AVT Pike Technical Manual V3.1.
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 ............................................................................................................ 9 Document history .......................................................................................................... 9 Conventions used in this manual...................................................................................... 9 Styles ......................................................................................................................
Camera lenses.......................................................................................................... 30 Specifications .......................................................................................................32 PIKE F-032B / F-032B fiber ............................................................................................ 33 PIKE F-032C / F-032C fiber.............................................................................................
Trigger delay ....................................................................................................... 87 Outputs .................................................................................................................. 89 IO_OUTP_CTRL 1-4 ............................................................................................... 93 Output modes...................................................................................................... 94 Pixel data.....................
Color conversion (RGB Æ YUV) ..................................................................................... Bulk Trigger ............................................................................................................... Level Trigger.............................................................................................................. Serial interface...........................................................................................................
Example................................................................................................................ Sample program ..................................................................................................... Example FireGrab ............................................................................................... Example FireStack API ........................................................................................ Configuration ROM .................................
Mirror image.......................................................................................................... AFE channel compensation (channel balance)............................................................. Soft Reset ............................................................................................................. High SNR mode (High Signal Noise Ratio) .................................................................. User profiles ...............................................
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 on page 180 New advanced registers: Chapter Advanced features on page 216 V3.0.1 29.09.2006 Minor corrections V3.1.0 13.02.
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 Table 3:
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 Frame rates, 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 1.2 KODAK KAI-4021 2048 (h) x 2048 (v) Up to 15 fps PIKE F-421B/C fiber Progressive Scan CCD imager Table 4: PIKE camera types Operating in 8-bit and 14-bit mode, the cameras ensure very high quality images under almost all circumstances.
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 V3.1.
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 182. 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 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: • Mobile PCI-Express chipset Because most laptops have (only) one PC-card interface, it is possible to connect one PIKE camera to your laptop at full speed. Alternatively laptops with an additional 1394 ExpressCard interface can be used.
FireWire Example1: 1394b bandwidth of PIKE cameras PIKE model Resolution Pike F-032 B/C VGA Pike F-100 B/C Frame rate Bandwidth 202 fps 61.61 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 62.5 MByte/s Table 6: Bandwidth of PIKE cameras Note All data are calculated using Raw8 / Mono8 color mode.
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 186.
FireWire 1394a/b comparison Interface IEEE 1394a IEEE 1394b Maximum bit rate 400 Mbit/s 800 Mbit/s Isochronous (video) mode Yes Yes Bandwidth/total usable bandwidth Video: 31.25 MByte/s (80%) Total: ~45 MByte/s Video: 62.5 MByte/s (80%) Total: ~85 MByte/s Topology Peer-to-peer (On the go) Peer-to-peer Single cable distance in copper or other media • • • • • 4.5 m, worst case 10 m, typical camera application 500 m GOF 7.5 m copper 500 m GOF Max.
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 V3.1.
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 12: 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 V3.1.
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 Effective picture elements 648 (H) x 488 (V) 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 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. 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-032C / F-032C fiber Feature Specification Image device Type 1/3 (diag. 5.92 mm) type progressive scan KODAK IT CCD KAI340 Effective picture elements 648 (H) x 488 (V) 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) (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-100B / F-100B fiber Feature Specification Image device Type 2/3 (diag. 10.5 mm) type progressive scan KODAK IT CCD KAI1020 Effective picture elements 1000 (H) x 1000 (V) 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 Effective picture elements 1000 (H) x 1000 (V) 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 Feature Specification Image device Type 2/3 (diag. 11.2 mm) type progressive scan SONY ICX285 Effective picture elements 1392 (H) x 1040 (V) 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-145C / F-145C fiber Feature Specification Image device Type 2/3 (diag. 11.2 mm) type progressive scan SONY ICX285 Effective picture elements 1392 (H) x 1040 (V) 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 Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s 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.
Specifications PIKE F-210B / F210B fiber Feature Specification Image device Type 1 (diag. 15.3 mm) type progressive scan KODAK IT CCD KAI2093 Effective picture elements 1928 (H) x 1084 (V) 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 Effective picture elements 1928 (H) x 1084 (V) 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 Effective picture elements 2056 (H) x 2062 (V) 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 Effective picture elements 2056 (H) x 2062 (V) 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 V3.1.
Specifications Figure 12: Spectral sensitivity of Pike F-100B Figure 13: Spectral sensitivity of Pike F-100C PIKE Technical Manual V3.1.
Specifications Figure 14: Spectral sensitivity of Pike F-145B Figure 15: Spectral sensitivity of Pike F-145C PIKE Technical Manual V3.1.
Specifications Figure 16: Spectral sensitivity of Pike F-210B Figure 17: Spectral sensitivity of Pike F-210C PIKE Technical Manual V3.1.
Specifications Figure 18: Spectral sensitivity of Pike F-421B Figure 19: Spectral sensitivity of Pike F-421C PIKE Technical Manual V3.1.
