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1. AUTO GAIN RANGE 10A0h GPIO_XTRA 1104h SHUTTER_DELAY 1108h GPIO_STRPAT_CTRL 110Ch GPIO_CTRL_PIN_x GPIO_XTRA_PIN_x 1110h 1120h 1130h 1140h 1114h 1124h 1134h 1144h GPIO_STRPAT MASK PIN x 1118h 1128h 1138h 1148h FRAME_INFO 12F8h 008h 00Ch 010h 044h Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 54 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Appendix C Glossary Appendix C Glossary Term Definition 1394a An Institute of Electrical and Electronics Engineers IEEE interface standard capable of transferring data at a rate of 400Mbit per second 1394b An IEEE interface standard capable of transferring data at a rate of 800Mbit per second Absolute Values Real world values such as milliseconds ms decibels dB or percent 96 Using the absolute values is easier and more efficient than applying complex conversion formulas to integer values Analog to Digital Converter Often abbreviated as ADC or A D converted it is a device that converts a voltage to a digital number API Application Programming Interface Essentially a library of software functions Asynchronous Transmission The transfer of image data from the camera to the PC that is regulated by an external signal such as a trigger Asynchronous transfers do not guarantee when data will be trans
2. 22 41 General Camera Properties i o oooooooooWoWo WWW Woo 23 4 2 Standard Data Formats Modes and Frame Rates sess 23 4 3 Frame Rates and Camera Bandwidth iooooooo oWoWoWoWoWoWoW Woo 25 4 3 4 Maximum Number of Cameras on a Single Bus 25 4 3 2 Exceeding Bandwidth Limitations Using Format 7 with Multiple Gamera ernan aa aa aa 26 4 3 3 Calculating Maximum Possible Frame Rate 26 4 3 4 Dual Packet Mode ii oooooWoWoWo W Wc Wo Wc WWW nnns 26 4 4 Customizable Data Formats and Modes i oooooWoWoWomoW oo 27 4 4 1 Calculating Format 7 Frame Rates eee 34 4 4 2 Subsampling and Binning in Format 7 oom 34 45 Image Acquisition san tie ah 35 45 1 Camera POWEr oom aa ana 35 4 5 2 SNUTE ee anna necare bere tr ina ina 35 453 a EE aa 36 4 5 4 Auto EXPOSUIC 4c beken ie rnin eaves 36 4 5 5 Extended Shutter TiMES ooooooooo WWW Woo Wo oom 37 4 5 6 Automatic Inter Camera Synchronization ooooooo 38 4 5 7 Frame Rate Control sese eee Wo WWW Wana 38 4 5 8 Pixel Binning and Region of Interest Modes 38 4 5 9 Y16 16 bit Mono Image AcaUiSitiOn oooooooWW 39 4 5 10 Asynchronous External Trigger Modes se 39 4 5 11 On Camera Frame Buffer 41 4 5 12
3. 4 2 Standard Data Formats Modes and Frame Rates This section lists the different video formats modes and frame rates that are supported by the Grasshopper Refer to the Customizable Formats and Modes for a list of supported partial image Format 7 modes These standard modes are controlled using the following IIDC registers e CURRENT VIDEO FORMAT register 0x608 CURRENT VIDEO MODE register 0x604 CURRENT FRAME RATE register 0x600 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 23 i vaso adds ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features Images acquired by color cameras using Y8 or Y16 modes or Format 7 Mono8 Mono16 modes are converted to greyscale monochrome on board the camera To access the raw Bayer data to apply different color conversion algorithms or one of the FlyCapture library algorithms refer to the Color and Greyscale Conversion section of this manual Some smaller format mode combinations e g 1280x960 Y8 on an GRAS 20S4C currently run at 5 6th of the frame rate reported in the following table e g 25 FPS instead of 30 FPS Table 4 Supported video formats modes and frame rates Models e 03K2M e 03K2C 0353M 1453M 1453C 1455C 1485M 9 2054C 2054M e 5085C gt 50S5M 1 875tps 3 75fps 160x120 eo eo eo YUV444 320x240 0 0 cooo
4. 11 1 5 8 Third Party Software Applications oooo ooW Woo 11 1 6 Camera Control Command Registers oooooo WoWoWoWoWoWoW 12 1 7 Handling Precautions and Camera Care oooooWoWoWoWoWoWoWoW oo 12 1 7 1 Case Temperature and Heat Dissipation 12 1 8 Camera Accessori S ii oooo ooooooWo WooW oom om 13 2 Camera Physical Properties omi 14 2 1 Physical Description scrcas 14 2 2 Camera Dimensions ooococoWoWcoWo WWW WWW W W Wan 15 2 3 Lens Setup and Compatibility ee 15 2 4 Dust Protector ea aa ah aah AR Aa Ra 16 2 52 Mounting s an en na hera 16 2 5 l Using the CASE nr teen aa ana 16 2 5 2 Using the Tripod Mounting BracKet ooooooW Woo 16 2 6 Infrared Cut Off Filters eee 17 3 Camera Intertate ooooo o o oo o Xoo oo Dooomoo m c v mco oo oo oo woomoomo om 18 3 1 IEEE 1394b Connector ooooooooWo o W Wanna 18 m aD Teile M 18 9 2 ZGabl8S an errant TUE 19 3 3 Host Adapter Cards aa 19 9 4 Camera POWOF oi onani 19 3 5 General Purpose Input Output GPIO oooooooo o oom 20 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc POINT GREY ka bere Teh Point Grey Research Grasshopper Technical Reference Table of Contents 3 5 1 GPIO Electrical Characteristics eee 21 3 6 Status Indicator LED 21 4 Camera Operations and Features
5. Revised 17 Mar 11 34 Copyright c 2010 Point Grey Research Inc POINT GREY la bere Lees Point Grey Research Grasshopper Technical Reference Camera Operations and Features 4 5 Image Acquisition 4 5 1 Camera Power The Grasshopper allows the user to power up or power down components of the camera using the CAMERA_POWER register 0x610 The exact components e g image sensor A D converter other board electronics will vary between camera models By default power is OFF both at startup and reinitialization After writing 0x10000000 to register 0x610 to power up the camera the camera automatically reports a value of 0x00000001 until power up is complete The default power up delay time is 100 ms or two frame times The maximum delay is 1 s On GRAS 03K2 models the default delay time is 250 ms The camera does not keep or transmit any images acquired during power up regardless of isochronous or asynchronous transmission mode The auto exposure algorithm does not run while the camera is powered down It may therefore take several n images to get a satisfactory image where n is undefined 4 5 2 Shutter The Grasshopper supports automatic manual and one push control of the CCD shutter time Refer to the General Specifications section for detailed information on supported shutter time ranges Shutter times are scaled by the divider of the basic frame rate For example dividing the frame rate by two e g 15 FPS to 7
6. Point Grey Research Grasshopper Technical Reference Camera Interface 3 Camera Interface 3 1 IEEE 1394b Connector The camera has 2 standard 9 pin IEEE 1394b connectors pin configuration shown below that is used for data transmission camera control and powering the camera For more detailed information consult the IEEE 1394b Standard document available from www 1394ta org For a full description of the features and benefits of 1394b refer to Knowledge Base Article 206 3 1 1 Daisy Chaining As the camera has 2 IEEE 1394b connectors it is possible to connect multiple cameras and or hubs in a daisy chained manner This allows multiple cameras to be easily connected to a single host controller However the maximum bandwidth available for all cameras is still restricted to 800Mbps for IEEE 1394b or 400Mbps for IEEE 1394a While the Grasshopper is an IEEE 1394b device it is backward compatible with the IEEE 1394a 400Mb s standard and can therefore be connected to any 1394a OHCI host adapter using a 9 to 6 pin cable included with Grasshopper Development Kits Figure 2 IEEE 1394b connector pin configuration Pin Signal Name Comment 1 TPB Twisted Pair B Minus 2 TPB Twisted Pair B Plus 3 TPA Twisted Pair A Minus 4 TPA Twisted Pair A Plus 5 TPA R Twisted Pair A Reference Ground 6 Vo Power Ground 7 SC Status Contact Reserved for Future Use 8 Vp Power Voltage 9 TP
7. ddd UIN ezis xew dda Xen 21 0 Monog 82 4 3828 ancha 22 41 71 111 0 Monot6 82 8 7656 jor ioo 22 41 71 111 0 Raws 82 4 3828 igmio 22 41 71 111 0 Rawis 82 8 7656 ancha 22 41 71 111 0 vuvat 82 8 5744 igo logo 22 41 71 111 o vuvez2 82 8 7656 igo cap 22 41 71 111 0 vuvass 82 16 9792 455 ho E 41 71 111 0 RGB8 82 16 9792 jes ogo 21 41 71 111 1 Mon 42 4 1628 Aas 37 64 98 1 Monot6 42 4 3256 Goog 37 64 98 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 29 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 35 1 Raws 42 4 1628 ug f 37 64 98 1 Rawi6 42 4 a256 conie 37 64 98 1 yuva 42 4 2440 coris 37 64 98 1 YUVA22 42 4 3256 coaie 37 64 98 1 YUVA44 42 4 4884 corio S 37 64 98 1 RGBS 42 4 4884 goes 37 64 98 2 Monog 82 4 3256 iss ric 37 64 98 2 Monoi6 82 4 6512 ma e 37 64 98 2 RawB 82 4 3256 iss ric 37 64 98 2 Rawi6 82 4 6512 sie 37 64 98 2 yuva 82 4 4884 ias ic 37 64 98 2 YUV422 82 4 6512 annis 37 64 98 2 vuvaaa 82 8 9768 aana 37 64 98 2 RGB8 82 8 9768 aana 37 64 98 Table 7 Supported partial image Format 7 video formats and modes
8. 0 eee e e YUV422 640x480 0 0 cooo eoo eoo e YUV411 640x480 eoo 0 eoo 0 eee o YUV422 640x480 0 0 eoo 0 eoo e RGB 640x480 66766 e Y16 coo coo 000000 640x480 00000 Y8 coo TIO 800x600 eee eee eee ee YUV422 800x600 eoo eoo eo RGB prd eeecce eeccce eeccce ee aa sc sc 1024x768 gece eo o YUV422 Revised 17 Mar 11 24 Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 1024x768 eo o RGB 1024x768 000000 Y16 TII TII TII TII soo 666 1024x768 6666 Y8 TII TII TII 1280x960 eoo eee eee eee YUV422 1280x960 eoo eoo eoo 666 RGB zeas seosoo 000000 000000 000000 aa eeocee 000000 000000 000000 1600x1200 ee ee ee ee YUV422 1600x1200 ee ee oe RGB uro d Yo ccoo bp ge cooo 4 3 Frame Rates and Camera Bandwidth This section is recommended for advanced users only and is not meant to address all possible applications of the Grasshopper camera 4 3 1 Maximum Number of Cameras on a Single Bus A single IEEE 1394 OHCI host adapter generally constitutes a single bus There are four elements that limit the number of cameras that can be used on the sam
9. 84 e s Read Noise 84 e 78 e Average 46 C 38 C Revised 17 Mar 11 8 Copyright c 2010 Point Grey Research Inc pew GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Introduction Operating Temperature Dimensions 44mm x 29mm x 58mm excluding lens holder without optics Mass 104 grams without optics Lens Mount C mount Camera IIDC 1394 based Digital Camera Specification v1 31 Specification Voltage 8 30V via IEEE 1394b interface or 8 pin GPIO connector Requirements Power Requirements max 9 9W 2 9W 9 0W 9 1W 3 4W 9 8W Emissions Complies with CE rules and Part 15 Class A of FCC Rules Compliance Operating 0 to 40 C Temperature Storage 30 to 60 C Temperature Warranty Two years Operating 20 to 80 no condensation Relative Humidity Storage 20 to 95 no condensation Relative Humidity Measurements taken under the following conditions Gain 0 dB Pixel Format Format_7 Mode 0 Resolution Max Frame Rate Max Shutter 1 ms 1 3 1 Spectral Response All color models are equipped with an optical filter that prevents infrared light from reaching the image sensor This filter is discussed in the section on Infrared Cut Off Filters For spectral response curves see Appendix A Spectral Response Curves Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc POIN
