacklevel.
Description of the data path and the full binning modes: • 2 x full binning (a combination of 2 x H-binning and 2 x V-binning) • 4 x full binning (a combination of 4 x H-binning and 4 x V-binning) • 8 x full binning (a combination of 8 x H-binning and 8 x V-binning) Vertical binning Vertical binning increases the light sensitivity of the camera by a factor of two (4 or 8) by adding together the values of two (4 or 8) adjoining vertical pixels output as a single pixel.
Description of the data path 8 x vertical binning Figure 71: 8 x vertical binning Note L Note L Vertical resolution is reduced, but signal-to noise ratio (SNR) is increased by about 3, 6 or 9 dB (2 x, 4 x or 8 x binning). If vertical binning is activated the image may appear to be over-exposed and may require correction. PIKE Technical Manual V4.0.
Description of the data path Note L The image appears vertically compressed in this mode and no longer exhibits a true aspect ratio. Horizontal binning In horizontal binning adjacent horizontal pixels in a line are combined digitally in the FPGA of the camera without accumulating the black level: 2 x horizontal binning: 2 pixel signals from 2 horizontal neighboring pixels are combined. 4 x horizontal binning: 4 pixel signals from 4 horizontal neighboring pixels are combined.
Description of the data path 8 x horizontal binning Figure 73: 8 x horizontal binning Note L The image appears horizontally compressed in this mode and does no longer show true aspect ratio. If horizontal binning is activated the image may appear to be over-exposed and must eventually be corrected. PIKE Technical Manual V4.0.
Description of the data path 2 x full binning/4 x full binning/8 x full binning If horizontal and vertical binning are combined, every 4 (16 or 64) pixels are consolidated into a single pixel. At first two (4 or 8) horizontal pixels are put together and then combined vertically. This increases light sensitivity by a total of a factor of 4 (16 or 64) and at the same time signal-to-noise separation is improved by about 6 (12 or 18) dB. Resolution is reduced, depending on the model.
Description of the data path 8 x full binning Figure 75: 8 x full binning PIKE Technical Manual V4.0.
Description of the data path Sub-sampling (PIKE b/w and color) What is sub-sampling? Definition Sub-sampling is the process of skipping neighboring pixels (with the same color) while being read out from the CCD chip. Which PIKE models have sub-sampling? All PIKE models, both color and b/w, have this feature.
Description of the data path 2 out of 4 2 out of 8 2 out of 16 Figure 77: Horizontal sub-sampling (color) Note L The image appears horizontally compressed in this mode and no longer exhibits a true aspect ratio. PIKE Technical Manual V4.0.
Description of the data path Format_7 Mode_5 By default and without further remapping use Format_7 Mode_5 for • b/w cameras: 2 out of 4 vertical sub-sampling • color cameras: 2 out of 4 vertical sub-sampling The different sub-sampling patterns are shown below. 2 out of 4 2 out of 8 2 out of 16 Figure 78: Vertical sub-sampling (b/w) 2 out of 4 2 out of 8 2 out of 16 Figure 79: Vertical sub-sampling (color) PIKE Technical Manual V4.0.
Description of the data path Note L Format_7 Mode_6 The image appears vertically compressed in this mode and no longer exhibits a true aspect ratio. By default and without further remapping use Format_7 Mode_6 for 2 out of 4 H+V sub-sampling The different sub-sampling patterns are shown below. 2 out of 4 H+V sub-sampling Figure 80: 2 out of 4 H+V sub-sampling (b/w) 2 out of 8 H+V sub-sampling Figure 81: 2 out of 8 H+V sub-sampling (b/w) PIKE Technical Manual V4.0.
Description of the data path 2 out of 16 H+V sub-sampling Figure 82: 2 out of 16 H+V sub-sampling (b/w) PIKE Technical Manual V4.0.
Description of the data path 2 out of 4 H+V sub-sampling Figure 83: 2 out of 4 H+V sub-sampling (color) 2 out of 8 H+V sub-sampling Figure 84: 2 out of 8 H+V sub-sampling (color) PIKE Technical Manual V4.0.
Description of the data path 2 out of 16 H+V sub-sampling Figure 85: 2 out of 16 H+V sub-sampling (color) Note L Changing sub-sampling modes involves the generation of new shading reference images due to a change in the image size. PIKE Technical Manual V4.0.
Description of the data path Binning and sub-sampling access The binning and sub-sampling modes described in the last two chapters are only available as pure binning or pure sub-sampling modes. A combination of both is not possible. As you can see there is a vast amount of possible combinations. But the number of available Format_7 modes is limited and lower than the possible combinations.
Description of the data path F7M5 F7M6 F7M7 8 x horizontal 4 0 x horizontal 5 2 x horizontal 6 4 x horizontal 7 8 x horizontal 8 0 x horizontal 9 2 x horizontal 10 4 x horizontal 11 8 x horizontal 12 0 x horizontal 13 2 x horizontal 14 4 x horizontal 15 8 x horizontal 16 2 out of 2 horizontal 17 2 out of 4 horizontal 18 2 out of 8 horizontal 19 2 out of 16 horizontal 20 2 out of 2 horizontal 21 2 out of 4 horizontal 22 2 out of 8 horizontal 23 2 out of 16 horizontal
Description of the data path Quick parameter change timing modes Why new timing modes? Former timing of the PIKE cameras showed the same behavior as MARLIN cameras: • Frame rate or transfer rate is always constant (precondition: shutter < transfer time) • The delay from shutter update until the change takes place: up to 3 frames. Figure 87: Former standard timing on page 151 demonstrates this behavior.
Description of the data path Standard Parameter Update Timing The Standard Parameter Update Timing keeps the frame rate constant and does not create any gaps between two image transfers via bus (precondition: exposure (shutter) time must be smaller than transfer time).
Description of the data path How to transfer parameters to the camera The following 3 variants of transferring the parameters are available with the firmware 3.
Description of the data path Camera timing behavior is like this: Fast Parameter Update Timing Quick Format Change Mode After the parameter update stop command all changed parameters are valid for the available next image. Frame rate is constant. After the parameter update start command a current transfer is interrupted. A started exposure will be interrupted until the next parameter update stop command. Exposure of the next image with new parameters is started.
Description of the data path The exact sequence is: Block-write (this needs to be a functionality of the underlying software stack (e.g. AVT FirePackage). It may not be available for third party IIDC software stacks.) of list to advanced feature address Camera timing behavior is like this: Fast Parameter Update Timing Quick Format Change Mode (QFCM) After block write command is processed in the camera all changed parameters are valid for the available next image. Frame rate is constant.
Description of the data path Packed 12-Bit Mode All PIKE cameras have the so-called Packed 12-Bit Mode. This means: two 12-bit pixel values are packed into 3 bytes instead of 4 bytes. B/w cameras Color cameras Packed 12-Bit MONO camera mode Packed 12-Bit RAW camera mode SmartView: MONO12 SmartView: RAW12 Mono and raw mode have the same implementation. Table 59: Packed 12-Bit Mode Note L For data block packet format see Table 43: Packed 12-Bit Mode (mono and raw) Y12 format on page 108.
Description of the data path High SNR mode (High Signal Noise Ratio) To configure this feature in an advanced register: See Table 157: High Signal Noise Ratio (HSNR) on page 306. In this mode the camera grabs and averages a set number of images and outputs one image with the same bit depth and the same brightness. This means that the camera will output an 8-bit averaged image when an 8-bit image format is selected.
Description of the data path Model Memory size PIKE F-032B/C PIKE F-032B/C fiber PIKE F-100B/C PIKE F-100B/C fiber PIKE F-145B/C PIKE F-145B/C fiber PIKE F-145B/C-15fps PIKE F-145B/C fiber-15fps PIKE F-210B/C PIKE F-210B/C fiber PIKE F-421B/C PIKE F-421B/C fiber PIKE F-505B/C PIKE F-505B/C fiber 105 frames 32 frames 22 frames 22 frames 15 frames 6 frames 5 frames Table 61: FIFO memory size Deferred image transport is especially useful for multi-camera applications: Assuming several cameras acquire imag
Description of the data path 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. Note L • • • • • • • • 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.