Camera dimensions Camera dimensions 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 20: Camera dimensions (2 x 1394b copper) PIKE Technical Manual V3.1.
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 21: Camera dimensions (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V3.1.
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 22: Tripod dimensions PIKE Technical Manual V3.1.
Camera dimensions Pike W90 (2 x 1394b copper) This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. Figure 23: Pike W90 (2 x 1394b copper) PIKE Technical Manual V3.1.
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 24: Pike W90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V3.1.
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 25: Pike W90 S90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V3.1.
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 26: Pike W90 S90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V3.1.
Camera dimensions Pike W270 (2 x 1394b copper) This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. Figure 27: Pike W270 (2 x 1394b copper) PIKE Technical Manual V3.1.
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 28: Pike W270 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V3.1.
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 29: Pike W270 S90 (2 x 1394b copper) PIKE Technical Manual V3.1.
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 30: Pike W270 S90 (1394b: 1 x GOF, 1 x copper) PIKE Technical Manual V3.1.
Camera dimensions Cross section: C-Mount (VGA size filter) PIKE F-032 cameras are equipped with VGA size filter. Figure 31: Pike C-Mount dimensions (VGA size filter for Pike F-032) PIKE Technical Manual V3.1.
Camera dimensions Cross section: C-Mount (large filter) PIKE F-100, PIKE F-145, PIKE F-210, PIKE F-421 are equipped with a large filter. Figure 32: Pike C-Mount dimensions (large filter for Pike F-100, F-145, F-210, F-421) PIKE Technical Manual V3.1.
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. This adjustment is made before leaving the factory to conform to the standard of 17.
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-201 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 80), 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 38: 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 39: 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 26: Order numbers: trigger and I/O cables Figure 40: 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 44: Input Ground (InGND) (Pin no. 7 from camera I/O connector) on page 84 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 41: 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 V3.1.
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 30: Input characteristics: Flux voltage Cycle delay of the optocoupler tpdLH: 2275 ns tpdHL: 2290 ns Table 31: 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 43: Input block diagram 390R 390R In1 – Pin 4 In2 – Pin 11 InGND – Pin 7 Figure 44: 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 33: Input routing on page 86 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. For inputs, the PinState bit refers to the inverted output side of the optical coupler. This means that an open input sets the PinState bit to 1. ID Mode Default 0x00 Off 0x01 Reserved 0x02 Trigger input 0x03 Reserved 0x06..0x0F Reserved 0x10..
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 TCMD4000 R GND GPOut2 – Pin 12 GND TCMD4000 R GND GPOut3 – Pin 5 GND TCMD4000 R GND GPOut4 – Pin 3 GND GND TCMD4000 R Figure 45: 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 Figure 46: Output schematics: switching times Parameter Symbol Value Condition Delay time td 1.00 µs Rise time tr 2.60 µs OutVCC = 5 V Storage time ts 48.00 µs Resistor value = 1 kΩ Fall time tf 400.00 µs 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 47: Output block diagram PIKE Technical Manual V3.1.
Camera interfaces IO_OUTP_CTRL 1-4 The outputs (Output mode, Polarity) are controlled via 4 advanced feature registers (see Table 38: Output configuration register on page 93). 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 (Inp1Æ Out1, Inp2 Æ Out2) 0x09..0x0F Reserved 0x10..
Camera interfaces Figure 48: 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 V3.1.
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.
Camera interfaces Field Description sy Synchronization value (sync bit) This is one single bit. It indicates the start of a new frame. It shall be set to 0001h on the first isochronous data block of a frame, and shall be set to zero on all other isochronous blocks Video data payload Shall contain the digital video information Table 41: Description of Data Block Packet Format The video data for each pixel are output in either 8-bit or 14-bit format.
Camera interfaces Figure 50: Y8 and Y16 format: Source: IIDC V1.31 specification PIKE Technical Manual V3.1.
Camera interfaces Figure 51: Data structure: Source: IIDC V1.31 specification PIKE Technical Manual V3.1.
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 Techn Manu- Sensor facturer Type CCD KODAK CCD KODAK KAI-1020 type 2/3 10.5 mm PIKE F-145B PIKE F-145C CCD PIKE F-210B PIKE F-210C PIKE F-421B PIKE F-421C Optical Sensor Micro- Chip Size Format diag.
Description of the data path • 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 Æ Adjust channels... or use Alt+Ctrl+A. The following window opens: Figure 54: SmartView: channel adjustment Note Program button is only available for AVT factory. L 2. To perform an automatic channel adjustment, click on Do one-push adjustment. 3.
Description of the data path before after Figure 55: Example of channel adjustment: PIKE F-032B 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. PIKE Technical Manual V3.1.
Description of the data path Register Name Field Bit 0xF0F0080C WHITE_BALANCE Presence_Inq [0] Description 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 Figure 56: U/V slider range Type Range Range in dB PIKE color cameras 0 ... 568 ± 10 dB Table 44: 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 43: White balance register on page 105. The camera automatically generates frames, based on the current settings of all registers (GAIN, OFFSET, SHUTTER, etc.).