10. transfers unlike asynchronous transfers do not guarantee the integrity of data through a transfer No response packet is sent for an isochronous transfer Isochronous transfers are useful for situations that require a constant data rate but not necessarily data integrity Examples include video or audio data transfers Isochronous transfers on the 1394 bus do not target a specific node Isochronous transfers are broadcast transfers which use channel numbers to determine destination Lookup Table A matrix of gamma functions for each color value of the current pixel encoding format Node An addressable device attached to a bus Although multiple nodes may be present within the same physical enclosure module each has its own bus interface and address space and may be reset independently of the others Node ID A 16 bit number that uniquely differentiates a node from all other nodes within a group of interconnected buses Although the structure of the node ID is bus dependent it usually consists of a bus ID portion and a local ID portion The most significant bits of the node ID are the same for all nodes on the same bus this is the bus ID The least significant bits of the node ID are unique for each node on the same bus this is called the local ID The local ID may be assigned as a consequence of bus initialization One Push For use when a control is in manual adjust mode One Push sets a parameter t
11. 5 1 GPIO Electrical Characteristics The Grasshopper GPIO pins are TTL 3 3V pins When configured as inputs the pins are internally pulled high using weak pull up resistors to allow easy triggering of the camera by simply shorting the pin to ground GND Inputs can also be directly driven from a 3 3V or 5V logic output The inputs are protected from both over and under voltage It is recommended however that they only be connected to 5V or 3 3V digital logic signals When configured as outputs each line can sink 10mA of current To drive external devices that require more consult the following article for information on buffering an output signal using an optocoupler KB Article 200 www ptgrey com support kb index asp a 4 amp q 200 The Vexr pin Pin 7 allows the camera to be powered externally The voltage limit is 8 30V and current is limited to 1A The 3 3V pin is fused at 150mA External devices connected to Pin 8 should not attempt to pull anything greater than that 3 6 Status Indicator LED Maximum red Initial Initial startup On until camera is initialized connection Maximum red During Condition 1 Bus Rest On for 0 66s operation Condition 2 Power failure On until power up via CAMERA_POWER 0x610 Dull Red Configuration error Bright Red Configuration error Dull Green Camera is idle Bright Green Firewire activity On for 0 5s during activity Dull Yellow Powered down Bright Yello
12. Monos 82 4 5064 se nad 23 37 51 62 2 Mono16 82 8 9792 AB 024 23 37 51 62 2 Raws 82 7 7288 5 sapo 23 37 51 64 2 Rawi6 82 16 9792 goa 23 37 51 64 2 YUV411 82 8 7592 ssp 23 37 51 62 2 YvUV422 82 8 9792 ripa 23 37 51 62 2 yuvaaa 82 16 9792 sure aoa 21 37 51 62 2 RGB8 82 16 9792 5 sagas 21 37 51 62 3 Monog 42 8 3984 s dg 44 63 80 3 Monot6 42 12 7980 iss gt 949 f 44 63 80 3 Rawa 42 8 4784 2 at 2 44 63 80 3 Rawi6 42 16 9568 iss ois 44 63 80 3 yuva 42 8 5984 lis meds 44 63 80 3 YUV422 42 12 7980 i ng l 44 63 80 3 YUVA44 42 16 9792 lis p49 3 44 63 80 3 RGB8 42 16 9792 jon 44 63 80 7 Monos 22 8 920 sio 3 61 72 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc F 33 POINT GREY kg RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 45 7 Mono16 2 2 16 1844 612X512 E 61 71 Table 10 Supported partial image Format 7 video formats and modes for GRAS 50S5C The maximum resolution currently supported by the GRAS 50S5C when using a mode that performs color processing on board e g Mono8 YUV422 RGB is 2040x2040 In order to access the full 2048x2048 array Raw8 or Raw16 modes must be used See Knowledge Base Article 276 for instructions on
13. TX 2 6 4 103 Input Output RS232 Receive RX 10 6a 5 GND 8 6 GND 7 Vext Allows the camera to be powered externally 8 3 3V Power external circuitry up to 150mA Table 2 GPIO pin assignments VEXTIN 433V cepe F INPUT EN INPUT EN MF USMD020 2 Input pullup is enabled 10K resi denti after camera initialization E IO 0 3 circuitry is identical 10K BAT74 Coen 31 TN CIR A gt a 1 5 Processor input and output pins z 3 10K MMB T3904 GND S T OUTO CTRL Q GND OUT CTRL gt VEXTTN 6 3 3V_OUT x HIROSE_HR25_7TR_8SA e C VBUS 1394 VEXT IN 1000pF 1000pF Pin 7 Optional power input 8 32V R SUR Pin 8 output 3 3V max 200mA D B140 VPOWER To power regulation circuit Figure 3 GPIO schematic Inputs can be configured to accept external trigger signals Outputs can be configured to send an output signal strobe or PWM signal To use the RS232 functionality a level converter must be used to convert the TTL digital logic levels to RS232 voltage levels B amp B Electronics http www bb elec com part number 232LPTTL can be used for this conversion For more information on using the RS232 serial port download Technical Application Note TAN2004001 from www ptgrey com support downloads Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 20 ETR ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Interface 3
14. YUVA44 82 16 9792 aana E 44 75 114 2 RGB8 82 16 9792 ooo 44 75 114 Table 9 Supported partial image Format 7 video formats and modes for GRAS 20S4C GRAS 50S5C c Be o Ko D TES RR Mx ss y 35 z8 32 ala al oy uy Pesoluteng eg Te a ae os 0 9 U 5 7 3 9 S S o 14 0 Mono8 8 2 8 6192 2448x2048 23 27 44 63 80 0 Mono16 8 2 16 9792 2448x2048 20 27 44 63 80 0 Raw8 18 21 16 9568 2448x2048 23 28 44 63 80 0 Raw16 8 2 24 9792 2448x2048 20 27 44 63 80 0 YUV411 8 2 16 9296 2448x2048 23 27 44 63 80 0 YUV422 8 2 16 9792 2448x2048 20 27 44 63 80 0 YUV444 8 2 24 9792 2448x2048 13 21 44 63 80 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 32 pori adds ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 0 RGB8 82 24 9792 syyaronag 13 21 44 63 80 1 Monog 42 4 3086 sor eoa f 37 51 64 1 Monote 42 8 6072 iso eoa 37 51 64 1 Raws 42 4 8644 AA mu 37 51 64 1 Rawi6 42 8 7288 iso oo S 37 51 64 1 YUVAM 42 4 4566 ioo npa s 37 51 62 1 YUV422 42 8 6072 aso epa 37 51 62 1 YUVA44 42 8 9112 hos TE 37 51 62 1 RGB8 42 8 oma 4 70 mr l 5 37 51 62 2
15. clothes or material Also use conductive shoes o Install a conductive mat on the floor or working table to prevent the generation of static electricity e When handling the camera unit avoid touching the lenses Fingerprints will affect the quality of the image produced by the device e Toclean the lenses use a standard camera lens cleaning kit or a clean dry cotton cloth Do not apply excessive force e To clean the imaging surface of your CCD follow the steps outlined in www ptgrey com support kb index asp a 4 amp q 66 e Our cameras are designed for an office environment or laboratory use Extended exposure to bright sunlight rain dusty environments etc may cause problems with the electronics and the optics of the system e Avoid excessive shaking dropping or any kind of mishandling of the device 1 7 1 Case Temperature and Heat Dissipation The Grasshopper is an ultra compact camera As a result of packing the Grasshopper electronics into a small space the outer case of the camera can become very warm to the touch when running in some high data rate video modes The case can reach temperatures up to 45 Celsius under normal operating conditions This is expected behaviour and will not damage the camera electronics Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Introduction If reducing heat is a concern users c
16. for GRAS 14S3C GRAS 14S5C o0 oU ow Resolution 9x on bis e 333 gy FPS S 8 8 E 0 Monog 82 4 2676 jg ggg 16 29 48 74 0 Mono6 82 8 5352 saa ag 16 29 48 74 0 Raws 82 4 2676 js ggg 16 28 47 74 0 Rawie 82 8 5352 jas ggg 16 28 47 74 0 Yuva 82 8 4008 js egg 16 29 48 74 0 YUV422 82 8 5352 opp ggg 18 29 48 74 0 YUVAA4 82 16 8016 jas ng 16 29 48 74 0 RGB8 82 16 8016 jo Ag 16 29 48 74 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 30 ans adds ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 29 1 Monog 4 2 4 1368 cori 31 52 82 1 Monoi6 42 4 2740 m m 81 52 82 1 YUVAM 42 4 1000 sedis 16 29 48 1 Yuva22 42 4 1336 aca s 16 29 48 1 YUVAM 42 4 2004 goo 16 29 48 1 RGB8 42 4 2004 soazig S 16 29 48 2 Monog 82 4 1336 ioris 16 29 48 2 Monoi6 82 4 2676 soris E 16 29 48 2 yuva 82 4 2004 soris 16 29 48 2 YUV422 82 4 2676 sepsis S 16 29 48 2 YUVA4 82 8 4008 jo ig 16 29 48 2 pops 82 8 4008 sois 16 29 48 Table 8 Supported partial image Format 7 video formats and modes for GRAS 14S5C GRAS 20S4C c22 2 Ro o Ka zig T ee ae Be ae En es ze PEE N
17. the AUTO EXPOSURE register 0x804 There are three AE states State Description Off Control of the exposure is achieved via setting shutter and or gain On The camera automatically modifies shutter and or gain to try and match Manual AE the average image intensity to one quarter of the specified AE value On The camera modifies the AE value in order to produce an image that is Auto AE visually pleasing If only one of shutter and gain is in auto mode the auto exposure controller attempts to control the image intensity using that one parameter If both of these parameters are in auto mode the auto exposure controller uses a shutter before gain heuristic to try and maximize the signal to noise ratio by favoring a longer shutter time over a larger gain value The auto exposure algorithm is only applied to the active region of interest and not the entire array of active pixels Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 36 iwl Point Grey Research Grasshopper Technical Reference Camera Operations and Features It is also possible to force the camera to perform the auto exposure algorithm on a certain ROI within the image Please see the documentation for the AE_ROI register located at 0x1A70 to 0x1A74 in the PGR IEEE 1394 Digital Camera Register Reference 4 5 5 Extended Shutter Times The maximum shutter time for the Grasshopper can be extended beyond the normal shutter range by sett