Description of the data path Figure 89: Example: Controlling deferred mode (SmartView - Direct Access; PIKE F-032C) For a description of the commands see the following table: # rw Address 10 rd F1000260 Value Description 82006900h Check how many images are left in FiFo 9 wr F1000260 86006901h Read out the second image of FiFo 8 rd 82006901h Check how many images are left in FiFo 7 wr F1000260 86006901h Read out the first image of FiFo 6 rd 82006902h Check that two images are in FiFo 5
Description of the data path FastCapture mode Note This mode can be activated only in Format_7. L By setting FastCapture to false, the maximum frame rate both for image acquisition and read out is associated with the packet size set in the BYTE_PER_PACKET register. The lower this value is, the lower the attainable frame rate is. By setting FastCapture to true, all images are recorded at the highest possible frame rate, i.e.
Description of the data path Color interpolation (BAYER demosaicing) The color sensors capture the color information via so called primary color (R-G-B) filters placed over the individual pixels in a BAYER mosaic layout. An effective BAYER RGB color interpolation already takes place in all PIKE color version cameras. In color interpolation a red, green or blue value is determined for each pixel. An AVT proprietary BAYER demosaicing algorithm is used for this interpolation (max.
Description of the data path Sharpness The PIKE color models are equipped with a two step sharpness control, applying a discreet horizontal high pass in the Y channel as shown in the next three line profiles. Sharpness 0, 1 and 2 is calculated with the following scheme: Sharpness value 0 0 1 0 1 -0.25 +1.5 -0.25 2 -0.5 2 -0.
Description of the data path Hue and saturation PIKE CCD color models are equipped with hue and saturation registers. The hue register at offset 810h allows the color of objects to be changed without altering the white balance, by +/- 40 steps (+/- 10°) from the nominal perception. Use this setting to manipulate the color appearance after having carried out the white balance. The saturation register at offset 814h allows the intensity of the colors to be changed between 0 and 200% in steps of 1/256.
Description of the data path Color correction Why color correction? The spectral response of a CCD is different of those of an output device or the human eye. This is the reason for the fact that perfect color reproduction is not possible. In each PIKE camera there is a factory setting for the color correction coefficients, see Chapter GretagMacbeth ColorChecker on page 165. Color correction is needed to eliminate the overlap in the color channels.
Description of the data path Changing color correction coefficients You can change the color-correction coefficients according to your own needs. Changes are stored in the user settings. Note If you need technical assistance, call the AVT support. L Note • L • • • • • • A number of 1000 equals a color correction coefficient of 1. To obtain an identity matrix set values of 1000 for the diagonal elements an 0 for all others. As a result you get colors like in the RAW modes.
Description of the data path Color conversion (RGB YUV) The conversion from RGB to YUV is made using the following formulae: Y = 0.3 × R + 0.59 × G + 0.11 × B U = – 0.169 × R – 0.33 × G + 0.498 × B + 128 (@ 8 bit) V = 0.498 × R – 0.420 × G – 0.082 × B + 128 (@ 8 bit) Formula 2: RGB to YUV conversion Note • L • As mentioned above: Color processing can be bypassed by using so-called RAW image transfer. RGB YUV conversion can be bypassed by using RGB8 format and mode.
Description of the data path Serial interface All PIKE cameras are equipped with the SIO (serial input/output) feature as described in IIDC V1.31. This means that the PIKE’s serial interface can be used as a general RS232 interface. Data written to a specific address in the IEEE 1394 address range will be sent through the serial interface. Incoming data of the serial interface is put in a camera buffer and can be polled via simple read commands from this buffer.
Description of the data path To configure this feature in access control register (CSR): Offset Name Field Bit Description 000h SERIAL_MODE_REG Baud_Rate [0..7] Baud rate setting WR: Set baud rate RD: Read baud rate 0: 300 bps 1: 600 bps 2: 1200 bps 3: 2400 bps 4: 4800 bps 5: 9600 bps 6: 19200 bps 7: 38400 bps 8: 57600 bps 9: 115200 bps 10: 230400 bps Other values reserved Char_Length [8..
Description of the data path Offset Name 0004h Field Bit Description SERIAL_CONTROL_REG RE [0] Receive enable RD: Current status WR: 0: Disable 1: Enable TE [1] Transmit enable RD: Current status WR: 0: disable 1: Enable - [2..
Description of the data path Offset Name Field Bit Description 008h RECEIVE_BUFFER_ STATUS_CONTRL RBUF_ST [0..7] SIO receive buffer status RD: Number of bytes pending in receive buffer WR: Ignored RBUF_CNT [8..15] SIO receive buffer control RD: Number of bytes to be read from the receive FiFo WR: Number of bytes left for readout from the receive FiFo - [16..31] Reserved TBUF_ST [0..7] SIO output buffer status RD: Space left in TX buffer WR: Ignored TBUF_CNT [8..
Description of the data path To read data: 1. Query RDRD flag (buffer ready?) and write the number of bytes the host wants to read to RBUF_CNT. 2. Read the number of bytes pending in the receive buffer RBUF_ST (more data in the buffer than the host wanted to read?) and the number of bytes left for reading from the receive FiFo in RBUF_CNT (host wanted to read more data than were in the buffer?). 3. Read received characters from SIO_DATA_REGISTER, beginning at char 0. 4.
Controlling image capture Controlling image capture The cameras support the SHUTTER_MODES specified in IIDC V1.31. For all models this shutter is a global pipelined shutter; meaning that all pixels are exposed to the light at the same moment and for the same time span. Pipelined means that the shutter for a new image can already happen, while the preceding image is transmitted. In continuous modes the shutter is opened shortly before the vertical reset happens, thus acting in a frame-synchronous way.
Controlling image capture External Trigger input, as applied at input pin External Trigger input, after inverting opto coupler Shutter register value External Trigger input, as applied at pin External Trigger input, after inv. Opto. Integration Time Figure 92: Trigger_mode_0 and 1 PIKE Technical Manual V4.0.
Controlling image capture Bulk Trigger (Trigger_Mode_15) Trigger_Mode_15 is an extension to the IIDC trigger modes. One external trigger event can be used to trigger a multitude of internal image intakes. This is especially useful for: • Grabbing exactly one image based on the first external trigger. • Filling the camera's internal image buffer with one external trigger without overriding images.
Controlling image capture Register Name Field Bit Description 0xF0F00830 TRIGGER_MODE Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1 the value in the Value field has to be ignored - [2..5] Reserved ON_OFF [6] Write: ON or OFF this feature Read: read a status 0: OFF 1: ON In this bit = 0, other fields will be read only.
Controlling image capture The screenshots below illustrate the use of Trigger_Mode_15 on a register level: • Line #1switches continuous mode off, leaving viewer in listen mode. • Line #2 prepares 830h register for external trigger and Mode_15. Left = continuous Middle = one shot Right = multi shot Line #3 switches camera back to continuous mode. Only one image is grabbed precisely with the first external trigger.
Controlling image capture Trigger delay As already mentioned earlier the cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh x time base value. The following table explains the Inquiry register and the meaning of the various bits.
Controlling image capture Name 0xF0F00834 Field Bit Description [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1, the value in the Value field has to be ignored - [2..5] Reserved ON_OFF [6] Write: ON or OFF this feature Read: read a status 0: OFF 1: ON In this bit = 0, other fields will be read only. - [7..19] Reserved Value [20..
Controlling image capture The advanced register allows start of the integration to be delayed by max. 221 µs, which is max. 2.1 s after a trigger edge was detected. Note • L • Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only.
Controlling image capture Minimum exposure time Camera model Minimum exposure time Effective min. exp. time = Min. exp.
Controlling image capture The lowest possible value of ExpTime is camera-specific (see Table 72: Camera-specific minimum exposure time on page 181). Note • L • • • Exposure times entered via the 81Ch register are mirrored in the extended register, but not vice versa. Longer integration times not only increase sensitivity, but may also increase some unwanted effects such as noise and pixel-to-pixel non-uniformity.
Controlling image capture One-shot The camera can record an image by setting the one-shot bit in the 61Ch register. This bit is automatically cleared after the image is captured. If the camera is placed in ISO_Enable mode (see Chapter ISO_Enable / Free-Run on page 186), this flag is ignored. If one-shot mode is combined with the external trigger, the one-shot 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 One-shot command on the bus to start of exposure The following sections describe the time response of the camera using a single frame (one-shot) command. As set out in the IIDC specification, this is a software command that causes the camera to record and transmit a single frame. The following values apply only when the camera is idle and ready for use. Full resolution must also be set.