Description of the data path If the image capture is active (e.g. IsoEnable set in register 614h), the frames used by the camera for white balance are also output on the 1394 bus. Any previously active image capture is restarted after the completion of white balance. Automatic white balance can also be enabled by using an external trigger. However, if there is a pause of >10 seconds between capturing individual frames this process is aborted.
Description of the data path Within this area, the R-G-B component values of the samples are added and used as actual values for the feedback. The following drawing illustrates the AUTOFNC_AOI settings in greater detail. AOI: X-size 0,0 AF_AREA_POSITION: Left,Top AOI: Y-size Sampling grid for Auto-Function AF_AREA_SIZE: Height: n x 4 AF_AREA_SIZE: Width: n x 4 Figure 58: AUTOFNC_AOI positioning The algorithm is based on the assumption that the R-G-B component sums of the samples are equal, i.e.
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 auto shutter control in an advanced register: See Table 124: Auto shutter control advanced register on page 236. Auto gain All PIKE cameras are equipped with auto gain feature. To configure this feature in an advanced register: See Table 125: Advanced register for auto gain control on page 237.
Description of the data path Register Name Field Bit Description 0xF0F00820 GAIN 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 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 ...
Description of the data path Register Name Field Bit Description 0xF0F00800 BRIGHTNESS 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 Note The use of the mirror function with color cameras and image output in RAW format has implications on the BAYERordering of the colors. L Mirror OFF: R-G-G-B for Pike 145C Mirror ON: G-R-B-G Pike 145 C Mirror OFF: G-R-G-B for all other Pikes Mirror ON: R-G-G-B for all other Pikes Figure 59: Mirror and Bayer order Note During switchover one image may be temporarily corrupted.
Description of the data path Note • L • • Shading correction does not support the mirror function. If you use shading correction, don’t change the mirror function. Due to binning and sub-sampling in the Format_7 modes use only the modes from the following table to build the shading image. If using the following mode... ... then build the shading image, using...
Description of the data path 255.0 surface plot 0.0 0.0 48 els pi x 640. histogram 0 els 0 pix 256 Count: 307200 Mean: 135.337 StdDev. 30.497 Min: 79 Max. 19 Mode: 88 (4200) Figure 60: Shading correction: Source image with non-uniform illumination • • • On the left you see the source image with non-uniform illumination. The surface plot on the right clearly shows a gradient of the brightness (0: brightest Æ 255: darkest pixels). The histogram shows a wide band of gray values.
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 119: Shading control register on page 230. 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 62: 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 Æ 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 (b/w models) 2 x 2 Binning Binning is the process of combining neighboring pixels while being read out from the CCD chip. PIKE b/w cameras have this feature.
Description of the data path Vertical binning Vertical binning increases the light sensitivity of the camera by a factor of two by adding together the values of two adjoining vertical pixels output as a single pixel. At the same time this normally improves signal-to-noise separation by about 3 dB. Figure 67: Vertical binning This reduces vertical resolution, depending on the model. Note L If vertical binning is activated the image may appear to be over-exposed and may require correction.
Description of the data path Horizontal binning In horizontal binning adjacent horizontal pixels in a line are combined in pairs. This means that in horizontal binning the light sensitivity of the camera is also increased by a factor of two (6 dB). Signal-to-noise separation improves by approx. 3 dB. Horizontal resolution is lowered, depending on the model. Use Format_7 Mode_1 to activate horizontal binning.
Description of the data path Full binning If horizontal and vertical binning are combined, every 4 pixels are consolidated into a single pixel. At first two horizontal pixels are put together and then combined vertically. This increases light sensitivity by a total of a factor of 4 and at the same time signal-to-noise separation is improved by about 6 dB. Resolution is reduced, depending on the model. Use Format_7 Mode_3 to activate full binning.
Description of the data path Figure 70: Horizontal sub-sampling (b/w and color) Note L The image appears horizontally compressed in this mode and no longer exhibits a true aspect ratio. Use Format_7 Mode_5 to activate vertical sub-sampling. The different sub-sampling patterns are shown below. Figure 71: Vertical sub-sampling: (b/w and color) Note L The image appears vertically compressed in this mode and no longer exhibits a true aspect ratio. Use Format_7 Mode_6 to activate h+v sub-sampling.
Description of the data path The different sub-sampling patterns are shown below. Figure 72: H+V sub-sampling: (b/w and color) Note L Changing sub-sampling modes involves the generation of new shading reference images due to a change in the image size. High SNR mode (High Signal Noise Ratio) To configure this feature in an advanced register: See Table 132: High Signal Noise Ratio (HSNR) on page 242.