18. 1 105 168 6 YUV422 82 4 5520 han 61 105 168 6 YUVA44 82 8 8280 gious 61 105 168 6 RGB8 82 8 8280 gin a 61 105 168 7 Monog 82 4 2760 S4080 61 105 168 7 Monote 82 4 5520 hau 61 105 168 7 Raw8 82 4 2760 amp ro 61 105 167 7 Rawi6 82 4 5520 hau 61 105 167 7 yuva 82 4 410 han 61 105 168 7 YUV422 82 4 5520 Giao 61 105 168 7 YUVA44 82 8 8280 gio ao 61 105 168 7 RGB8 82 8 8280 gio so 61 105 168 Table 5 Supported partial image Format 7 video formats and modes for GRAS 03K2C Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc P 28 POINT GREY kg RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features GRAS 03S3M 38 SS SS z Max 640x480 320x240 160x120 so yg um Resolution FPS FPS FPS o uv 0 U 0 Mono 82 4 2644 amp no m 65 85 101 0 Menang 82 4 5292 P MS 65 85 101 1 Mono 42 4 1212 m M 115 116 1 Monoi 42 4 2020 y 2 i s 115 116 2 Mon 82 4 2424 Num P 115 116 2 Monoi6 82 4 4852 NT 4 115 116 7 Mon 82 4 3008 ure 75 134 224 7 Monore 82 4 6020 rom 75 134 224 Table 6 Supported partial image Format 7 video formats and modes for GRAS 03S3M GRAS 14S3C Max Resolution FPS A H ezis Hun hc o p BR N eo TO ae 2 mo Ux Ux Ux Ux Noo On Ny Ou eo B N 2 ezis xen
19. 17 Mar 11 61 Copyright c 2010 Point Grey Research Inc POINT GREY la bere Lees Point Grey Research Grasshopper Technical Reference Appendix F Revision History OUTPUT DING t eE EEE 21 saving user data See flash memory output pulse sssssse See strobe sharpness iecore ana naa 44 Shiutler aie naa 23 35 36 37 signal to noise ratio ooooooWooo 39 P software trigger See asynchronous trigger SMODE e EE 46 partial image modes See Format 7 for duration of shutter oooo 46 PGM file format for Y16 images 39 variable pattern 46 PGR IEEE 1394 Digital Camera Register size etaient ens 22 pixel bInning none nenen enam 39 T ej qu 19 trigger se See asynchronous trigger trigger timing ui cere ient ete te tete tertiae 39 R ranges for properties ooooo oW oo 23 U raw Bayer data raw data user data flash oooooWW Woo 47 ACCESSING e EE user data storage See flash memory interpolating eeeeeeeeenene real world values region of intereSt ooo W changing size oooooWoWoooWom an menneen white balanCe oooooo 44 regions of interest aud sesiseseieisiseeeieisirerereisieerersisrererenrersrereree 44 Kem Riaz ROD emae Y S Y16 data
20. 232 Serial Port Provides serial communication via GPIO TTL digital logic levels Memory Channels Non volatile storage of camera default power up settings Broadcast Properties Apply settings e g shutter gain to all cameras on the same bus Voltage Sensor Monitors sensor voltages to ensure optimal image quality Camera Upgrades Firmware upgradeable in field via IEEE 1394 interface 1 1 4 Mechanics and Form Factor Feature Description Compact Design 44mm x 29mm x 58mm 104 grams Industry Standard Mechanics ASA ISO compliant mounting bracket and C mount lens holder Jack Screw Connector 1394b cable jack screws provide secure connection 1 2 Using This Manual This manual attempts to provide the user with a detailed specification of the Grasshopper camera system The reader should be aware that the camera system is a complex and dynamic system if any errors or omissions are found during experimentation please contact us This document is subject to change without notice Many of the operational descriptions included in this manual are intended as general overviews and may not present the detailed information required for developing specific applications For additional details and operational descriptions refer to the following resources that can be downloaded from our website at www ptgrey com support downloads Point Grey Digital Camera Register Reference FlyCapture User Manual TAN2004004 Synchronizing t
21. 43 1600x1200 Y8 1 875 FPS 0 02 19631 Table 11 Extended shutter minimum and maximum times Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc POINT GREY la Uri s Lees 37 Point Grey Research Grasshopper Technical Reference Camera Operations and Features Related Knowledge Base Articles 166 Extended shutter mode www ptgrey com support kb index asp a 4 amp q 166 operation for DCAM 1 31 compliant PGR Imaging Products 4 5 6 Automatic Inter Camera Synchronization Multiple Point Grey FireWire cameras when they are on the same IEEE 1394 bus and running at the same frame rate are automatically synchronized to each other at the hardware level When using multiple cameras the timing of one camera to another camera is as follows e f the cameras are on the same bus the cameras are synchronized to within 125us microseconds of each other note 125us is the maximum deviation However the 1394 bandwidth limits the maximum number of cameras that can be on one bus See the section Maximum Number of Cameras on a Single 1394 Bus for more information e f the cameras are on separate buses use PointGrey s MultiSync software to synchronize the cameras across buses This can be used to synchronize cameras on different buses within the same computer or on different buses across multiple computers The software will ensure that the cameras are synchronized to within 125us If Multisy
22. 5 FPS causes the maximum shutter time to double e g 66ms to 133ms Formulas for converting the fixed point relative shutter values reported by SHUTTER register 0x81C to floating point absolute values are not provided Users wishing to work with real world values should refer to the Absolute Value CSR Registers section of the PGR IEEE 1394 Digital Camera Register Reference The terms integration and exposure are often used interchangeably with shutter The time between the end of shutter for consecutive frames will always be constant However if the shutter time is continually changing e g shutter is in Auto mode being controlled by Auto Exposure the time between the beginning of consecutive integrations will change If the shutter time is constant the time between integrations will also be constant The Grasshopper will continually expose and read image data off of the sensor under the following conditions 1 The camera is powered up see Camera Power above and 2 The camera is not in asynchronous trigger mode When in async trigger mode the camera simply clears the sensor and does not read the data off the sensor It is important to note that the camera will continue exposing images even when isochronous data transfer is disabled and images are not being streamed to the PC The camera continues Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 35 POINT GREY ka RESEARCH Poi
23. B R Twisted Pair B Reference Ground Revised 17 Mar 11 P Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Camera Interface Table 1 IEEE 1394b connector pin configuration 3 2 Cables The maximum 1394 cable length between any 1394 node e g camera to PCI card PCI card to hub etc is 4 5m as specified by the IEEE 1394 standard Standard shielded twisted pair copper cables must be used Consult the following knowledge base article for information on how to extend the physical distance between the camera and the controlling host system KB Article 197 www ptgrey com support kb index asp a 4 amp q 197 3 3 Host Adapter Card All camera KITs e g part numbers ending with KIT come with a 3 port IEEE 1394 PCI host adapter card For more information regarding the differences between various 1394 host adapters consult the following knowledge base article KB Article 146 www ptgrey com support kb index asp a 4 amp q 146 3 4 Camera Power The 9 pin 1394b interface connects to a standard IEEE 1394 FireWire 9 pin cable and provides a power connection between the camera and the host computer The ideal input voltage is 12V DC however the camera is designed to handle voltages between 8V and 30V DC The power consumption is outlined in the Camera Specifications section Some systems such as laptop computers or those with severa
24. Color and Greyscale Conversion In order to produce color e g RGB YUV and greyscale e g Y8 Y16 images color Grasshopper models perform on board processing of the Bayer Tile Pattern output produced by the CCD The color processing algorithm used by the Grasshopper is most similar to the Edge Sensing algorithm implemented by the PGR FlyCapture library which weights surrounding pixels based on localized edge orientations The primary differences are the emphasis placed on the edges and the user configurable Sharpness filter To convert the Bayer Tile Pattern to greyscale the Grasshopper adds the value for each of the RGB components in the color processed pixel to produce a single greyscale Y value for that pixel as follows Y R 4 G 2 B 4 For a full description of how Bayer Tiled color sensors and color filter arrays work refer to Knowledge Base Article 89 http www ptgrey com support kb index asp a 4 amp q 89 4 6 1 1 Accessing Raw Bayer Data Users interested in accessing the raw Bayer data to apply their own color conversion algorithm or one of the FlyCapture library algorithms should acquire images using one of the Format_7 video modes that support Raw8 or Raw16 pixel encoding See the Customizable Formats and Modes Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 42 eer ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features section for further inform
25. G On On Ou SEE S ME B 8 0 Monos 82 8 5104 20 20 25 46 78 119 1624x1224 19 0 Monote 82 16 9792 andhaa 20 25 46 78 119 30 0 Raws 82 8 7512 ancha 30 37 68 115 176 19 0 Rawie 82 16 9792 endang 20 31 68 115 176 20 o Yuvatt 8 2 12 7656 oon sy 20 25 46 78 119 19 o Yuva22 8 2 16 9792 adana 20 25 46 78 119 13 0 YUV444 82 24 9792 soos ong 13 21 46 78 119 13 0 RGB8 82 24 9792 andhaa 13 21 46 78 119 53 1 Monog 42 4 8448 aa 1 65 110 165 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 31 vaso adds ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 53 1 Monote 42 4 6900 aias o i 65 110 165 1 Raws 42 4 3448 ma i 65 110 165 1 Rawt6 42 4 e900 aa s 65 110 165 1 YUVAM 42 4 13596 goo 44 75 114 1 YUV422 42 4 4716 aaa 44 75 114 1 YUVAM 42 4 7076 goo 44 75 114 1 RGB 42 4 7076 poe 44 75 114 2 Mono8 82 4 4664 Ne se s S 44 75 114 2 Monot 82 8 9328 aana 44 75 114 2 Raws 82 4 6804 jo 65 110 165 2 Rawie 82 8 9792 aana 65 110 165 2 YUVAM 82 4 700 eni 44 75 114 2 YUV422 82 8 9328 jones 44 75 114 2
26. High Dynamic Range HDR Mode ooooooooW Woo 42 4 6 Image Processing sese eee eee 42 4 6 1 Color and Greyscale CONVEFSION oooooWoWooW Woo 42 4 6 2 Lookup Table and Gamma ooooW Woo Woo 43 46 3 SAU AON iien nnrnancnnosi rinnen enr E TRENET EEEE a ra NENNE 44 4 6 4 Sharpness sse sees eee eee eee eee 44 4 6 5 White Balance eee eee 44 4 6 6 Image Flip MIFTOT ooooooo o Wooo Woo WWW akan 45 4 6 7 Test Patterm ooooooco oooW oo Woo WWW 45 4 6 8 Embedded Image Information oooooooWoWmoW WWW 46 4 7 Camera and Device Control 46 4 7 1 Voltage Senat eee eee 46 4 7 2 Programmable Strobe Output i ooooWooWoWo WWW oom 46 4 7 3 RS 232 Serial Port 46 4 7 4 Memory Channel Storage of Camera Settings 47 4 7 5 User Data FlaSh iooooooWoWoWoWo WoW WWW Waka 47 4 7 6 Camera Upgrades oooooooooW Wo W Woo WWW WWW 47 Appendix A Spectral Response Curves 48 Appendix B Memory Channel Registers 54 Appendix GOA Yama GER RUE 55 Appendix D Technical Support Resources 57 Appendix E Contacting Point Grey Research 58 Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grassh