Controlling image capture OneShot Command Exposure Integration-Start Timebase Reg. X Shutter-Reg. Offset Processing Delay First Packet on Bus < 150 μs Timebase x Shutter + Offset = Exposure Time Decode command Pike F-032: 17 µs Pike F-100: 42 µs Pike F-145: 38 µs Pike F-145-15fps: 70 µs Pike F-210: 42 µs Pike F-421: 69 µs Pike F-505: 26 µs < 710 μs +/-62.5 μs Figure 96: Data flow and timing after end of exposure PIKE Technical Manual V4.0.
Controlling image capture Multi-shot Setting multi-shot and entering a quantity of images in Count_Number in the 61Ch register enables the camera to record a specified number of images. The number is indicated in bits 16 to 31. If the camera is put into ISO_Enable mode (see Chapter ISO_Enable / Free-Run on page 186), this flag is ignored and deleted automatically once all the images have been recorded.
Controlling image capture Figure 97: Broadcast one-shot • • Line 1 shows the broadcast command, which stops all cameras connected to the same IEEE 1394 bus. It is generated by holding the key down while clicking on . Line 2 generates a broadcast One_Shot in the same way, which forces all connected cameras to simultaneously grab one image.
Controlling image capture In this case the camera can resynchronize the horizontal clock to the new trigger event, leaving only a very short uncertainty time of the master clock period. Model Exposure start jitter (while FVal) Exposure start jitter (while camera idle) Pike F-032 ± 4.9 µs ± 375 ns Pike F-100 ± 8.2 µs ± 1.65 µs Pike F-145 ± 16 µs ± 2.9 µs Pike F-145-15fps ± 30 µs ± 5.4 µs Pike F-210 ± 14.25 µs ± 1.8 µs Pike F-421 ± 15 µs ± 1.65 µs Pike F-505 ± 17 µs ± 5.
Controlling image capture Sequence mode Generally all AVT Pike cameras enable certain image settings to be modified on the fly, e.g. gain and shutter can be changed by the host computer by writing into the gain and shutter register even while the camera is running. An uncertainty of up to 3 images remains because normally the host does not know (especially with external trigger) when the next image will arrive.
Controlling image capture Note Sequence mode requires not only firmware 3.x but also special care if changing image size, Color_Coding_ID and frame rate related parameters. This is because these changes not only affect settings in the camera but also require corresponding settings in the receiving software in the PC. L Caution Incorrect handling may lead to image corruption or loss of subsequent images. a Please ask for detailed support when you want to use this feature.
Controlling image capture Register Name Field Bit Description 0xF1000228 SEQUENCE_STEP Presence_Inq [0] Indicates presence of this feature (read only) --- [1..4] Reserved PerformStep [5] Sequence is stepped one item forward PerformReset [6] Sequence reset --- [7..23] Reserved SeqPosition [24..31] Get the current sequence position Presence_Inq [0] Indicates presence of this feature (read only) --- [1..4] Reserved PerformReset [5] Reset the sequence to start position --- [6.
Controlling image capture SeqMode description Seqence mode Description 0x80 This mode is the default sequence mode and stepping the sequence is compatible to e.g. the Marlin series. With each image integration start the sequence is stepped one item further and the new parameter set becomes active for the next image. 0x82 Stepping of the sequence is controlled by a rising edge of an external signal. The new parameter set becomes active with the next integration start.
Controlling image capture The following flow diagram shows how to set up a sequence. Set SEQUENCE_CTRL ON_OFF flag to true (1) Set SetupMode to true (1) Set SeqLength to desired length (<=MaxLength) Set ImageNo = 0 in SEQUENCE_PARAM Assign image parameters in the corresp.
Controlling image capture Which new sequence mode features are available? New features: • Repeat one step of a sequence n times where n can be set by the variable ImageRepeat in SEQUENCE_PARAM.
Controlling image capture I/O controlled sequence pointer reset I/O controlled sequence pointer reset is always edge controlled. A rising edge on the input pin resets the pointer to the first entry. I/O controlled sequence pointer reset can be combined with Quick Format Change Modes. See Chapter Standard Parameter Update Timing on page 152 and Chapter New: Quick Format Change Mode (QFCM) on page 152.
Controlling image capture Figure 99: Example of sequence mode settings Instead of Firetool you also can use SmartView (Version 1.7.0 or greater), but image and transfer formats have to be unchanged (height, width, ColorID). To open the Sequence editor in SmartView: 1. Click Extras Sequence dialog Figure 100: SmartView: Extras Sequence dialog PIKE Technical Manual V4.0.
Controlling image capture Changing the parameters within a sequence To change the parameter set for one image, it is not necessary to modify the settings for the entire sequence. The image can simply be selected via the ImageNo field and it is then possible to change the corresponding IIDC V1.31 registers.
Controlling image capture Secure image signature (SIS): definition and scenarios Note For all customers who know SIS from MARLIN cameras: L • • PIKE cameras have additional SIS features: AOI, exposure/gain, input/output state, index of sequence mode and serial number. In contrary to MARLIN cameras, in the PIKE SIS feature the endianness cannot be changed. SIS: Definition Secure image signature (SIS) is the synonym for data, which is inserted into an image to improve or check image integrity.
Controlling image capture • • • • • AOI can be inserted in the image if it was set as a variable e.g. in a sequence. Exposure/gain scenario parameters can be inserted in the image if set as a variable in e.g. sequence mode to identify the imaging conditions. Inserting input and output state on exposure start can be helpful when working with input and output signals. Index of sequence mode can be inserted if SIS is used together with sequence mode.
Controlling image capture Smear reduction Smear reduction: definition Definition Smear is an undesirable CCD sensor artefact creating a vertical bright line that extends above and below a bright spot in an image. Definition Smear reduction is a new feature of PIKE cameras: it is a function implemented in hardware in the camera itself to compensate for smear. Smear reduction: how it works To reduce smear a reference line is used.
Video formats, modes and bandwidth Video formats, modes and bandwidth The different PIKE 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. Note • L • The maximum frame rates can only be achieved with shutter settings lower than 1/framerate.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 640 x 480 Mono8 Mono12 Mono16 208 fps 139 fps 105 fps 640 x 480 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 139 fps 105 fps 208 fps 70 fps 1 320 x 480 Mono8 Mono12 Mono16 208 fps 2x H-binning 208 fps 2x H-binning 208 fps 2x H-binning 2 640 x 240 Mono8 Mono12 Mono16 372 fps 2x V-binning 271 fps 2x V-binning 208 fps 2x V-binning 3 320 x 240 Mono8 Mono12 Mono16 372 fps 2x H+V binning 372 fps
Video formats, modes and bandwidth PIKE F-100B / PIKE F-100C Format Mode Resolution 0 1 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 0 Color mode Maximal S800 frame rates for Format_7 modes 1000 x 1000 Mono8 Mono12 Mono16 60 fps 43 fps 33 fps 1000 x 1000 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 43 fps 33 fps 60 fps 22 fps 1 500 x 1000 Mono8 Mono12 Mono16 60 fps 60 fps 60 fps 2x H-binning 2x H-binning 2x H-binning 2 1000 x 500 Mono8 Mono12 Mono16 99 fps 86 fps 65 fps 2x V-binning 2x V-binning 2x V-binning 3 500 x 500 Mono8 Mono12 Mono16 99 fps 99 fps 99 fps 2x H+V
Video formats, modes and bandwidth PIKE F-145B / PIKE F-145C (-15 fps**) **Pike F-145-15fps cameras have frame rates up to 15 fps only (except color cameras Format_0 Mode_1: up to 30 fps). Format Mode Resolution 0 1 2 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 0 1388 x 1038 Mono8 Mono12 Mono16 1388 x 1038 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 30 30 23 30 23 30 15 1 692 x 1038 Mono8 Mono12 Mono16 30 (16**) fps 30 (16**) fps 30 (16**) fps 2x H-binning 2x H-binning 2x H-binning 2 1388 x 518 Mono8 Mono12 Mono16 51 (27**) fps 51 (27**) fps 45 (27**) fps 2x V-binning 2x V-binning 2x V-binning 3 692 x 518 Mono8 Mono12 Mono16 51 (27**) fps 51
Video formats, modes and bandwidth PIKE F-210B / PIKE F-210C Format Mode Resolution 0 1 2 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 0 1920 x 1080 Mono8 Mono12 Mono16 1920 x 1080 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 31 fps 21 fps 16 fps 21 fps 16 fps 31 fps 11 fps 1 960 x 1080 Mono8 Mono12 Mono16 32 fps 32 fps 31 fps 2x H-binning 2x H-binning 2x H-binning 2 1920 x 540 Mono8 Mono12 Mono16 52 fps 42 fps 31 fps 2x V-binning 2x V-binning 2x V-binning 3 960 x 540 Mono8 Mono12 Mono16 52 fps 52 fps 52 fps 2x H+V b
Video formats, modes and bandwidth PIKE F-421B / PIKE F-421C Format Mode Resolution 0 1 2 Color Mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 0 Color Mode Maximal S800 frame rates for Format_7 modes 2048 x 2048 Mono8 Mono12 Mono16 16 fps 10 fps 8 fps 2048 x 2048 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 10 fps 8 fps 16 fps 5 fps 1 1024 x 2048 Mono8 Mono12 Mono16 16 fps 16 fps 16 fps 2x H-binning 2x H-binning 2x H-binning 2 2048 x 1024 Mono8 Mono12 Mono16 29 fps 21 fps 16 fps 2x V-binning 2x V-binning 2x V-binning 3 1024 x 1024 Mono8 Mono12 Mono16 29 fps 29 fps 29 fps 2x H+V bi
Video formats, modes and bandwidth PIKE F-505B / PIKE F-505C Format Mode Resolution 0 1 2 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 0 2452 x 2054 Mono8 Mono12 Mono16 2452 x 2054 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 Raw12 13 fps 09 fps 07 fps 09 fps 07 fps 13 fps 04 fps 09 fps 1 1224 x 2054 Mono8 Mono12 Mono16 15 fps 15 fps 13 fps 2x H-binning 2x H-binning 2x H-binning 2 2452 x 1026 Mono8 Mono12 Mono16 22 fps 17 fps 13 fps 2x V-binning 2x V-binning 2x V-binning 3 1224 x 1026 Mono8 Mono12 Mono16 22 fps 22 fps 22
Video formats, modes and bandwidth Area of interest (AOI) The camera’s image sensor 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. At a lower vertical resolution the sensor can be read out faster and thus the frame rate is increased.