Description of the data path Note • L • • • The averaged image is output at a lower frame rate being exactly the fraction: frame rate/number of images. The camera must be in idle before turning this feature on. The potential SNR enhancement may be lower when using more than 8-bit original bit depth. Select 16-bit image format in order to take advantage of the full potential SNR and DNR (DyNamic Range) enhancements.
Description of the data path Deferred image transport is especially useful for multi-camera applications: Assuming several cameras acquire images concurrently. These are stored in the built-in image memory of every camera. Until this memory is full, the limiting factor of available bus bandwidth, DMA- or ISO-channel is overcome. Image transfer is controlled from the host computer by addressing individual cameras one after the other and reading out the desired number of images.
Description of the data path Figure 73: 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 Æ 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 Before converting to the YUV format, color correction on all color models is carried out after BAYER demosaicing via a matrix as follows: red* = Crr × red + Cgr × green + Cbr × blue green* = Crg × red + Cgg × green + Cbg × blue blue* = Crb × red + Cgb × green + Cbb × blue Formula 1: Color correction GretagMacbeth ColorChecker Sensor-specific coefficients Cxy are scientifically generated to ensure that GretagMacbeth™ ColorChecker®-colors are displayed with high
Description of the data path Switch color correction on/off Color correction can also be switched off in YUV mode: To configure this feature in an advanced register: See Table 127: Color correction on page 239. Note Color correction is deactivated in RAW mode. L Color conversion (RGB Æ 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 V = 0.498 × R – 0.420 × G – 0.
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 76: Trigger_mode_0 and 1 PIKE Technical Manual V3.1.
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 Camera model Minimum exposure time Effective min. exp. time = Min. exp.
Controlling image capture 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. Depending on the application, these effects may limit the longest usable integration time. Changes in this register have immediate effect, even when the camera is transmitting.
Controlling image capture # Read/ Write Address Value Description 7 wr F0F0061C 80000000 Do one-shot. 6 rd F0F0061C 00000000 Read out one-shot register. 5 wr F0F00830 82000000 Switch on external trigger mode 0. 4 rd F0F00830 80000000 Check trigger status. 3 wr F0F00614 00000000 Stop Free-run. 2 rd F0F00614 80000000 Check Iso_Enable mode (ÆFree-run). 1 rd F0F00614 00000000 This line is produced by SmartView.
Controlling image capture Timebase x Shutter + Offset = Exposure Time < 150 s Pike F-033: 15 µs Pike F-100: 42 µs Pike F-145: 32 µs Pike F-210: 38 µs Pike F-421: 65 µs < 710 s +/-62.5 s Figure 80: Data flow and timing after end of exposure 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.
Controlling image capture ISO_Enable / Free-Run Setting the MSB (bit 0) in the 614h register (ISO_ENA) puts the camera into ISO_Enable mode or Continuous_Shot. The camera captures an infinite series of images. This operation can be quit by deleting the 0 bit. Asynchronous broadcast The camera accepts asynchronous broadcasts. This involves asynchronous write requests that use node number 63 as the target node with no acknowledge.
Controlling image capture Jitter at start of exposure The following chapter discusses the latency time which exists for all CCD models when either a hardware or software trigger is generated, until the actual image exposure starts. Owing to the well-known fact that an Interline Transfer CCD sensor has both a light sensitive area and a separate storage area, it is common to interleave image exposure of a new frame and output that of the previous one.
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 Mono16 202.53 fps (Mono8) 105.96 fps (Mono16) 640 x 480 YUV411 YUV422 Raw16 Mono8 Raw8 RGB8 139.13 fps (YUV411) 105.96 fps (YUV422,Raw16) 202.53 fps (Mono8,Raw8) 70.48 fps (RGB8) 1 320 x 480 Mono8 Mono16 202.53 fps (Mono8), 2x H-binning 202.53 fps (Mono16), 2x H-binning 2 640 x 240 Mono8 Mono16 372.09 fps (Mono8), 2x V-binning 207.
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 Mono16 59.93 fps (Mono8) 32.59 fps (Mono16) 1000 x 1000 YUV411 YUV422 Raw16 Mono8 Raw8 RGB8 43.36 fps (YUV411) 32.59 fps (YUV422,Raw16) 59.93 fps (Mono8,Raw8) 21.77 fps (RGB8) 1 500 x 1000 Mono8 Mono16 59.93 fps (Mono8), 2x H-binning 59.93 fps (Mono16), 2x H-binning 2 1000 x 500 Mono8 Mono16 98.16 fps (Mono8), 2x V-binning 64.
Video formats, modes and bandwidth PIKE F-145B / PIKE F-145C 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 30.02 fps (Mono8) 22.70 fps (Mono16) 1388 x 1038 Mono8 Mono16 30.02 fps (YUV411) 22.70 fps (YUV422,Raw16) 30.02 fps (Mono8,Raw8) 15.14 fps (RGB8) 1388 x 1038 YUV411 YUV422 Raw16 Mono8 Raw8,RGB8 1 692 x 1038 Mono8 Mono16 29.91 fps (Mono8), 2x H-binning 30.02 fps (Mono16), 2x H-binning 2 1388 x 518 Mono8 Mono16 50.47 fps (Mono8), 2x V-binning 45.