27. Lens 5 Status LED Setup and This light indicates the current state of the Grasshopper Compatibility for full operation Refer to the section Status Indicator LED details 6 IEEE 1394b connector Glass IR filter 7 IEEE 1394b connector system The camera uses standard 9 pin 1394b connectors M3 Refer to the Dust screw holes are located on either side of the connectors Protection and the for secure connections to the 9 pin locking 1394b cable Infrared Cut Off See the EEE 1394 Connector section for full connector Filters section for details more information 8 M3x0 5 mounting holes M3x0 5 mounting holes Refer to the Mounting section for full details Refer to the Mounting section for full details Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc POINT GREY la USE Point Grey Research Grasshopper Technical Reference Camera Physical Properties 2 2 Camera Dimensions M3x0 5 y4 2 PLACES M3x0 5 4 4 PLACES E 6 kag 29 00 GPIO CONNECTOR LENS THREAD C MOUNT BOTTOM VIEW Figure 1 Dimensional drawing 2 3 Lens Setup and Compatibility The lens holder is compatible with C mount lenses Lenses are not included with individual cameras To differentiate between C and CS mount lenses consult the following article KB Article 98 www ptgrey com support kb index asp a 4 amp q 98 Revised 17 Mar 11 P Copyrigh
28. POINT GREY ka E ES EA R C N Grasshopper Technical Reference Manual Version 1 6 Revised March 17 2011 Point Grey Research Inc 12051 Riverside Way e Richmond BC e Canada e V6W 1K7 e T 604 242 9937 e www ptgrey com Copyright 2010 Point Grey Research Inc All Rights Reserved Point Grey Research Grasshopper Technical Reference Table of Contents FCC Compliance Information This equipment has been tested and found to comply with the limits for a Class A 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 commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to operate this equipment Hardware Warranty Point Grey Research Inc Point Grey warrants to the Original Purchaser that the Camera Module provided with this package is guaranteed to be free from material and manufacturing defects for a period of two 2 years Should a unit fail d
29. T GREY ka bere Teh Point Grey Research Grasshopper Technical Reference Introduction 1 3 2 Common CCD Artifacts The following section describes issues typical of CCD sensors and possible solutions Dead Hot Pixels It is possible for one or more pixels in the CCD sensor array to stop responding This will result in a situation where the pixel will always appear black dead or white hot stuck This is generally not an issue except in very rare cases Bright Pixels Cosmic rays have the ability to cause images to have artifacts which look like hot pixels which are randomly distributed throughout the image This is most apparent when the camera is running at a high temperature or the gain is set to a high amount It is impossible to prevent cosmic rays from reaching the CCD Vertical Smear When a strong light source is shot on the camera there may be a vertical smear above and below the position of the actual light source This is a byproduct of the interline transfer system used to extract data from the CCD 1 3 3 Dual Tap Sensor Information The Grasshopper 50S5M C and 03K2M C models feature dual tap CCDs This means that the CCD has two outputs running simultaneously in order to provide a larger data rate thus resulting in a higher frame rate However the CCD is generally unable to provide the left and right halves of the image at an equal intensity Therefore in order to maintain image quality the Grasshopper has been cali
30. This feature is controlled using the Frame Buffer register located at 0x12E8 For more information please see TAN2007004 Accessing the On Camera Frame Buffer 4 5 12 High Dynamic Range HDR Mode The Grasshopper can be set into a High Dynamic Range mode in which the camera will rotate between 4 user defined shutter and gain settings This allows images representing a wide range of shutter and gain settings to be collected in a short time to be combined into a final HDR image later The Grasshopper does not create the final HDR image this must be done by the user The format of the HDR registers is as follows Offset Register Remarks 0x1800 HDR control register Toggle bit 6 to enable disable HDR 0x1820 HDR shutter register for image 0 Similar to SHUTTER register 0x81C 0x1824 HDR gain register for image 0 Similar to GAIN register 0x820 0x1840 HDR shutter register for image 1 Similar to SHUTTER register 0x81C 0x1844 HDR gain register for image 1 Similar to GAIN register 0x820 0x1860 HDR shutter register for image 2 Similar to SHUTTER register 0x81C 0x1864 HDR gain register for image 2 Similar to GAIN register 0x820 0x1880 HDR shutter register for image 3 Similar to SHUTTER register 0x81C 0x1884 HDR gain register for image 3 Similar to GAIN register 0x820 Please note that the on off bit bit 6 for the HDR shutter and gain registers is hard coded to on 4 6 Image Processing 4 6 1
31. Title URL 33 Different color processing www ptgrey com support kb index asp a 4 amp q 33 algorithms 37 Writing color processing software www ptgrey com support kb index asp a 4 amp q 37 and color interpolation algorithms 89 Howis color processing www ptgrey com support kb index asp a 4 amp q 89 performed on my camera s images 4 6 20 Lookup Table and Gamma The Grasshopper supports lookup table LUT and gamma functionality CCD manufacturers strive to make the transfer characteristics of CCDs inherently linear which means that as the number of photons hitting the imaging sensor increases the resulting image intensity increases will be linear The Grasshopper also provides an 11 bit input lookup table that produces 9 bit outputs Although the camera uses a 14 bit A D converter the Grasshopper is only able to accommodate 11 bit images The LUT therefore allows the user to map the 2 or 2048 different possible pixel values to any one of 512 2 possible output values For example the LUT would allow the user to map any pixel with a value of 2047 white to any value between 0 black and 512 white On color cameras there are separate LUT channels for each entry representing red green and blue values Monochrome cameras have a single grayscale channel per entry Color cameras in a monochrome Y8 mode still require a three channel RGB LUT because the monochrome image comes from a weighted sum of the
32. Tomat eee eee 39 saturati Manesa ae an an an 44 saving camera settings See memory channels Revised 17 Mar 11 62 Copyright c 2010 Point Grey Research Inc POINT GREY la bere Lees
33. acintosh OS X or Linux operating systems should consult the following knowledge base articles Macintosh support www ptgrey com support kb index asp a 4 amp q 173 Linux support www ptgrey com support kb index asp a 4 amp q 17 1 5 Controlling the Camera The Grasshopper can be controlled by the following types of applications 1 5 4 FlyCap Demo Program The FlyCap application is a generic streaming image viewer included with the FlyCapture SDK that can be used to test many of the capabilities of your compatible PGR IEEE 1394 camera It allows you to view a live video stream from the camera save individual images or avi movie clips adjust the various video formats frame rates properties and settings of the camera and access camera registers It is an easy to use program that can be used to test many of the capabilities of your PGR IEEE 1394 camera system Consult the PGR FlyCapture User Manual for more information 1 5 2 Custom Applications Built with the FlyCapture API PGR FlyCapture includes a full Application Programming Interface that allows customers to create custom applications to control Point Grey Imaging Products The SDK provides a number of sample programs and source code that is meant to help the advanced programmer get started using the FlyCapture API Examples range from simple console programs that demonstrate the basic functionality of the API such as PGRFlyCaptureTest to more complex examples such as the MFC a
34. amera properties implemented by the Grasshopper Descriptions of some of the following properties and how they are implemented can be found in this Technical Reference Refer to the PGR IEEE 1394 Digital Camera Register Reference for additional definitions and descriptions of e Auto On Off and One Push Control and Status Registers for Features section Absolute Mode Absolute Value CSR Registers section The following property ranges apply to a Grasshopper GRAS 50S5C running at 15 FPS and can change depending on the camera resolution and frame rate e Shutter Extended Shutter maximum values increase as frame rate decreases e Pan Tilt maximum values increase with smaller non Format 7 resolutions e Frame Rate range changes according to the current frame rate Properties marked with a COL apply to color models only and are not implemented on cameras using a monochrome sensor Property Units Min Max Auto On Off One Absolute Push Mode Brightness 0 6 24 N N N Y Auto Exposure EV 7 58 2 41 Y Y Y Y Sharpness 0 4095 Y Y N N White Balance 1 1023 Y Y Y N Hue COL deg 180 179 91 Y N N Y Saturation COL 96 0 399 9 Y Y N Y Gamma 0 5 4 Y N N Y Pan 0 848 Y Y N N Tilt 0 848 Y Y N N Shutter ms 0 02 66 64 N Y Y Y Gain dB 4 50 24 00 N Y Y Y Trigger Delay S 0 65 00 Y N N Y Frame Rate fps 0 49 16 52 Y X N Y Extended Shutter ms 0 02 63312 04
35. ames per second FPS or frequency Hz This is the speed at which the camera is streaming images to the host system It basically defines the interval between consecutive image transfers Gain dB The amount of amplification that is applied to a pixel by the A D converter An increase in gain can result in a brighter image and an increase in noise Gamma Gamma defines the function between incoming light level and output picture level Gamma can also be useful in emphasizing details in the darkest and or brightest regions of the image GPIO General Purpose Input Output Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 55 1 POINT GREY Point Grey Research Grasshopper Technical Reference Appendix C Glossary Grabbing Images A commonly used phrase to refer to the process of enabling isochronous transfers on a camera which allows image data to be streamed from the camera to the host system Hz Hertz A unit of frequency one Hertz has a periodic interval of one second Often used interchangeably with FPS as a measure of frame rate Isochronous Transmission The transfer of image data from the camera to the PC in a continual stream that is regulated by an internal clock Isochronous transfers on the 1394 bus guarantee timely delivery of data Specifically isochronous transfers are scheduled by the bus so that they occur once every 125ys Each 125ys timeslot on the bus is called a frame Isochronous