Video formats, modes and bandwidth Figure 101: Area of interest (AOI) Note • L • 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.
Video formats, modes and bandwidth Autofunction AOI Use this feature to select the image area (work area) on which the following autofunctions work: • auto shutter • auto gain • auto white balance In the following screenshot you can see an example of the autofunction AOI: work area Figure 102: Example of autofunction AOI (Show work area is on) Note L For more information see Chapter Autofunction AOI on page 301. PIKE Technical Manual V4.0.
Video formats, modes and bandwidth Frame rates An IEEE 1394 camera requires bandwidth to transport images. The IEEE 1394b bus has very large bandwidth of at least 62.5 MByte/s for transferring (isochronously) image data. Per cycle up to 8192 bytes (or around 2000 quadlets = 4 bytes@ 800 Mbit/s) can thus be transmitted.
Video formats, modes and bandwidth Format Mode 0 Resolution 240 fps 120 fps 60 fps 30 fps 15 fps 7.
Video formats, modes and bandwidth Format Mode Resolution 0 800 x 600 YUV (4:2:2) 16 bit/pixel 1 240 fps 120 fps 60 fps 800 x 600 RGB 800 x 600 Y (Mono8) 8 bit/pixel 3 4 1024 x 768 YUV (4:2:2) 8 bit/pixel 6 800 x 600 (Mono16) 16 bit/pixel 7 1.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 0 1280 x 960 YUV (4:2:2) 30 fps 16 bit/pixel 1 1280 x 960 RGB 24 bit/pixel 2 1280 x 960 Y (Mono8) 4H 5120p 1280q 8 bit/pixel 3 1600 x 1200 YUV(4:2:2) 16 bit/pixel 2 4 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Frame rates Format_7 In video Format_7 frame rates are no longer fixed. For the different sensors, different values apply. Frame rates may be further limited by bandwidth limitation from the IEEE 1394 bus. Details are described in the next chapters: • Max. frame rate of CCD (theoretical formula) • Diagram of frame rates as function of AOI by const. width: the curves describe RAW8, RAW12/YUV411, RAW16/YUV422, RGB8 and max. frame rate of CCD • Table with max.
Video formats, modes and bandwidth PIKE F-032: AOI frame rates 1 max. frame rate of CCD = --------------------------------------------------------------------------------------------------------------------------------------------------69.3µs + AOI height × 9.81µs + ( 490 – AOI height ) × 0.81µs Formula 3: PIKE F-032: theoretical max.
Video formats, modes and bandwidth Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-100: AOI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------174µs + AOI height × 16.40µs + ( 1008 – AOI height ) × 3.4µs Formula 4: Pike F-100: theoretical max.
Video formats, modes and bandwidth AOI height CCD RAW8 RAW12 RAW16 YUV411 YUV422 RGB8 300 133.31 132 132 107 132 107 72 240 148.78 149 149 134 149 134 90 150 180.14 180 180 180 180 180 144 120 193.75 193 193 193 193 193 180 60 228.25 225 225 225 225 225 225 30 250.55 251 251 251 251 251 251 10 268.01 268 268 268 268 268 268 Table 99: Frame rates (fps) of PIKE F-100 as function of AOI height (pixel) [width=1000] Note L CCD = theoretical max.
Video formats, modes and bandwidth PIKE F-145: AOI frame rates (no sub-sampling) 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------------242µs + AOI height × 31.80µs + ( 1051 – AOI height ) × 5.85µs Formula 5: Pike F-145: theoretical max.
Video formats, modes and bandwidth Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-145: AOI frame rates (sub-sampling) 1 max. frame rate of CCD = ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------242µs + AOI height × 1.5 × 31.80µs + ( 1051 – AOI height × 1.5 ) × 5.85µs Formula 6: Pike F-145: theoretical max.
Video formats, modes and bandwidth Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-145-15fps: AOI frame rates (no sub-sampl.) 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------------450µs + AOI height × 59.36µs + ( 1051 – AOI height ) × 10.92µs Formula 7: Pike F-145-15fps: theoretical max.
Video formats, modes and bandwidth Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-145-15fps: AOI frame rates (sub-sampl.) 1 max. frame rate of CCD = -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------450µs + AOI height × 1.5 × 59.36µs + ( 1051 – AOI height × 1.5 ) × 10.92µs Formula 8: Pike F-145-15fps: theoretical max.
Video formats, modes and bandwidth PIKE F-210: AOI frame rates (no sub-sampling) 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------107µs + AOI height × 28.6µs + ( 1092 – AOI height ) × 6.75µs Formula 10: Pike F-210: theoretical max.
Video formats, modes and bandwidth AOI height CCD RAW8 RAW12 RAW16 YUV411 YUV422 RGB8 60 113.78 113 113 113 113 113 113 30 122.95 122 122 122 122 122 122 Table 105: Frame rates of PIKE F-210 as function of AOI height [width=1000] (no sub-sampl.) Note L Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula In Format_7 Mode_5 and Mode_6 the Pike F-210 has a frame rate of: frame rate ~ f(2 x AOI height) PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-210: AOI frame rates (sub-sampling) 1 max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------107µs + AOI height × 1.5 × 28.6µs + ( 1092 – AOI height × 1.5 ) × 6.75µ Formula 11: Pike F-210: theoretical max.
Video formats, modes and bandwidth Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula In Format_7 Mode_5 and Mode_6 the Pike F-210 has a frame rate of: frame rate ~ f(2 x AOI height) PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-421: AOI frame rates 1 max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------------------125.2µs + AOI height × 30.10µs + ( 2072 – AOI height ) × 3.37µs Formula 12: Pike F-421: theoretical max.
Video formats, modes and bandwidth Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula PIKE Technical Manual V4.0.
Video formats, modes and bandwidth PIKE F-505: AOI frame rates 1 max. frame rate of CCD = ----------------------------------------------------------------------------------------------------------------------------------------------------------636µs + AOI height × 33.10µs + ( 2069 – AOI height ) × 10.34µs Formula 13: Pike F-505: theoretical max. frame rate of CCD AOI frame rates with max.