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 0 Color mode Maximal S800 frame rates for Format_7 modes 31.43 fps (Mono8) 15.76 fps (Mono16) 1920 x 1080 Mono8 Mono16 21.02 fps (YUV411) 15.76 fps (YUV422,Raw16) 31.43 fps (Mono8,Raw8) 10.52 fps (RGB8) 1920 x 1080 YUV411 YUV422 Raw16 Mono8 Raw8,RGB8 1 960 x 1080 Mono8 Mono16 32.06 fps (Mono8), 2x H-binning 31.43 fps (Mono16), 2x H-binning 2 1920 x 540 Mono8 Mono16 51.45 fps (Mono8), 2x V-binning 31.
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 Color Mode Maximal S800 frame rates for Format_7 modes 2048 x 2048 Mono8 Mono16 15.61 fps (Mono8) 7.81 fps (Mono16) 2048 x 2048 YUV411 YUV422 Raw16 Mono8 Raw8 RGB8 10.41 fps (YUV411) 7.81 fps (YUV422,Raw16) 15.61 fps (Mono8,Raw8) 5.21 fps (RGB8) 1 1024 x 2048 Mono8 Mono16 16.11 fps (Mono8), 2x H-binning 15.61 fps (Mono16), 2x H-binning 2 2048 x 1024 Mono8 Mono16 28.83 fps (Mono8), 2x V-binning 15.
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 82: 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 83: Example of autofunction AOI (Show work area is on) Note L For more information see Chapter Autofunction AOI on page 238. PIKE Technical Manual V3.1.
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 chapter. PIKE Technical Manual V3.1.
Video formats, modes and bandwidth PIKE F-032: AOI frame rates Frame rate = f(AOI height) PIKE F-032 1600 1400 Frame rate / fps 1200 1000 800 600 400 200 0 0 50 100 150 200 250 300 350 400 450 500 550 AOI height / pixel Figure 84: Frame rates PIKE F-032 as function of AOI height Frame rate / fps AOI height / pixel Tframe / ms 480 202.53 4.93 300 301.89 3.31 240 372.09 2.68 150 516.13 1.93 120 592.59 1.68 60 941.18 1.06 30 1230.77 0.81 14 1454.55 0.
Video formats, modes and bandwidth PIKE F-100: AOI frame rates Frame rate = f(AOI height) PIKE F-100 280 260 240 220 Frame rate / fps 200 180 160 140 120 100 80 60 40 20 0 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 AOI height / pixel Figure 85: Frame rates PIKE F-100 as function of AOI height Frame rate / fps AOI height / pixel 1000 960 600 480 300 240 150 120 60 30 10 59.93 61.78 87.43 100.63 132.23 146.79 179.78 192.77 225.35 246.15 262.
Video formats, modes and bandwidth PIKE F-145: AOI frame rates Frame rate = f(AOI height) PIKE F-145 160 140 Frame rate / fps 120 100 80 60 40 20 0 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 AOI height / pixel Figure 86: Frame rates PIKE F-145 as function of AOI height Frame rate / fps AOI height / pixel 1038 1024 960 600 480 300 240 150 120 60 30 10 30.02 30.36 31.94 45.58 53.16 70.48 79.60 98.16 105.96 125.98 139.13 149.
Video formats, modes and bandwidth PIKE F-210: AOI frame rates Frame rate = f(AOI height) Pike F-210 140 Frame rate / fps 120 100 80 60 40 20 0 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 Figure 87: Frame rates PIKE F210 as function of AOI height Frame rate / fps AOI height / pixel 1080 960 600 480 300 240 150 120 60 30 10 31.43 35.01 48.34 55.36 70.48 78.05 91.43 98.16 111.89 120.30 128.00 Tframe / ms 31.82 28.56 20.69 18.06 14.19 12.81 10.
Video formats, modes and bandwidth PIKE F-421: AOI frame rates Frame rate = f(AOI height) PIKE F-421 140 120 Frame rate / fps 100 80 60 40 20 0 0 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 AOI height / pixel Figure 88: Frame rates PIKE F-421 as function of AOI height Frame rate / fps AOI height / pixel 2048 1200 1024 960 600 480 240 120 60 30 14 15.61 25.44 28.93 30.36 43.13 49.84 73.73 95.81 113.48 124.03 132.
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 5: Example maximum frame rate calculation PIKE Technical Manual V3.1.
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 90: Color test image Mono8 (raw data) Figure 91: 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 V3.1.
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 89: 32-bit register Example This requires, for example, that to enable ISO_Enabled mode (see Chapter ISO_Enable / Free-Run on page 157), (bit 0 in register 614h), the value 80000000 h must be written in the corresponding register. PIKE Technical Manual V3.1.