36. an use a cooling fan to set up a positive air flow around the camera taking into consideration the following precautions e Mount the camera on a heat sink such as a camera mounting bracket made out of a heat conductive material like aluminum e Make sure the flow of heat from the camera case to the bracket is not blocked by a non conductive material like plastic e Make sure the camera has enough open space around it to facilitate the free flow of air 1 8 Camera Accessories Accessories such as tripod mounts and lens holders are available from PGR contact our Sales team at sales ptgrey com for additional information Links to FireWire IEEE 1394 and digital camera accessories can be found in the following knowledge base article KB Article 131 www ptgrey com support kb index asp a 4 amp q 131 Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a REAR ALE N Point Grey Research Grasshopper Technical Reference Camera Physical Properties 2 2 1 Camera Physical Properties Physical Description o gt ma O O AA E L SZ hb VYI AA lR oj i Lens holder C 4 General Purpose I O connector mount The 8 pin GPIO connector is used for external triggering Attach any C mount strobe output or digital I O Refer to the General Purpose lens or other optical Input Output section for more information equipment Consult the section
37. apan ViewPLUS Inc http www viewplus co jp Korea Cylod Co Ltd http Avww cylod com China LUSTER LightVision Tech Co Ltd www lusterlighttech com Singapore Voltrium Systems Pte Ltd www voltrium com sq Malaysia Thailand Taiwan Apo Star Co Ltd www apostar com tw Revised 17 Mar 11 58 Copyright c 2010 Point Grey Research Inc POINT GREY la Uri s Lees Point Grey Research Grasshopper Technical Reference Appendix F Revision History Appendix F Revision History Revision Date 1 1 October 22 2008 Notes Added max power consumption and signal to noise ratio values for 03K2 model to specification table in Section 1 3 Clarification in Section 1 3 3 on dual tap sensor calibration Added the 03K2 model to section 4 2 Standard Data Formats Modes and Frame Rates Added explanation of Format 7 Mode 6 and Mode 7 to section 4 4 Customizable Data Formats and Modes Added the O3K2 model to section 4 4 Customizable Data Formats and Modes Added the 03K2 model to section 4 5 5 Extended Shutter Times Updated Appendix D with new company address and phone Section 4 4 Customizable Data Formats and Modes Added color binning is supported in the 14S3C and 20S4C models Section 4 5 10 Asynchronous External Trigger Modes Clarified supported modes are 0 1 3 14 and 15 Replaced diagram of 1394b connector in Section 3 1 Previous diagram showed the cable connector rather than the camera Replaced generic
38. ation on acquiring images using these modes An alternative to this is to use the Bayer Mono Ctrl bit 24 of the IMAGE DATA FORMAT register 0x1048 Setting this bit to 1 enables raw Bayer output in non Format 7 Yg Y16 modes or Format 7 Mono8 Mono16 modes The actual physical arrangement of the red green and blue pixels for a given camera is determined by the arrangement of the color filter arrays on the imaging sensor itself For example the CFA format of a Sony ICX204AK color CCD can be found in the Block Diagram and Pin Configuration section of its datasheet The format i e order in which this raw color data is streamed out however depends on the specific camera model and firmware version This format can be gueried using the BAYER TILE MAPPING register 0x1040 that is implemented on all PGR cameras Raw image data can be accessed programmatically via the pData pointer in the FlyCapturelmage structure e g FlyCapturelmage pData In Raw8 modes the first byte represents the pixel at row 0 column 0 the second byte at row 0 column 1 etc In the case of a 1600x1200 color Grasshopper that is streaming out Raw8 image data in RGGB format if we access the image data via the pData pointer we have the following pData 0 Row 0 Column 0 red pixel R pData 1 Row 0 Column 1 green pixel G pData 1600 Row 1 Column 0 green pixel G pData 1601 Row 1 Column 1 blue pixel B Related Knowledge Base Articles ID
39. brated to correct for imbalances between the left and right halves However there may be situations where the boundary between the left and right halves of the images can be seen such as images with high gain values 1 4 System Requirements e Processor Recommended Intel Pentium 4 2 0 GHz or compatible processor Minimum Intel Pentium III 800 MHz or compatible processor e Memory Recommended 2GB Minimum 256MB e AGP video card with 64 MB video memory 128 MB recommended e Bus Configuration Recommended PCI Express PCl e card not included or 64 bit PCI slot Minimum 32 bit standard PCI slot for the IEEE 1394 card e Microsoft Windows XP Service Pack 1 e Microsoft Visual C 6 0 to compile and run example code Revised 17 Mar 11 10 Copyright c 2010 Point Grey Research Inc POINT GREY la bere Lees Point Grey Research Grasshopper Technical Reference Introduction 1 4 4 Laptop Notebook Considerations Some 1394 PCMCIA cards for laptop notebook computers require a 4 pin cable A 4 pin cable does not provide power and will therefore not work with Point Grey cameras which require a 6 pin connector the additional two pins provide power For suggestions on how to provide power in these circumstances consult the following knowledge base article KB Article 93 www ptgrey com support kb index asp a 4 amp q 93 1 4 2 Macintosh and Linux OS Support Users wishing to operate their Point Grey camera on the M
40. compliance ooooo 22 color Conversion e eee eee 42 image tiMEStAMPp oooo W Woo 46 color filter array oooo o W Woo W 42 INDUL PINS e 21 color interpolation See color conversion integration tiME ooooooooo See shutter color processing See color conversion Integration ti Me See Shutter compatibility with 1394aSee backward compatibility compatibility with FleaSee backward compatibility L custom image modes 27 See Format 7 laptop compatibility se 11 19 lens compatibility ooooooooo 15 D long shutter See extended shutter lookup table oi gni inna 43 DCAMSee IIDC 1394 based Digital Camera na Man See lookup table DCAM Specification DCAM compliance oooooooooo 22 M E maximum bandwidth sees 25 maximum cameras running se 25 embedded image timestamp 46 maximum frame rate 26 exposure time eeesss See shutter memory e nea oom 47 extended Shutter ooooooo ooW Woo 37 monochrome conversion ooooooo 42 extended shutter times mounting holeS oooWo Wom 16 MAXIMUMS RO 37 external trigger See asynchronous trigger external trigger minimum duration 40 Oo external trigger timing information 39 optocoupler eee eee 21 Revised
41. d is controlled using the IMAGE_DATA_FORMAT register 0x1048 which is described in detail in the PGR IEEE 1394 Digital Camera Register Reference 4 6 7 Test Pattern The Grasshopper is capable of outputting a continuous static image for testing and development purposes The test pattern image is inserted into the imaging pipeline immediately prior to the transfer to the on board FIFO and is therefore not subject to changes in hue saturation sharpness white balance or gamma Test pattern support is only available for Y8 Y16 and YUV422 video modes The test pattern is a simple 8 bit per pixel counter the pixel intensities in each column increment from 0 to 255 Figure 6 Test pattern sample image Mono and YUV formats The test pattern can be enabled using the TEST_PATTERN register 0x104C which is described in detail in the PGR IEEE 1394 Digital Camera Register Reference Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 45 i poris adds ka AKN UE Point Grey Research Grasshopper Technical Reference Camera Operations and Features 4 6 8 Embedded Image Information The Grasshopper has a feature that allows image timing and camera settings information to be embedded in the first several pixels of each image This feature is controlled using the FRAME INFO register 0x12F8 which is described in detail in the PGR EEE 1394 Digital Camera Register Heference 4 7 Camera and Device Control 4 7 4 Voltage Sens
42. diagram in Section 2 6 of infra red cutoff filter properties with one generated by Point Grey Research independent of camera model Section 1 3 Specifications Provided complete part number of sensor used in the 03K2 model 1 2 September 3 2009 Clarified that power input voltage range is 8 30 volts Section 4 4 Customizable Data Formats and Modes Updated frame rate tables 1 3 January 11 2010 Section 4 5 1 Camera Power Documented changes to power up behavior in firmware v 0 9 1 51 Section 4 5 9 Y16 16 bit Mono Image Acauisition Clarified the number of bits per pixel in Y16 format is 12 Added Section 4 5 10 4 Changing Video Modes While Triggering Change in specification table in Section 1 3 to indicate cameras are no longer tested to comply with FCC Class B standards for electromagnetic compatibility They are now tested to comply with FCC Class A standards Moved spectral response curves to Appendix A 1 4 April 30 2010 Section 1 3 Camera Specifications Added photon transfer curve PTC measurements Appendix A Spectral Response Curves Added GRAS 14S3C curve Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 59 l ems GREY ka Fins Ree Point Grey Research Grasshopper Technical Reference Appendix F Revision History 1 5 November Section 4 4 Customizable Data Formats and Modes Updated 26 2010 frame rate table for GRAS 50S5C Section 4 6 5 W
43. e 1394 bus Although the 1394b standard limits the maximum number of simultaneous isochronous channels to 16 there is currently no host adapter that is capable of supporting 16 channels Host adapters based on the LSI chipset such as the FirePRO 1394b PCI Express card can support up to 8 simultaneous DMA channels or contexts Host adapters based on the TI chipset can support at most 4 simultaneous DMA channels or contexts There are no known 1394b chipsets that allow 16 simultaneous DMA contexts See Knowledge Base Article 146 for more information The maximum bandwidth of the 1394b bus is 800Mbits sec 10240Bytes packet 8000 cycles sec The usable bandwidth as defined by the 1394 Trade Association and enforced by the Microsoft Windows 1394 driver stack 1394bus sys ohci1394 sys etc is approximately 80 or 80MBytes sec 8192 bytes packet The remaining 20 of the bandwidth is allocated for asynchronous communication e g register reads writes Outside of the Microsoft stack it may be possible to allocate up to 9830 bytes packet Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc P 25 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features e The 1394b standard limits the maximum number of devices on a single bus to 63 e Aninadequate power supply Consult the voltage and power requirements in the General Specifications section to determine the amount of p