Video formats, modes and bandwidth AOI height CCD RAW8 RAW12 RAW16 YUV411 YUV422 RGB8 120 40.39 40 40 40 40 40 40 60 42.74 43 43 43 43 43 43 30 44.03 44 44 44 44 44 44 Table 110: Frame rates PIKE F-505 as function of AOI height (pixel) [width=2452] (maxBPP=8192) Note L CCD = theoretical max. frame rate (in fps) of CCD according to given formula PIKE Technical Manual V4.0.
Video formats, modes and bandwidth AOI frame rates with max.
How does bandwidth affect the frame rate? How does bandwidth affect the frame rate? In some modes the IEEE 1394b bus limits the attainable frame rate. According to the 1394b specification on isochronous transfer, the largest data payload size of 8192 bytes per 125 µs cycle is possible with bandwidth of 800 Mbit/s. In addition, there is a limitation, only a maximum number of 65535 (216 -1) packets per frame are allowed.
How does bandwidth affect the frame rate? Example formula for the b/w camera Mono16, 1392 x 1040, 30 fps desired BYTE_PER_PACKET = 30 × 1392 × 1040 × 2 × 125µs = 10856 > 8192 8192 ⇒ frame rate reachable ≈ ------------------------------------------------------------ = 22.64 1392 × 1040 × 2 × 125µs Formula 16: Example maximum frame rate calculation PIKE Technical Manual V4.0.
How does bandwidth affect the frame rate? Test images Loading test images FirePackage Direct FirePackage Fire4Linux 1. Start SmartView. 1. Start SmartView for WDM. 1. Start cc1394 viewer. 2. Click the Edit settings button. 2. In Camera menu click Settings. 2. In Adjustments menu click on Picture Control. 3. Click Adv1 tab. 3. Click Adv1 tab. 3. Click Main tab. 4. In combo box Test images choose Image 1 or another test image. 4. In combo box Test images choose Image 1 or another test image. 4.
How does bandwidth affect the frame rate? Test images for color cameras The color cameras have 1 test image: YUV4:2:2 mode Figure 111: Color test image Mono8 (raw data) Figure 112: Bayer-coded test image The color camera outputs Bayer-coded raw data in Mono8 instead of - as described in IIDC V1.31 - a real Y signal. The first pixel of the image is always the red pixel from the sensor. (Mirror must be switched off.) PIKE Technical Manual V4.0.
Configuration of the camera Configuration of the camera All camera settings are made by writing specific values into the corresponding registers. This applies to: • values for general operating states such as video formats and modes, exposure times, etc. • extended features of the camera that are turned on and off and controlled via corresponding registers (so-called advanced registers).
Configuration of the camera Every register is 32 bit (big endian) and implemented as follows (MSB = Most Significant Bit; LSB = Least Significant Bit): Far left Bit Bit Bit 0 1 2 ... MSB Bit Bit 30 31 LSB Table 114: 32-bit register Example This requires, for example, that to enable ISO_Enabled mode (see Chapter ISO_Enable / Free-Run on page 186), (bit 0 in register 614h), the value 80000000 h must be written in the corresponding register. PIKE Technical Manual V4.0.
Configuration of the camera Offset of Register: (0x0F00614) ISO_Enable Write 80000000 and click Write Content of register: 80000000 = 1000 0000 0000 0000 0000 0000 0000 0000 Figure 113: Enabling ISO_Enable PIKE Technical Manual V4.0.
Configuration of the camera Offset of Register: (0x1000040) ADV_FNC_INQ Content of register: FAE3C401 = 1111 1010 1110 0011 1110 0100 0000 0001 ExtdShutter Testimage Look-up tables Shading DeferredTrans Trigger Delay Misc.
Configuration of the camera Sample program The following sample code in C/C++ shows how the register is set for video mode/format, trigger mode etc. using the FireGrab and FireStack API. Example FireGrab … // Set Videoformat if(Result==FCE_NOERROR) Result= Camera.SetParameter(FGP_IMAGEFORMAT,MAKEIMAGEFORMAT(RES_640_480, CM_Y8, FR_15)); // Set external Trigger if(Result==FCE_NOERROR) Result= Camera.SetParameter(FGP_TRIGGER,MAKETRIGGER(1,0,0,0,0)); // Start DMA logic if(Result==FCE_NOERROR) Result=Camera.
Configuration of the camera Example FireStack API … // Set framerate Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_FRAMERATE,(UINT32)m_Parms.F rameRate<<29); // Set mode if(Result) Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_VMODE,(UINT32)m_Parms.Video Mode<<29); // Set format if(Result) Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_VFORMAT,(UINT32)m_Parms.Vid eoFormat<<29); // Set trigger if(Result) { Mode=0; if(m_Parms.TriggerMode==TM_EXTERN) Mode=0x82000000; if(m_Parms.
Configuration of the camera 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 To compute the effective start address of the node unique ID leaf currAddr = node unique ID leaf address destAddr = address of directory entry addrOffset = value of directory entry destAddr = currAddr + (4 * addrOffset) = 420h + (4 * 000002h) = 428h Table 118: Computing effective start address 420h + 000002 * 4 = 428h Offset Node unique ID leaf 0-7 8-15 16-23 24-31 428h 00 02 5E 9E ....CRC 42Ch 00 0A 47 01 ….
Configuration of the camera Offset 0-7 8-15 16-23 24-31 444h 00 0B A9 6E ....unit_dep_info_length, CRC Unit dependent info 448h 44Ch 40 3C 00 00 ....command_regs_base 81 00 00 02 ....vender_name_leaf 450h 82 00 00 06 ....model_name_leaf 454h 38 00 00 10 ....unit_sub_sw_version 458h 39 00 00 00 ....Reserved 45Ch 3A 00 00 00 ....Reserved 460h 3B 00 00 00 ....Reserved 464h 3C 00 01 00 ....vendor_unique_info_0 468h 3D 00 92 00 ....
Configuration of the camera Implemented registers The following tables show how standard registers from IIDC V1.31 are implemented in the camera. Base address is F0F00000h. Differences and explanations can be found in the third column. Camera initialize register Offset Name Notes 000h INITIALIZE Assert MSB = 1 for Init.
Configuration of the camera Inquiry register for video mode Offset Name Field Bit Description 180h V_MODE_INQ Mode_0 [0] 160 x 120 YUV 4:4:4 (Format_0) Mode_1 [1] 320 x 240 YUV 4:2:2 Mode_2 [2] 640 x 480 YUV 4:1:1 Mode_3 [3] 640 x 480 YUV 4:2:2 Mode_4 [4] 640 x 480 RGB Mode_5 [5] 640 x 480 Mono8 Mode_6 [6] 640 x 480 Mono16 Mode_X [7] Reserved - [8..
Configuration of the camera Offset Name Field Bit Description 19Ch V_MODE_INQ Mode_0 [0] Format_7 Mode_0 (Format_7) Mode_1 [1] Format_7 Mode_1 Mode_2 [2] Format_7 Mode_2 Mode_3 [3] Format_7 Mode_3 Mode_4 [4] Format_7 Mode_4 Mode_5 [5] Format_7 Mode_5 Mode_6 [6] Format_7 Mode_6 Mode_7 [7] Format_7 Mode_7 - [8..
Configuration of the camera Offset Name Field Bit Description 208h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_2) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) - [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_3) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 214h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_5) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) - [8..31] Reserved (zero) (Format_0, Mode_6) [0] 1.875 fps FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 224h V_RATE_INQ FrameRate_0 [0] Reserved (Format_1, Mode_1) FrameRate_1 [1] Reserved FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) - [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] Reserved (Format_1, Mode_2) FrameRate_1 [1] Reserved FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 230h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_4) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) - [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_5) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 23Ch V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_7) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] Reserved - [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_0) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 248h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_2) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] Reserved - [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_3) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 254h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_5) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] Reserved FrameRate_7 [7] Reserved - [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_6) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset 2E0h 2E4h 2E8h 2ECh 2F0h 2F4h 2F8h 2FCh Name Field V-CSR_INQ_7_0 V-CSR_INQ_7_1 V-CSR_INQ_7_2 V-CSR_INQ_7_3 V-CSR_INQ_7_4 V-CSR_INQ_7_5 V-CSR_INQ_7_6 V-CSR_INQ_7_7 Bit Description [0..31] CSR_quadlet offset for Format_7 Mode_0 [0..31] CSR_quadlet offset for Format_7 Mode_1 [0..31] CSR_quadlet offset for Format_7 Mode_2 [0..31] CSR_quadlet offset for Format_7 Mode_3 [0..31] CSR_quadlet offset for Format_7 Mode_4 [0..