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 92: Enabling ISO_Enable PIKE Technical Manual V3.1.
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 93: 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 106). Offset Name Notes 800h BRIGHTNESS See above 804h AUTO-EXPOSURE See above Note: Target grey level parameter in SmartView corresponds to Auto_exposure register 0xF0F00804 (IIDC).
Configuration of the camera Offset Name Notes 8C4h CAPTURE-QUALITY Always 0 8C8h Reserved for other FEATURE_LO Always 0 ..
Configuration of the camera Offset Name Notes 008h IMAGE_POSITION According to IIDC V1.31 00Ch IMAGE_SIZE According to IIDC V1.31 010h COLOR_CODING_ID See note 014h COLOR_CODING_INQ According to IIDC V1.31 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 0XF1000320 IO_OUTP_CTRL1 0XF1000324 IO_OUTP_CTRL2 see Table 38: Output configuration register on page 93 0XF1000328 IO_OUTP_CTRL3 0XF100032C IO_OUTP_CTRL4 0XF1000340 IO_INTENA_DELAY see Table 123: Delayed integration enable configuration register on page 235 0XF1000360 AUTOSHUTTER_CTRL 0XF1000364 AUTOSHUTTER_LO see Table 124: Auto shutter control advanced register on page 236 0XF1000368 AUTOSHUTTER_HI 0XF1000370 AUTOGAIN_CTRL
Configuration of the camera Register Register name Remarks 0XF1000FFC GPDATA_INFO see Table 136: GPData buffer register on page 246 0XF1001000 GPDATA_BUFFER ... 0XF100nnnn Table 108: Advanced registers summary Note L Advanced features should always be activated before accessing them. Note • L • Currently all registers can be written without being activated. This makes it easier to operate the camera using Directcontrol.
Configuration of the camera The µC version and FPGA firmware version numbers are bcd-coded, which means that e.g. firmware version 0.85 is read as 0x0085 and version 1.10 is read as 0x0110.
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..3] Auto Shutter [4] Auto Gain [5] Auto FNC AOI [6] --- [7..31] HDR Pike [0] --- [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 113: 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 61: Camera-specific exposure time offset on page 152) 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 116: 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 Æ 1 byte per gray-value • BitsPerValue = 14 Æ 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 122: 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 126: 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 Register Name Field Bit Description 0xF10003A4 COLOR_CORR_COEFFIC11 = Crr [0..31] 0xF10003A8 COLOR_CORR_COEFFIC12 = Cgr [0..31] 0xF10003AC COLOR_CORR_COEFFIC13 = Cbr [0..31] A number of 1000 equals a color correction coefficient of 1. 0xF10003B0 COLOR_CORR_COEFFIC21 = Crg [0..31] 0xF10003B4 COLOR_CORR_COEFFIC22 = Cgg [0..31] 0xF10003B8 COLOR_CORR_COEFFIC23 = Cbg [0..31] 0xF10003BC COLOR_CORR_COEFFIC31 = Crb [0..31] 0xF10003C0 COLOR_CORR_COEFFIC32 = Cgb [0..
Configuration of the camera Mirror image 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 and shading. Register Name 0xF1000410 MIRROR_IMAGE Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera Soft Reset Register Name 0xF1000510 SOFT_RESET Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved Reset [6] Initiate reset --- [7..19] Reserved Delay [20..
Configuration of the camera Note The camera must be idle to toggle this feature on/off. L User profiles Within the IIDC specification user profiles are called memory channels. Often they are called user sets. In fact these are different expressions for the following: storing camera settings into a non-volatile memory inside the camera. Offset Name Field Bit Description 0x1000550 USER_PROFILE Presence_Inq [0] Indicates presence of this feature (read only) Error [1] An error occurred --- [2..
Configuration of the camera Note • L • The default profile is the profile that ist loaded on power-up or an INITIALIZE comman. A save or load operation delays the response of the camera until the operation is completed. At a time only one operation can be performed. To store the current camera settings into a profile: 1. Write the desired ProfileID with the SaveProfile flag set. 2. Read back the register and check the ErrorCode field. To restore the settings from a previous stored profile: 1.
Configuration of the camera Stored settings The following table shows the settings stored inside a profile: Standard registers Standard registers (Format_7) Advanced registers Cur_V_Frm_Rate Cur_V_Mode Cur_V_Format ISO_Channel ISO_Speed BRIGHTNESS AUTO_EXPOSURE (Target grey level) SHARPNESS WHITE_BALANCE (+ auto on/off) HUE (+ hue on) SATURATION (+ saturation on) GAMMA (+ gamma on) SHUTTER (+ auto on/off) GAIN TRIGGER_MODE TRIGGER_POLARITY TRIGGER_DELAY ABS_GAIN IMAGE_POSITION (AOI) IMAGE_SIZE (AOI) CO
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. PIKE Technical Manual V3.1.