44. e supported by the Grasshopper The implementation of these modes and the frame rates that are possible are not specified by the DCAM and are subject to change across firmware versions Mode_0 Mode 1 Mode_6 and Mode 7 are region of interest sub window modes that allow the user to only transmit a selected area of the image Mode_1 is a pixel binning subsampling mode Color binning is supported in the 14S3C and 20S4C models Refer to the Pixel Binning and Region of Interest Modes section for information on mode implementation Moving the position of region of interest to a different location does not require the camera to be stopped isochronous transmission disabled and restarted iso enabled unless the change is illegal e g moving the ROI outside the imaging area or would affect the isochronous packet size Changing the size of the image or the pixel encoding format does require the stop start procedure Ignoring the time required to do this in software tearing down then reallocating image buffers write times to the camera etc the maximum amount of time required for the stop start procedure is slightly more than one frame time The sizes and frame rates supported by monochrome BW models are identical to the color models specified below with the exception that only Mono8 and Mono16 are supported Images acquired by color cameras using Mono8 or Mono16 modes are converted to greyscale monochrome on board the camera Users inter
45. each frame In milliseconds ms it is the amount of time that the shutter stays open also known as the exposure or integration time The shutter time defines the start and end point of when light falls on the imaging sensor At the end of the exposure period all charges are simultaneously transferred to light shielded areas of the sensor The charges are then shifted out of the light shielded areas of the sensor and read out Signal to Noise Ratio dB The difference between the ideal signal that you expect and the real world signal that you actually see is usually called noise The relationship between signal and noise is called the signal to nose ratio SNR SNR is calculated using the general methodology outlined in Knowledge Base Article 142 SXGA 1280x1024 pixel resolution Tilt A mechanism to vertically move the current portion of the sensor that is being imaged Trigger A signal to which the acquisition of images by the camera is synchronized Triggers can be from an outside electrical source external or software generated internal UXGA 1600x1200 pixel resolution VGA 640x480 pixel resolution White Balance A method to enable white areas of an image to appear correctly by modifying the gain of red and blue channels relative to the green channel White balance can be used to accommodate differing lighting conditions XVGA 1024x768 pixel resolution Revised 17 Mar 11 Copyright c 2010 Poin
46. elength Test ID 237 GRAS 20S4C 110 E Sony ICX274AQ 1 1 8 1624x1224 CCD Blue ID 321 B Sony ICX274AQ 1 1 8 1624x1224 CCD Green ID 321 B Sony ICX274AQ 1 1 8 1624x1224 CCD Red Mono ID 321 83 55 Relative Response signal power 28 199 424 650 875 1 10 Wavelength Test ID 321 Revised 17 Mar 11 P 52 Copyright c 2010 Point Grey Research Inc a POINT GREY RESEARCH Point Grey Research Grasshopper Technical Reference Appendix A Spectral Response Curves GRAS 50S5M 110 IM Sony ICX625AL 2 3 2448x2048 CCD Mono ID 231 Relative Response signal power 199 424 650 875 1 101 Wavelength Test ID 231 GRAS 50S5C 110 B Sony ICX625AQ 2 3 2448x2048 CCD Blue ID 326 IM Sony ICX625AQ 2 3 2448x2048 CCD Green ID 326 li Sony ICX625AQ 2 3 2448x2048 CCD Red Mono ID 326 199 424 650 875 1 10 Wavelength Test ID 326 Relative Response signal power Copyright c 2010 Point Grey Research Inc T GREY RESEARCH Revised 17 Mar 11 P 53 POIN ka Point Grey Research Grasshopper Technical Reference Appendix B Memory Channel Registers Appendix B Memory Channel Registers CURRENT VIDEO MODE CURRENT VIDEO FORMAT CAMERA POWER CUR SAVE CH BRIGHTNESS AUTO EXPOSURE FOCUS TRIGGER MODE TRIGGER DELAY FRAME RATE PAN TILT 948h 958h 968h 1048h 1088h AUTO SHUTTER RANGE 1098h
47. elopment Kit or can be purchased separately by contacting sales ptgrey com The bracket is equipped with four 4 M3 mounting holes Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Camera Physical Properties 2 6 Infrared Cut Off Filters Point Grey Research color camera models are equipped with an additional infrared IR cut off filter This filter can reduce sensitivity in the visible spectrum The properties of this filter are illustrated in the results below which were obtained by Point Grey Research independent of camera model eo co o e Transmission e i 0 2 350 450 550 650 750 850 Wavelength In monochrome models the IR filter is replaced with a transparent piece of glass The following are the properties of the IR filter protective glass Type Reflective Material Schott D 263 T or BK7 equivalent for coating filters Physical Filter Size 14 mm x 14 mm Glass Thickness 1 0 mm Dimensional Tolerance 0 1 mm Coating Filters Scott D 263 T 1 These properties apply to all imaging cameras except GRAS 1485 Related Knowledge Base Articles In Title URL T Understanding flange back www ptgrey com support kb index asp a 4 amp q 98 distance on C mount and CS mount cameras Revised 17 Mar 11 P Copyright c 2010 Point Grey Research Inc a POINT GREY RESEARCH
48. eo modes see the Customizable Formats and Modes section for camera specific information that allow for faster Revised 17 Mar 11 38 Copyright c 2010 Point Grey Research Inc d saisis GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features frame rates based on selecting a specific region of interest ROI of the image or by configuring the camera to sub sample the image using a process known as pixel binning Related Knowledge Base Articles 163 What are the differences www ptgrey com support kb index asp a 4 amp q 163 between pixel binning and region of interest custom image modes 4 5 9 Y16 16 bit Mono Image Acquisition The Grasshopper can output Y16 16 bit per pixel mono images However the number of bits of usable data is limited to 12 or 4095 possible values by the following s A 14 bit A D converter e On camera adjustment of sharpness and gamma on color models white balance adjustment and color processing are also involved To obtain 14 bits of usable data or 65 532 possible values output images in Raw16 format using one of the following methods e Acquire images in Y16 format and set the Bayer Mono Ctrl field of the IMAGE_DATA_FORMAT register 0x1048 to 1 e Acquire images in a Format 7 Raw16 format Consult the PGR IEEE 1394 Digital Camera Register Reference for more information To determine the number of bits of useable image data and res
49. ested in accessing the raw Bayer data to apply their own color conversion algorithm or one of the FlyCapture library algorithms should refer to the Color and Greyscale Conversion section of this manual GRAS 03K2C 3 372 EA E ESRF RR Bara 640x480 320x240 160x120 lt N OD FPS FPS FPS N N J N U FPS 0o U 8 U 0 Mono8 8 2 4 2760 61 61 105 168 640x480 61 0 Monoi6 8 2 4 5820 640x480 61 105 168 200 0 Raw8 82 160 8960 640x480 200 341 538 121 0 Rawi6 8 2320 9600 agu 121 341 538 Revised 17 Mar 11 27 Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 61 0 yuva 82 4 4140 olan 61 105 168 0 YUV422 82 4 5520 Giao 61 105 168 0 YUVA44 82 8 8280 gyn ao 61 105 168 0 RGB8 82 8 8280 hau 61 105 168 1 Mono 42 36 4082 4557249 343 512 1 Monote 42 68 8024 4 0054 E 343 512 1 yuvar 4 2 24 2832 han 167 285 1 YUV422 4 2 4 1876 go bap 2 61 105 1 YUVA44 42 4 2068 s pap 61 105 1 RGB8 42 4 2068 445 61 105 6 Monog 82 4 2760 han 61 105 168 6 Monote 82 4 5520 gyn a 61 105 168 6 Raw8 8 2 132 7524 5 Mm 167 284 450 6 Rawi6 82 264 9768 Gl sg 123 284 450 6 Yuvan 82 4 4140 ahan 6
50. face chaining Transfer 100 200 400 800 Mbit s Rates A D Converter Analog Devices 14 bit analog to digital converter Max Pixel 40 MHz 26 MHz 40 MHz 28 MHz 67 MHz 32 MHz Clock Video Data 8 16 and 24 bit digital data see Supported Data Formats Output Image Data YB Y16 all models RGB YUV411 YUV422 YUV444 8 bit and 16 bit raw Bayer data Formats color models Partial Image Pixel binning and region of interest modes available via Format 7 Modes General 8 pin Hirose HR25 general purpose input output connector Purpose I O 4 pins for external trigger strobe or serial data 1 pin 3 3V 1 VEXT pin to externally power the camera Gain Automatic manual one push gain modes OdB to 24dB Automatic manual one push shutter modes Shutter Programmable through software or through input trigger signal 0 02ms to 66 63ms 15 FPS Extended shutter modes for exposure times longer than 5 seconds Image On board raw Bayer color interpolation hue saturation sharpness gamma programmable Processing LUT horizontal image flip test pattern output Gamma 0 50 to 4 00 Trigger Modes DCAM v1 31 Trigger Modes 0 1 3 14 and 15 Signal To Nose Ratia CIB 64 dB 60 dB 65 dB 59 dB 57 dB Peak QE 460 nm 500 nm 459 nm 470 nm 460 nm 520 nm Wavelength Value Full Well 19426 e 31370 e 9159 e 16964 e 13942 e 6486 e Depth Dark Noise 21 57e s 13 61 e s__ 0 53 e s 6 38 e s_ p 39e s 3 19 e s Dark Current 187 e s 831e s 84e s 175 e s He
51. ferred However they do guarantee that data will arrive as sent Asynchronous transfers may be used when data integrity is a higher priority than speed An example might be an image data transfer to a printer where speed is less critical than getting the image pixels correct Asynchronous transfers are initiated from a single node designated the requestor to or from the address space of another node designated the responder Asynchronous requests are packet based The requestor node generates a request packet that the 1394 bus sends to the responder node The responder node is responsible for handling the request packet and creating a response packet that is sent back to the requestor node to complete a single transfer There are three types of 1394 asynchronous transfers Read Write and Lock BPP Bytes per packet An image is broken into multiple packets of data which are then streamed isochronously to the host system Each packet is made up of multiple bytes of data Brightness 96 This is essentially the level of black in an image A high brightness will result in a low amount of black in the image In the absence of noise the minimum pixel value in an image acquired with a brightness setting of 1 should be 1 of the A D converter s minimum value Config ROM Configuration read only memory A section of memory dedicated to describing low level device characteristics such as Model and Vendor ID IEEE 1394 versio