Configuration of the camera Inquiry register for basic function Offset Name Field Bit Description 400h BASIC_FUNC_INQ Advanced_Feature_Inq [0] Inquiry for advanced features (Vendor unique Features) [1] Inquiry for existence of Vmode_Error_Status register Feature_Control_Error_Status_Inq [2] Inquiry for existence of Feature_Control_Error_Status Opt_Func_CSR_Inq [3] Inquiry for Opt_Func_CSR - [4..7] 1394b_mode_Capability [8] Inquiry for 1394b_mode_Capability - [9..
Configuration of the camera Inquiry register for feature presence Offset Name Field Bit Description 404h FEATURE_HI_INQ Brightness [0] Brightness Control Auto_Exposure [1] Auto_Exposure Control Sharpness [2] Sharpness Control White_Balance [3] White_Balance Control Hue [4] Hue Control Saturation [5] Saturation Control Gamma [6] Gamma Control Shutter [7] Shutter Control Gain [8] Gain Control Iris [9] Iris Control Focus [10] Focus Control Temperature [11] Temperature
Configuration of the camera Offset Name Field Bit Description 410h .. Reserved Address error on access 47Fh 480h Advanced_Feature_Inq Advanced_Feature_Quadlet_Offset [0..31] Quadlet offset of the advanced feature CSR's from the base address of initial register space (Vendor unique) 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 Inquiry register for feature elements Register Name 0xF0F00500 BRIGHTNESS_INQUIRY Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value - [2] Reserved One_Push_Inq [3] One Push auto mode (Controlled automatically by the camera once) Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Auto_
Configuration of the camera Register Name Field Bit Description 530h TRIGGER_INQ Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value - [2..3 Reserved Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Polarity_Inq [6] Capability of changing the polarity of the trigger input [7..
Configuration of the camera Register Name Field Bit Description 588h TILT_INQ Always 0 58Ch OPTICAL_FILTER_INQ Always 0 Reserved for other FEATURE_LO_INQ Always 0 590 .. 5BCh 5C0h CAPTURE_SIZE_INQ Always 0 5C4h CAPTURE_QUALITY_INQ Always 0 Reserved for other FEATURE_LO_INQ Always 0 5C8h .. 5FCh 600h CUR-V-Frm_RATE/Revision Bits [0..2] for the frame rate 604h CUR-V-MODE Bits [0..2] for the current video mode 608h CUR-V-FORMAT Bits [0..
Configuration of the camera Inquiry register for absolute value CSR offset address Offset Name Notes 700h ABS_CSR_HI_INQ_0 Always 0 704h ABS_CSR_HI_INQ_1 Always 0 708h ABS_CSR_HI_INQ_2 Always 0 70Ch ABS_CSR_HI_INQ_3 Always 0 710h ABS_CSR_HI_INQ_4 Always 0 714h ABS_CSR_HI_INQ_5 Always 0 718h ABS_CSR_HI_INQ_6 Always 0 71Ch ABS_CSR_HI_INQ_7 Always 0 720h ABS_CSR_HI_INQ_8 Always 0 724h ABS_CSR_HI_INQ_9 Always 0 728h ABS_CSR_HI_INQ_10 Always 0 72Ch ABS_CSR_HI_INQ_11 Always
Configuration of the camera 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 Chapter One-push automatic white balance on page 116).
Configuration of the camera Offset Name 804h AUTO-EXPOSURE Field Bit Description See above Note: Target grey level parameter in SmartView corresponds to Auto_exposure register 0xF0F00804 (IIDC). 808h SHARPNESS See above Table 130: Feature control register PIKE Technical Manual V4.0.
Configuration of the camera Offset Name Field Bit Description 80Ch WHITE-BALANCE Presence_Inq [0] Presence of this feature 0: N/A 1: Available Always 0 for Mono Abs_Control [1] Absolute value control 0: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1, value in the Value field is ignored.
Configuration of the camera Offset Name 810h HUE Field Bit Description See above Always 0 for Mono 814h SATURATION See above Always 0 for Mono 818h GAMMA See above 81Ch SHUTTER see Advanced Feature time base see Table 48: Shutter CSR on page 120 820h GAIN See above 824h IRIS Always 0 828h FOCUS Always 0 82Ch TEMPERATURE Always 0 830h TRIGGER-MODE Can be effected via advanced feature IO_INP_CTRLx.
Configuration of the camera Feature control error status register Offset Name Notes 640h Feature_Control_Error_Status_HI Always 0 644h Feature_Control_Error_Status_LO Always 0 Table 131: Feature control error register Video mode control and status registers for Format_7 Quadlet offset Format_7 Mode_0 The quadlet offset to the base address for Format_7 Mode_0, which can be read out at F0F002E0h (according to Table 125: Frame rate inquiry register on page 256) gives 003C2000h.
Configuration of the camera Offset Name Notes 024h . . COLOR_CODING_INQ Vendor Unique Color_Coding 0-127 (ID=128-255) ID=132 ECCID_MONO12 ID=136 ECCID_RAW12 033h ID=133 Reserved ID=134 Reserved ID=135 Reserved See Chapter Packed 12-Bit Mode on page 156. 034h PIXEL_NUMER_INQ According to IIDC V1.31 038h TOTAL_BYTES_HI_INQ According to IIDC V1.31 03Ch TOTAL_BYTES_LO_INQ According to IIDC V1.31 040h PACKET_PARA_INQ See note 044h BYTE_PER_PACKET According to IIDC V1.
Configuration of the camera Advanced features The camera has a variety of extended features going beyond the possibilities described in IIDC V1.31 The following chapter summarizes all available advanced features in ascending register order.
Configuration of the camera Register Register name Remarks 0XF1000300 IO_INP_CTRL1 0XF1000304 IO_INP_CTRL2 see Table 33: Input configuration register on page 95 0XF1000308 IO_INP_CTRL3 0XF100030C IO_INP_CTRL4 0XF1000320 IO_OUTP_CTRL1 0XF1000324 IO_OUTP_CTRL2 0XF1000328 IO_OUTP_CTRL3 0XF100032C IO_OUTP_CTRL4 0XF1000340 IO_INTENA_DELAY see Table 148: Delayed integration enable configuration register on page 298 0XF1000360 AUTOSHUTTER_CTRL 0XF1000364 AUTOSHUTTER_LO see Table 149: Au
Configuration of the camera Register Register name Remarks 0XF1000440 LOW_SMEAR see Chapter Smear reduction on page 317 0XF1000510 SOFT_RESET see Table 156: Soft reset register on page 305 0XF1000520 HIGH_SNR see Table 157: High Signal Noise Ratio (HSNR) on page 306 0X1000550 USER PROFILES see Table 169: User profiles on page 317 0X1000620 TRIGGER_COUNTER 0X1000630 SIS see Table 166: Advanced register: trigger counter on page 315 0X1000560 F7MODE_MAPPING see Format_7 mode mapping on p
Configuration of the camera Extended version information register The presence of each of the following features can be queried by the 0 bit of the corresponding register. Register Name Field Bit Description 0xF1000010 VERSION_INFO1 µC type ID [0..15] Always 0 µC version [16..31] Bcd-coded version number 0xF1000014 VERSION_INFO1_EX µC version [0..31] Bcd-coded version number 0xF1000018 VERSION_INFO3 Camera type ID [0..15] See Table 135: Camera type ID list on page 282.
Configuration of the camera The FPGA type ID (= camera type ID) identifies the camera type with the help of the following list: ID Camera type 101 PIKE F-032B 102 PIKE F-032C 103 PIKE F-100B 104 PIKE F-100C 105 PIKE F-145B 106 PIKE F-145C 107 PIKE F-210B 108 PIKE F-210C 109 - 110 - 111 PIKE F-421B 112 PIKE F-421C 113 - 114 - 115 PIKE F-145B-15fps 116 PIKE F-145C-15fps 117 PIKE F-505B 118 PIKE F-505C Table 135: Camera type ID list PIKE Technical Manual V4.0.
Configuration of the camera Advanced feature inquiry This register indicates with a named bit if a feature is present or not. If a feature is marked as not present the associated register space might not be available and read/write errors may occur. Note L Ignore unnamed bits in the following table: these bits might be set or not.