Glossary Glossary 4:1:1 YUV4:1:1 is a color mode (see YUV). Chroma subsampling means that a lower resolution for the color (chroma) information in an image is used than for the brightness (intensity or luma) information. Because the human eye is less sensitive to color than intensity, the chroma components of an image need not be as well defined as the luma component, so many video systems sample the color difference channels at a lower definition (i.e., sample frequency) than the brightness.
Glossary AFE AFE = analog front end The AFE conditions the analog signal received from the image sensor and performs the analog-to-digital (A/D) conversion. AGC AGC = auto gain control AGC means that the electronic amplification of the video signal is automatically adjusted to compensate for varying levels of scene illumination. Aliasing Phenomenon of interference which occurs when a signal being sampled contains frequencies that are higher than half the sampling frequency.
Glossary BAYER Patent of Dr. Bryce E. Bayer of Eastman Kodak. This patent refers to a particular arrangement of color filters used in most single-chip digital image sensors used in digital cameras to create a color image. The filter pattern is 50% green, 25% red and 25% blue, hence is also called RGBG or GRGB BAYER demosaicing BAYER demosaicing is the process of transforming the BAYER mosaic back to RGB.
Glossary Blooming A pixel on a digital camera sensor collects photons which are converted into an electrical charge by its photo diode. Once the full well capacity of the pixel is full, the charge caused by additional photons will overflow and have no effect on the pixel value, resulting in a clipped or overexposed pixel value. Blooming occurs when this charge flows over to surrounding pixels, brightening or overexposing them in the process. As a result detail is lost.
Glossary CMOS CMOS (pronounced see-moss) stands for complementary metal-oxide semiconductor CMOS is a major class of integrated circuits. CMOS chips include microprocessor, microcontroller, static RAM, and other digital logic circuits. The central characteristic of the technology is that it only uses significant power when its transistors are switching between on and off states. Consequently, CMOS devices use little power and do not produce as much heat as other forms of logic.
Glossary Dark current Dark current is the accumulation of electrons within a CCD or CMOS image sensor that are generated thermally rather than by light. This is a form of noise that is most problematic in low light applications requiring long exposure times. Dark noise Dark noise is the statistical variation of the dark current, equal to the square root of the dark current. Dark current can be subtracted from an image, while dark noise remains. Also called dark current noise. dB abbr.
Glossary Dynamic range The ratio of the maximum signal relative to the minimum measurable signal often measured in decibels or dBs. The largest possible signal is directly proportional to the full well capacity of the pixel. The lowest signal is the noise level when the sensor is not exposed to any light, also called the noise floor. Practically, cameras with a large dynamic range are able to capture shadow detail and highlight detail at the same time.
Glossary FPN FPN = fixed pattern noise Related with the dark current is its electrical behavior to be regionally different on the sensor. This introduces a structural spatial noise component, called fixed pattern noise, although it’s not meant temporal, visible with low illumination conditions. FPN is typically more dominant with CMOS sensors than with CCD, where it can be ignored mostly. This noise nfpn [%] is usually quantified in % of the mean dark level.
Glossary Gamma Gamma is the exponent in a power-law relationship between video or pixel values and the displayed brightness. Each pixel in a digital image has a certain level of brightness ranging from black (0) to white (1). These pixel values serve as the input for your computer monitor. Due to technical limitations, CRT monitors output these values in a nonlinear way: Output = Inputgamma When unadjusted, most CRT monitors have a gamma of 2.5 which means that pixels with a brightness of 0.
Glossary Global pipelined shutter A global pipelined shutter assures that the integration for all pixels starts and stops at the same moment in time. The integration of the next image is possible during the readout of the previously captured image. Global shutter All pixels are exposed to the light at the same moment and for the same time span.
Glossary IEEE 1394 Trade Association IEEE 1394 Trade Association is a non-profit industry association devoted to the promotion of and growth of the market for IEEE 1394-compliant products. Participants in working groups serve voluntarily and without compensation from the Trade Association. Most participants represent member organizations of the 1394 Trade Association. The specifications developed within the working groups represent a consensus of the expertise represented by the participants.
Glossary IIDC V1.3 IIDC V1.3 IIDC 1394-based Digital Camera Specification Version 1.30 July 25, 2000 The purpose of this document is to act as a design guide for digital camera makers that wish to use IEEE 1394 as the camera-to-PC interconnect. Adherence to the design specifications contained herein do not guarantee, but will promote interoperability for this class of device. The camera registers, fields within those registers, video formats, modes of operation, and controls for each are specified.
Glossary Interline transfer CCD Interline transfer CCD or just interline CCD is a type of CCD in which the parallel register is subdivided so that, like a Venetian blind, opaque strips span and mask the columns of pixels. The masks act as storage areas. When the CCD is exposed to light, the image accumulates in the exposed areas (photosites) of the parallel register. In the serial register, the entire image is under the interline mask when it shifts for CCD readout.