52. firmware consult the UpdatorGUI User Manual available in the downloads section Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 47 iwl Point Grey Research Grasshopper Technical Reference Appendix A Spectral Response Curves Appendix A Spectral Response Curves GRAS 03K2M 110 IM Kodak KAI 0340DM 1 3 640x480 CCD Mono ID 319 83 55 Relative Response signal power 28 199 424 650 875 1 101 Wavelength Test ID 319 GRAS 03K2C 110 IE Kodak KAI 0340DCM 1 3 640x480 CCD Blue ID 320 IE Kodak KAI 0340DCM 1 3 640x480 CCD Green ID 320 IE Kodak KAI 0340DCM 1 3 640x480 CCD Red Mono ID 320 83 55 Relative Response signal power 28 199 424 650 875 1 10 Wavelength Test ID 320 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 48 ETR ka RES EARCH Point Grey Research Grasshopper Technical Reference Appendix A Spectral Response Curves GRAS 03S3M 110 IM Sony ICX414AL 1 2 648x488 CCD Mono ID 322 Relative Response signal power 199 424 650 875 1 10 Wavelength Test ID 322 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 49 ETTR ka RES EARCH Point Grey Research Grasshopper Technical Reference Appendix A Spectral Response Curves GRAS 14S3M 110 IM Sony ICX267AL 1 2 1384x1032 CCD Mono ID 284 Relative Response signal
53. gonfly Dragonfly Express Firefly Flea FlyCapture Gazelle Grasshopper Ladybug and Triclops are trademarks or registered trademarks of Point Grey Research Inc in Canada and other countries Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Table of Contents Table of Contents IE 21 96T 0 3 REE ol ge Pa aa ene ee E MED MEE 5 Listof Tables an san MM MU lama 5 1 Life 6 Ids Grasshopper OVervieW ea EE ana Ru EEG Ee a hu EE EE nan 6 1 1 1 mage ACQUISITION ee ea aa aa 6 did Image BroceSSINg san hana angan ana an ena Ea 6 1 1 3 Camera and Device Control 7 1 1 4 Mechanics and Form FaCtOfr oooo WoWW Woo Wc WWW 7 1 2 Using This Manual Woo mbak 7 1 3 Camera Specifications oooooW Woo W Wc 8 1 3 1 Spectral ResSpOnSe i i ooooooWoWo Wo W WWW oom om Jaan 9 1 3 2 Common CCD ArtifactS oooo oW Woo Wo WWW 10 1 3 3 Dual Tap Sensor Information Woo WWW 10 1 4 System Reguirements i oooooooocoWo WoW W WWW ank 10 1 4 1 Laptop Notebook Considerations ooooooW Woo 11 1 4 2 Macintosh and Linux OS SuppOft sese eee eee WWW 11 1 5 Controlling the Camera eee eee eee 11 1 5 1 FlyCap Demo Program oo WWW 11 1 5 2 Custom Applications Built with the FlyCapture API
54. hite Balance Added White balance may be unresponsive in auto mode if auto exposure is lt 0 1 EV approximately 1 6 March 17 Clarified that minimum shutter time of camera is 0 02 ms 2011 Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 60 1 POINT GREY Point Grey Research Grasshopper Technical Reference Appendix F Revision History Index 1 F 16 bit Mono data format See Y16 data format faster frame rates See regions of interest firmware upgradesS oooo ooW Woo 47 flash memory sssini 47 A ON At 7 eene tete tiene rx reca E 27 frame buffer ooooo Wanna 41 absolute mode See absolute values absolute valUEeS oooooo Wo 35 asynchronous triggET ooooo mo 39 G minimum pulse length 40 Tulio E 39 erp trigger armed eee eee eee 40 gamma linearity general purpose input output pins B electrical characteristics 21 greyscale CONVEFSION oooooooWoo 42 backward compatibility with 12949 sse 18 QH nana aa NAN AA 6 H Bayer Tile color conversion See color conversion eji e nro Pet RH See pixel binning high dynamic range HDR mode 42 C l cable length sineas irns 19 IIDC 1394 based Digital Camera DCAM camera settings embedded in image 46 Specification oooo 22 GEA iste See color filter array IDC
55. how to access the full sensor array 4 4 1 Calculating Format 7 Frame Rates The theoretical frame rate FPS that can be achieved given the number of packets per frame PPF can be calculated as follows FPS 1 Packets per Frame 125us An estimate for the number of packets per frame can be determined according to the following PPF Image Size Bytes Per Pixel Bytes Per Packet For the exact number of packets per frame query the PACKET PER FRAME INQ register for the number of bytes per packet query the BYTE PER PACKET register For example assuming an image size of 1032x776 pixel format of Mono16 2 bytes per pixel and 3072 bytes per packet the calculation would be as follows FPS 1 1032 776 2 3072 0 000125 FPS 1 521 8000 FPS 15 34 An interactive bandwidth calculator is available in Knowledge Base Article 22 It can be used to calculate approximate bandwidth requirements for various DCAM modes 4 4 2 Subsampling and Binning in Format 7 Depending on the Format_7 imaging parameters the camera may be performing image manipulation operations such as subsampling or binning The read only FORMAT_7_RESIZE_INQ register at 0x1AC8 contains information pertinent to the current Format_7 mode such as whether standard or bayer binning is being performed on the image For more detailed information on the FORMAT 7 RESIZE INQ register please see the PGR IEEE 1394 Digital Camera Register Reference
56. ing the ON_OFF bit 6 of the FRAME_RATE register 0x83C to zero OFF Once the FRAME_RATE is turned off you should see the Max_Value of the ABS_VAL_SHUTTER register increase The maximum extended shutter time reported by the SHUTTER_INQ register 51Ch is capped at 4095 OxFFF the maximum value allowed by the Max_Value field of this register Use the Max_Value of the ABS_VAL_SHUTTER register to determine the maximum shutter Format and FPS GRAS 03K2M 640x480 Y8 60 FPS 0 02 2132 GRAS 03K2C 640x480 Y8 30 FPS 0 02 2132 640x480 Y8 15 FPS 0 02 2132 GRAS 03S3M 640x480 Y8 60 FPS 0 02 2046 640x480 Y8 30 FPS 0 02 3271 640x480 Y8 15 FPS 0 02 3271 640x480 Y8 7 5 FPS 0 02 3271 640x480 Y8 3 75 FPS 0 02 24540 640x480 Y8 1 875 FPS 0 02 49080 GRAS 1453M 1280x960 Y8 15 FPS 0 02 4225 GRAS 14S3C 1280x960 Y8 7 5 FPS 0 02 6543 1280x960 Y8 3 75 FPS 0 02 6543 1280x960 Y8 1 875 FPS 0 02 16300 GRAS 1485M 1280x960 Y8 15 FPS 0 02 4629 GRAS 14S5C 1280x960 Y8 7 5 FPS 0 02 6543 1280x960 Y8 3 75 FPS 0 02 6543 1280x960 Y8 1 875 FPS 0 02 24540 GRAS 2084M 1600x1200 Y8 30 FPS 0 02 1775 GRAS 2084C 1600x1200 Y8 15 FPS 0 02 3442 1600x1200 Y8 7 5 FPS 0 02 6543 1600x1200 Y8 3 75 FPS 0 02 3543 1600x1200 Y8 1 875 FPS 0 02 26175 GRAS 50S5M 1600x1200 Y8 15 FPS 0 02 2777 GRAS 50S5C 1600x1200 Y8 7 5 FPS 0 02 5554 1600x1200 Y8 3 75 FPS 0 02 65
57. ion completes Figure 5 Relationship between video mode change and triggering Any request to change video mode following the end of shutter integration of the last triggered image point A causes subsequent triggers to be ignored until the video mode reconfiguration completes Note that this configuration does not begin until the end of sensor readout of the last triggered image point B and can last up to 10 ms especially if the request involves a change in pixel clock speed If for some reason sensor readout is delayed the maximum time period that triggers are ignored is 1 5 s To determine if the camera is ready to accept a trigger read bit 0 of SOFTWARE TRIGGER register Ox62C A value of 0 indicates readiness For more information see Section 4 5 10 2 The effects of missed triggers due to a video mode change are likely to be felt most acutely when triggering in overlapped exposure readout mode Mode 14 4 5 11 On Camera Frame Buffer The Grasshopper has 32MB of memory that can be used for temporary image storage This may be useful in cases such as Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 41 i anma ane ka Ex Ga Point Grey Research Grasshopper Technical Reference Camera Operations and Features 1 Retransmission of an image is required due to data loss or corruption 2 Multiple camera systems where there is insufficient bandwidth to capture images in the desired configuration
58. l FireWire devices connected require an external power supply to power the camera For suggestions on how to provide power in these circumstances consult the following knowledge base article KB Article 93 www ptgrey com support kb index asp a 4 amp q 93 Some PGR cameras allow the user to power up or power down components of the camera using the DCAM CAMERA POWER register 0x610 The exact components e g image sensor A D converter other board electronics will vary between camera models Consult the PGR IEEE 1394 Digital Camera Register Reference for more information When a camera is power cycled power disengaged then re engaged the camera will revert to its default factory settings or if applicable the last saved memory channel Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Camera Interface 3 5 General Purpose Input Output GPIO The Grasshopper has an 8 pin GPIO connector on the back of the case The connector is a Hirose HR25 8 pin connector Mfg P N HR25 7TR 8SA KIT contents include a prewired male connector refer to the diagram below for wire color coding Additional male connectors Mfg P N HR25 7TP 8P can be purchased from Digikey P N HR702 ND Diagram Pin Function Function 1 100 Input Output default Trigger_Src a 2 101 Input Output 0 3 102 Input Output RS232 Transmit
59. mat 7 video formats and modes for GRAS 50S5C 34 Table 11 Extended shutter minimum and maximum times oooooocc 37 Revised 17 Mar 11 5 Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Introduction 1 Introduction 1 1 Grasshopper Overview The Grasshopper digital camera line offers high megapixel resolution and an ultra fast IEEE 1394b 800Mb s digital interface Attractive pricing makes these powerful cameras ideal for OEMs and system integrators who need compact systems that deliver 1 4M 2 0M or 5 0M images at high frame rates The Grasshopper cameras are particularly effective in demanding imaging applications such as those used in electronics manufacturing life sciences and microscopy surveillance and security and ITS Users are encouraged to download TAN2007004 from www ptgrey com products grasshopper for detailed information on how to transition applications from the Scorpion to the Grasshopper Refer to Knowledge Base Article 206 for a complete overview of the features and benefits of the IEEE 1394b standard All model specific information presented in this manual reflects functionality available in firmware version 0 9 1 48 To check the camera firmware version consult our knowledge base www ptgrey com support kb index asp a 4 amp q 94 111 Image Acquisition Feat