Configuration of the camera Register Name Field Bit 0xF1000044 ADV_INQ_2 Input_1 Input_2 --Output_1 Output_2 Output_3 Output_4 --IntEnaDelay --Camera Status [0] [1] [2..7] [8] [9] [10] [11] [12..15] [16] [17..31] [0] --- [1] Paramupd_Timing [2] F7 mode mapping [3] Auto Shutter [4] Auto Gain [5] Auto FNC AOI [6] --- [7..31] HDR Pike [0] Channel Compensation [1] Smear reduction [2] --- [18..
Configuration of the camera Camera status This register allows to determine the current status of the camera. The most important flag is the Idle flag. If the Idle flag is set the camera does not capture and does not send any images (but images might be present in the image FIFO). The ExSyncArmed flag indicates that the camera is set up for external triggering. Even if the camera is waiting for an external trigger event the Idle flag might get set.
Configuration of the camera Maximum resolution This register indicates the highest resolution for the sensor and is read-only. This register normally outputs the MAX_IMAGE_SIZE_INQ Format_7 Mode_0 value. Register Name Field Bit Description 0xF1000200 MAX_RESOLUTION MaxHeight [0..15] Sensor height (read only) MaxWidth [16..31] Sensor width (read only) Table 138: Max.
Configuration of the camera Note Time base can only be changed when the camera is in idle state and becomes active only after setting the shutter value. L The ExpOffset field specifies the camera specific exposure time offset in microseconds (µs). This time (which should be equivalent to Table 71: Camera-specific exposure time offset on page 180) has to be added to the exposure time (set by any shutter register) to compute the real exposure time. If ExpOffset = zero: unknown exposure time offset.
Configuration of the camera Extended shutter The exposure time for long-term integration of up to 67 seconds can be entered with µs precision via the EXTENDED_SHUTTER register. Register Name Field Bit Description 0xF100020C EXTD_SHUTTER Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ExpTime [6..31] Exposure time in µs Table 141: Extended shutter configuration register The minimum allowed exposure time depends on the camera model.
Configuration of the camera Test images Bits 8-14 indicate which test images are saved. Setting bits 28-31 activates or deactivates existing test images. By activating any test image the following auto features are automatically disabled: • auto gain • auto shutter • auto white balance Register Name Field Bit Description 0xF1000210 TEST_IMAGE Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera Look-up tables (LUT) Load the look-up tables to be used into the camera and choose the look-up table number via the LutNo field. Now you can activate the chosen LUT via the LUT_CTRL register. The LUT_INFO register indicates how many LUTs the camera can store and shows the maximum size of the individual LUTs. The possible values for LutNo are 0..n-1, whereas n can be determined by reading the field NumOfLuts of the LUT_INFO register.
Configuration of the camera Note L The BitsPerValue field indicates how many bits are read from the LUT for any gray-value read from the sensor. To determine the number of bytes occupied for each gray-value round-up the BitsPerValue field to the next byte boundary. Examples: • BitsPerValue = 8 1 byte per gray-value • BitsPerValue = 14 2 byte per gray-value Divide MaxLutSize by the number of bytes per gray-value in order to get the number of bits read from the sensor.
Configuration of the camera 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 Register Name Field Bit Description 0xF1000250 SHDG_CTRL Presence_Inq [0] BuildError [1] --ShowImage BuildImage ON_OFF Busy MemChannelSave [2..3] [4] [5] [6] [7] [8] MemChannelLoad [9] MemChannelClear --MemChannelError [10] [11..15] [16..19] MemoryChannel [20..23] GrabCount Presence_Inq [24..
Configuration of the camera Reading or writing shading image from/into the camera Accessing the shading image inside the camera is done through the GPDATA_BUFFER. Because the size of the GPDATA_BUFFER is smaller than a whole shading image the data must be written in multiple steps. To read or write a shading image: 1. Query the limits and ranges by reading SHDG_INFO and GPDATA_INFO. 2. Set EnableMemWR or EnableMemRD to true (1). 3. Set AddrOffset to 0. 4.
Configuration of the camera To reload a shading image from non-volatile memory: 1. Set MemoryChannel to the desired memory channel and MemChannelLoad to true (1). 2. Read MemChannelError to check for errors. To clear already stored shading image data in non-volatile memory (shading image data won't be loaded on camera resets): 1. Set MemoryChannel to the desired memory channel and MemChannelClear to true (1). 2. Read MemChannelError to check for errors.
Configuration of the camera Deferred image transport Using this 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 Frame information Register Name Field Bit Description 0xF1000270 FRAMEINFO Presence_Inq [0] Indicates presence of this feature (read only) ResetFrameCnt [1] Reset frame counter --- [1..31] Reserved FrameCounter [0..31] Number of captured frames since last reset 0xF1000274 FRAMECOUNTER Table 147: Frame information configuration register The FrameCounter is incremented when an image is read out of the sensor.
Configuration of the camera 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. Note • • L 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.
Configuration of the camera Auto shutter control The table below illustrates the advanced register for auto shutter control. The purpose of this register is to limit the range within which auto shutter operates. Register Name 0xF1000360 AUTOSHUTTER_CTRL 0xF1000364 AUTOSHUTTER_LO Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..31] Reserved --- [0..5] Reserved MinValue [6..
Configuration of the camera If both auto gain and auto shutter are enabled and if the shutter is at its upper boundary and gain regulation is in progress, increasing the upper auto shutter boundary has no effect on auto gain/shutter regulation as long as auto gain regulation is active. Note L As with the Extended Shutter the value of MinValue and MaxValue must not be set to a lower value than the minimum shutter time.
Configuration of the camera Autofunction AOI The table below illustrates the advanced register for autofunction AOI. AOI means area of interest. Use this feature to select the image area (work area) on which the following autofunctions work: • auto shutter • auto gain • auto white balance Note Autofunction AOI is independent from Format_7 AOI settings. L If you switch off autofunction AOI, work area position and work area size follow the current active image size.
Configuration of the camera Register Name 0xF1000398 AF_AREA_SIZE Field Bit Description Width [0..15] Width of work area size Height [16..31] Height of work area size Table 151: Advanced register for autofunction AOI The possible increment of the work area position and size is defined by the YUNITS and XUNITS fields. The camera automatically adjusts your settings to permitted values.
Configuration of the camera Color correction To switch off color correction in YUV mode: see bit [6] Register Name 0xF10003A0 COLOR_CORR Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Color correction on/off default: on Write: 02000000h to switch color correction OFF Write: 00000000h to switch color correction ON Reset [7] Reset to defaults --- [8..31] Reserved 0xF10003A4 COLOR_CORR_COEFFIC11 = Crr [0..
Configuration of the camera Trigger delay Register Name 0xF1000400 TRIGGER_DELAY Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Trigger delay on/off --- [7..10] Reserved DelayTime [11..31] Delay time in µs Table 153: Trigger delay advanced CSR The advanced register allows start of the integration to be delayed via DelayTime by max. 221 µs, which is max. 2.1 s after a trigger edge was detected.
Configuration of the camera AFE channel compensation (channel balance) All KODAK PIKE sensors are read out via two channels: the first channel for the left half of the image and the second channel for the right half of the image. Channel gain adjustment (PIKE color cameras only RAW8 and RAW16) can be done via the following two advanced registers: Register Name Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera Note When SOFT_RESET has been defined, the camera will respond to further read or write requests but will not process them. L High SNR mode (High Signal Noise Ratio) With High SNR mode enabled the camera internally grabs GrabCount images and outputs a single averaged image. Register Name Field Bit Description 0xF1000520 HIGH_SNR Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] High SNR mode on/off --- [7..
Configuration of the camera Quick parameter change timing modes You can choose between the following update timing modes: • Standard Parameter Update Timing (slightly modified from previous PIKE cameras) • New: Quick Format Change Mode For a detailed description see Chapter Quick parameter change timing modes on page 151. Register Name Field Bit Description 0xF1000570 PARAMUPD_TIMING Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera To switch on Quick Format Change Mode do the following: 1. Set UpdTiming to 1. 2. Set UpdActive to 1. 3. Be aware that all parameter values have to be set within 10 seconds. Automatic reset of the UpdActive flag With Quick Format Change Mode you normally have to clear the UpdActive flag after all desired parameters have been set. Every time the PARAMUPD_TIMING register is written to with the UpdActive flag set to 1 a 10 second time-out is started / restarted.