Glossary JPEG, JPG The JPEG (Joint Photographic Experts Group) image files are files in a lossy format. The DOS filename extension is JPG, although other operating systems may use JPEG. Nearly all digital cameras have the option to save images in JPEG format, some at different compression levels, such as fine and standard. The JPEG format supports full color and produces relatively small file sizes. Fortunately, the compression in most cases does not detract noticeably from the image.
Glossary OHCI OHCI = Open Host Controller Interface One-push autofocus Focus hold mode that can be automatically readjusted as required by the user (one-push autofocus trigger) assuming that the required subject is within the focusing limits of the camera lens. One-push white balance AVT color cameras have not only manual but also one-push white balance. For white balance, in total a number of frames are processed and a grid of a number of samples is equally spread over the whole image area.
Glossary PxGA Pixel Gain Amplifier Pixel Pixels are generally thought of as the smallest complete sample of an image. The definition is highly context sensitive. For example, we can speak of pixels in a visible image (e.g. a printed page) or pixels carried by one or more electronic signal(s), or represented by one or more digital value(s), or pixels on a display device, or pixels in a digital camera (photosensor elements).
Glossary RAW RAW is a file option available on some digital cameras. It usually uses a lossless compression and produces file sizes much smaller than the TIFF format. Unfortunately, the RAW format is not standard among all camera manufacturers and some graphic programs and image editors may not accept the RAW format. The better graphic editors can read some manufacturer's RAW formats, and some (mostly higher-end) digital cameras also support saving images in the TIFF format directly.
Glossary Scalable mode Scalable mode allows selection of an area within a full image for output. Sensitivity Sensitivity is a measure of how sensitive the camera sensor is to light input. Unfortunately there is no standardized method of describing sensitivity for digital CCD or CMOS cameras. Shading The variation of the brightness or relative illumination over the surface of an object, often caused by color variations or surface curvature.
Glossary Square pixel Pixels of the same x and y dimensions (pixel aperture ratio PAR = 1). In the case of rectangular (non-square) pixels (usual in TV) one must maintain the aspect ratio when measuring objects, because the dimensions of stored frames aren't equal to true dimensions; resolutions along x and y axes aren't the same. Use of square pixels solves such problems - picture elements are equally arrayed in both directions, and allow easy addressing.
Glossary Vertical binning Vertical binning increases the light sensitivity of the camera by a factor of two by adding together the values of two adjoining vertical pixels output as a single pixel. At the same time this normally improves signal-tonoise separation by about 2 dB.
Index Index Numbers B 1394a data transmission ........................... 18 1394b bandwidths ....................................... 23 requirements laptop............................ 24 1394b data transmission ........................... 19 bandwidth .............................................159 affect frame rate ...............................182 available ..........................................173 deferred image transport ....................132 FastCapture ....................................
Index variation ..........................................235 Brightness Control ..................................207 brightness (table) ...................................114 BRIGHTNESS_INQUIRY .............................209 Brightness_inq. ......................................209 buffer LUT .................................................124 bulk trigger.....................................145, 147 busy signal ............................................. 91 Bus_Id ..................................
Index ExpressCard............................................. 24 technology ........................................ 24 ExpressCard/54 ........................................ 24 ExpTime (Field).......................................153 EXTD_SHUTTER........................................225 extended shutter ....................................153 configuration....................................153 FireDemo..........................................225 FireView ...........................................
Index I IEEE 1394 ............................................... 29 declaration of conformity .................... 11 IEEE 1394 standards ................................. 17 IEEE 1394 Trade Association .....................186 IEEE 1394b Pike family ........................................ 14 pin assignment .................................. 76 IEEE 1394b connector............................... 73 IIDC..........................................29, 159, 186 data structure .................................
Index general ............................................123 loading into camera...........................124 volatile ............................................124 LutNo (Field)..........................................227 LUT_CTRL...............................................227 LUT_INFO...............................................227 LUT_MEM_CTRL .......................................227 M Manual_Inq............................................. 87 Maximum resolution (register) .................
Index PIKE F-421C (Specification) ....................... 51 Pike types............................................... 14 PIKE W270 .............................................. 60 Pike W270 S90......................................... 60 pin assignment IEEE 1394b........................................ 76 pin control.............................................234 PinState flag ........................................... 93 PinState (Field) ....................................... 85 pixel size ..........
Index brightness ........................................128 symbols ............................................... 9, 10 system components .................................. 28 T Target grey level corresponds to Auto_exposure.............213 Target grey level (auto exposure) .......112, 236 Target grey level (SmartView) corresponds to auto exposure..............109 test image .............................................184 Bayer-coded .....................................185 b/w cameras ...............
Index Vertical binning ......................................126 VG (GND) IEEE 1394b........................................ 76 video data format IIDC V1.31 ........................................ 97 video format available bandwidth...........................172 frame rate ........................................172 MF-080 .............................. 161, 162, 163 video formats .........................................159 video Format_7 AOI .................................................