Configuration of the camera Parameter-List Update The parameter list is an array of address/data pairs which can be sent to the camera in a single bus cycle. Register Name Field Bit Description 0xF1100000 PARAMLIST_INFO Presence_Inq [0] Indicates presence of this feature (read only) --- [1..15] Reserved BufferSize [16..31] Size of parameter list buffer in bytes 0x1101000 PARAMLIST_BUFFER ...
Configuration of the camera Format_7 mode mapping With Format_7 mode mapping it is possible to map special binning and subsampling modes to F7M1..F7M7 (see Figure 86: Mapping of possible Format_7 modes to F7M1...F7M7 on page 150). Register Name Field Bit Description 0xF1000580 F7MODE_MAPPING Presence_Inq [0] Indicates presence of this feature (read only) --- [1..31] Reserved F7MODE_00_INQ [0] Format_7 Mode_0 presence F7MODE_01_INQ [1] Format_7 Mode_1 presence ... ... ...
Configuration of the camera Example To map the internal Format_7 Mode_19 to the visible Format_7 Mode_1, write the decimal number 19 to the above listed F7MODE_1 register. Note L For available Format_7 modes see Figure 86: Mapping of possible Format_7 modes to F7M1...F7M7 on page 150.
Configuration of the camera Secure image signature (SIS) Secure image signature (SIS) is the synonym for data, which is inserted into an image to improve or check image integrity. All • • • • PIKE models can insert Time stamp (1394 bus cycle time at the beginning of integration) Frame counter (frames read out of the sensor) Trigger counter (external trigger seen only) Various camera settings into a selectable line position within the image.
Configuration of the camera Enter a • positive value from 0..HeightOfImage to specify a position relative to the top of the image. LinePos=0 specifies the very first image line. • negative value from -1..-HeightOfImage to specify a position relative to the bottom of the image. LinePos=-1 specifies the very last image line. SIS UserValue can be written into the camera’s image. In sequence mode for every sequence entry an own SIS UserValue can be written.
Configuration of the camera Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 Cycle offset 12 bit Bit 16 17 18 19 20 21 22 23 13 14 15 Cycle count ... 24 25 26 ... Cycle count 13 bit 27 28 29 30 31 Second count 7 bit Table 164: Cycle timer layout Advanced register: frame counter Different to Marlin SIS: Register 610 is only to be used to reset the frame counter.
Configuration of the camera Advanced register: trigger counter The trigger counter feature is controlled by the following advanced feature register: Register Name 0xF1000620 TRIGGER_COUNTER 0xF1000624 TRGCNT Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) Reset [1] Reset trigger counter --- [2..31] Reserved TriggerCounter [0..
Configuration of the camera Where to find time stamp, frame counter and trigger counter in the image Time stamp (Cycle counter) 1 2 3 4 ⎫ ⎬ ⎭ ⎫ ⎬ ⎭ Trigger counter 5 6 7 8 9 10 11 12 .. .. . Output line of image . ⎫ ⎬ ⎭ Frame counter Bytes Figure 115: SIS in the image Where to find all SIS values in the image In the following table you find the position of all SIS values byte for byte including the endianness of SIS values. CycleCounter [7..0] CycleCounter [15..
Configuration of the camera Smear reduction To enable/disable smear reduction use the following register(s): Register Name Field Bit Description 0xF1000440 LOW_SMEAR Presence_Inq [0] Indicates presence of this feature (read only) -- [1..5] Reserved ON_OFF [6] Smear reduction on/off -- [7..31] Reserved Table 168: Register for smear reduction User profiles Within the IIDC specification user profiles are called memory channels. Often they are called user sets.
Configuration of the camera The ProfileID is equivalent to the memory channel number and specifies the profile number to store settings to or to restore settings from. In any case profile #0 is the hard-coded factory profile and cannot be overwritten. After an initialization command, startup or reset of the camera, the ProfileID also indicates which profile was loaded on startup, reset or initialization. Note • L • The default profile is the profile that is loaded on power-up or an INITIALIZE command.
Configuration of the camera You may also reset the ErrorCode • by writing to the USER_PROFILE register with the SaveProfile, RestoreProfile and SetDefaultID flag not set. • by writing 00000000h to the USER_PROFILE register.
Configuration of the camera Note • L • • • • A profile save operation automatically disables capturing of images. A profile save or restore operation is an uninterruptable (atomic) operation. The write response (of the asynchronous write cycle) will be sent after completion of the operation. Restoring a profile will not overwrite other settings than listed above.
Firmware update Firmware update Firmware updates can be carried out via FireWire cable without opening the camera. Note For further information: L • • Read the application note: How to update Guppy/Pike firmware at AVT website or Contact your local dealer. Extended version number (FPGA/µC) The new extended version number for microcontroller and FPGA firmware has the following format (4 parts separated by periods; each part consists of two digits): Special.Major.Minor.Bugfix or xx.xx.xx.
Appendix Appendix Sensor position accuracy of AVT cameras D camera body pixel area pixel area y camera body sensor case sensor case x AVT Guppy Series Method of Positioning: Automated mechanical alignment of sensor into camera front module. (lens mount front flange) Reference points: Sensor: Center of pixel area (photo sensitive cells). Camera: Center of camera front flange (outer case edges). Accuracy: x/y: z: D: +/- 0.
Index Index Numbers 1394a data transmission ........................... 22 1394b bandwidths ....................................... 27 requirements laptop............................ 28 1394b data transmission ........................... 23 2 out of 16 H+V sub-sampling (b/w) drawing ...........................................146 2 out of 16 H+V sub-sampling (color) drawing ...........................................148 2 out of 4 H+V sub-sampling (b/w) drawing ...........................................
Index BAYER mosaic.........................................162 BAYER to RGB color interpretation ...........................162 binning .................................................135 access..............................................149 full..................................................140 horizontal ........................................138 only PIKE b/w...................................135 vertical ............................................136 BitsPerValue................................
Index AOI .................................................129 automatic generation.........................128 requirements ....................................128 shading ...........................................126 CSR .......................................................245 cycle counter..........................................313 Cycle delay input characteristics ........................... 93 optocoupler ....................................... 93 D data block packet format......................
Index FireWire 800............................................ 24 FireWire™ bus.......................................... 92 firmware update ..............................321, 322 Flux voltage input characteristics ........................... 93 LED .................................................. 93 focal length ............................................ 34 Format_7 modes mapping ..........................................150 FORMAT_7_ERROR_1 ................................. 90 FORMAT_7_ERROR_2 ......
Index IIDC V1.31 camera control standards........... 24 image capture controlling .......................................173 ImageRepeat ..........................................194 IMAGE_POSITION ....................................213 IMAGE_SIZE ...........................................213 incrementing list pointer .........................189 input block diagram .................................... 94 characteristics ................................... 93 configuration register ......................
Index MaxLutSize (Field)...................................290 MaxResolution (Field) ..............................283 MAX_RESOLUTION ...................................286 Max_Value .............................................. 97 microlens...............................................112 minimum exposure time ...........................181 Min. exp. time + offset ............................181 Min_Value............................................... 97 mirror function horizontal ......................
Index pin assignment IEEE 1394b........................................ 86 pin control.............................................297 PinState flag ..........................................103 PinState (Field) ....................................... 95 pixel data ..............................................107 pixel size ...............................................112 plus integral controller ............................121 pointer reset ..........................................189 Polarity .......
Index shading correction ...........................126, 292 shading image........................................127 automatic generation.........................128 delay ...............................................129 Format_7 .........................................129 generation .......................................130 load into camera ...............................132 load out of camera ............................131 shading images ......................................
Index IEEE 1394b........................................ 86 TPA(R) IEEE 1394b........................................ 86 TPA+ ...................................................... 86 TPBIEEE 1394b........................................ 86 TPB(R) IEEE 1394b........................................ 86 TPB+ ...................................................... 86 IEEE 1394b........................................ 86 Transaction code.....................................107 Trg (LED state) ...................
Index video information ...................................107 video mode CUR-V-MODE .....................................270 Format_7 .........................................276 inquiry register .................................255 sample C code...................................249 video mode 0 .........................................219 video mode 2 .........................................219 VMode_ERROR_STATUS.............................. 90 VP IEEE 1394b........................................