60. n compliance base address quadlet offsets etc Color Processing Also known as interpolation an algorithm for converting raw Bayer tiled image data into full color images Depending on camera model this process takes place either on camera or on the PC For more information refer to Knowledge Base Article 33 DCAM Abbreviation for the DC 1394 based Digital Camera DCAM Specification which is the standard used for building FireWire based cameras Dynamic Range The difference between the maximum and minimum amounts of light that a sensor can measure This is bounded on the upper end by the maximum charge that any pixel can contain sensor full well depth and at the lower end by the small charge that every sensor spontaneously generates read noise Exposure EV This is the average intensity of the image It will use other available non manually adjustable controls to adjust the image Firmware Programming that is inserted into programmable read only memory thus becoming a permanent part of a computing device Firmware is created and tested like software and can be loaded onto the camera Format 7 Encompasses partial or custom image video formats and modes such as region of interest of pixel binned modes Format 7 modes and frame rates are defined by the camera manufacturer as opposed to the DCAM specification FPS Frames Per Second Frame Rate Often defined in terms of number of fr
61. n the minimum bandwidth that might be expected In order to accurately determine whether or not there is enough bandwidth available for a given scenario these numbers must be used The BPP can be derived using the sochronous Bandwidth Requirements section of the PGR IEEE 1394 Digital Camera Register Reference For example a single Grasshopper in 640x480 RGB mode running at 15 FPS is sending 640 pixels per packet Each pixel consists of 24 bits or 3 bytes of data Therefore the camera is sending 640 3 1920Bpp of data The maximum bandwidth of the 1394b bus as discussed above is 8192Bpp so it would be possible for 8192 1920 4 rounded down Grasshoppers to run in 640x480 RGB mode at 15 FPS on the same 1394b bus 4 3 4 Dual Packet Mode The Grasshopper is capable of sending a maximum of 9568Bpp 8 bit 5MP images at 15fps However the 1394 specification only allows 8192Bpp so the Grasshopper splits each packet that Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 26 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features is over 8192Bpp into two smaller packets per isochronous period This feature is unique to the Grasshopper and requires software support to work properly For more information on this feature please see Knowledge Base Article 276 4 4 Customizable Data Formats and Modes The table below outlines the Format_7 custom image modes that ar
62. nc is not running there is no timing correlation between separate cameras on separate buses It is possible to offset the synchronization of individual cameras relative to other cameras using the TRIGGER DELAY register 0x834 Related Knowledge Base Articles 112 Synchronizing PGR cameras www ptgrey com support kb index asp a 4 amp g 1 12 across multiple PCs 4 5 7 Frame Rate Control The current base frame rate is controlled using the CURRENT FRAME RATE register 0x600 The Grasshopper allows users to further fine tune the frame rates of their cameras using the FRAME RATE register 0x83C which is described in detail in the PGR IEEE 1394 Digital Camera Register Reference This is particularly useful for capturing an image stream at a different frame rate than those outlined in the Supported Data Formats and Modes section and can be useful for synchronizing to 50Hz light sources which can cause image intensity fluctuations due to the light source oscillations being out of sync with the frame rate For example users may wish to play an image stream back on a PAL based system that displays at 25 FPS To do this set the CURRENT FRAME RATE to 30 FPS set the A M Mode bit 7 of the FRAME RATE register Ox83C to zero manual then adjust the value using the Value field or using the ABS VAL FRAME RATE register recommended 4 5 8 Pixel Binning and Region of Interest Modes The Grasshopper implements several DCAM Format 7 customizable vid
63. nt Grey Research Grasshopper Technical Reference Camera Operations and Features exposing images even when ISO is off in order to keep things such as the auto exposure algorithm if enabled running This is done to ensure that when a user starts requesting images ISO turned on the first image they receive will be properly exposed 4 5 3 Gain The Grasshopper supports automatic manual and one push gain modes The A D converter provides a PxGA gain stage white balance preamp and VGA gain stage GAIN register 0x820 The main VGA gain stage is available to the user and is variable from 0 to 24dB in steps of 0 046db Formulas for converting the fixed point relative gain values reported by GAIN register 0x820 to floating point absolute values are not provided Users wishing to work with real world values should refer to the Absolute Value CSR Registers section of the PGR IEEE 1394 Digital Camera Register Reference Increasing gain also increases image noise which can affect image quality To increase image intensity try adjusting the lens aperature iris and shutter time first The GRAS 20S4M C models are limited to 16dB of gain when running in 30fps mode It is possible to manually override this limit by setting the ABS_VALUE_GAIN register 4 5 4 Auto Exposure Auto exposure AE allows the camera to automatically control shutter and or gain in order to achieve a specific average image intensity and is controlled using
64. o an auto adjusted value then returns the control to manual adjust mode PHY Physical layer Each 1394 PHY provides the interface to the 1394 bus and performs key functions in the communications process such as bus configuration speed signaling and detecting transfer speed 1394 bus control arbitration and others Pan A mechanism to horizontally move the current portion of the sensor that is being imaged In stereo and spherical cameras Pan controls which individual sensors transmit images Pixel Clock The rate at which the sensor outputs voltage signals in each pixel from the optical input Pixel Format The encoding scheme by which color or greyscale images are produced from raw image data Quadlet A 4 byte 32 bit value Quadlet Offset The number of quadlets separating a base address and the desired CSR address For example if the base address is OXFFFFFOFO00000 and the value of the quadlet offset is 0x100 then the actual address offset is 0x400 and the actual adress OXFFFFFOF00400 Register A term used to describe quadlet aligned addresses that may be read or written by bus transactions Saturation This is how far a color is from a gray image of the same intensity For example red is highly saturated whereas a pale pink is not SDK Software Development Kit Sharpness This works by filtering the image to reduce blurred edges Shutter A mechanism to control the length of time the sensor is exposed to light from the image field for
65. o an external signal using DCAM 1 31 Trigger Mode 0 TAN2004001 Configuring and testing the RS 232 serial port TAN2005002 Setting a GPIO pin to strobe using DCAM 1 31 Strobe Signal Output TAN2005003 Setting a GPIO pin to output a strobe signal pulse pattern TAN2005004 Buffering a GPIO pin output signal to drive an external device TAN2007004 A guide to transitioning from Scorpion to Grasshopper TAN2007004 Accessing the On Camera Frame Buffer Revised 17 Mar 11 P Copyright c 2010 Point Grey Research Inc a POINT GREY RESEARCH Point Grey Research Grasshopper Technical Reference Introduction 1 3 Camera Specifications Specification 03K2 03S3 14S3 14S5 20S4 50S5 Kodak KAI Sony amp Sony ICX267 Sony Sony ICX274 Sony ICX625 0340 ICX414 1 2 3 2 ICX285 2 3 1 8 2 3 Imaging AABB CBA CB Progressive progressive progressive progressive X progressive Sensor AA Dual 1 3 Scan CCD scan CCD scan CCD Iscan CCD scan CCD progressive scan CCD Maximum 640 H x 480 648 H x 1384 H x 1384 H x 1624 H x 2448 H x Resolution V 488 V 1032 V 1036 V 1224 V 2048 V a Pixel 7 4 x 7 4um 9 9x9 9um 4 65 x 4 65um Eurum XA Ax 4 4um 13 45 x 3 45um Maximum FPS See sections 4 2 and 4 4 for more information Digital Dual bilingual 9 pin IEEE 1394b for camera control video data transmission and daisy Inter
66. omponent of the Bayer tiled pattern For sharpness values greather than 1000 the pixel is sharpened for values less than 1000 it is blurred When sharpness is in auto mode if gain is low then a small amount of shaping is applied which increases as gain decreases If the gain is high a small amount of blur is applied increasing as gain increases 4 6 5 White Balance The Grasshopper supports white balance which is a name given to a system of color correction to deal with differing lighting conditions Adjusting the white balance by modifying the relative gain of R G and B in an image enables white areas to look whiter Taking some subset of the target image and looking at the relative red to green and blue to green response the general idea is to scale the red and blue channels so that the response is 1 1 1 The white balance scheme outlined in the IIDC specification states that blue and red are adjustable and that green is not The blue and red values can be controlled using the WHITE BALANCE register 0x80C The Grasshopper also implements Auto and One Push white balance One of the uses of one push auto white balance is to obtain a similar color balance between different cameras that are slightly different from each other Theoretically if different cameras are pointed at the same scene using one push auto will result in a similar color balance between the cameras One push is similar identical to auto white balance except One Push
67. only attempts to automatically adjust white balance for a set period of time before stopping The white balance of Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 44 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features the camera before using One Push Auto must already be relatively close i e if Red is set to 0 and Blue is at maximum two extremes One Push Auto will not work However if the camera is already close to being color balanced then it will work it may only be a small change One_push only attempts to automatically adjust white balance for a set period of time before stopping It uses a white detection algorithm that looks for whitish pixels in the raw Bayer image data One_push adjusts the white balance for a specific number of iterations if it cannot locate any whitish pixels it will gradually look at the whitest objects in the scene and try to work off them It will continue this until has completed its finite set of iterations Auto is continually adjusting white balance It differs from one_push in that it works almost solely off the whitest objects in the scene White balance may be unresponsive in auto mode if auto exposure is lt 0 1 EV approximately 4 6 6 Image Flip Mirror The Grasshopper supports horizontal image mirroring The mirror image operation is done on the camera using the on board frame buffer an
68. opper Technical Reference List of Figures Appendix F Revision History oom 59 List of Figures Figure 1 Dimensional drawing sss sese eee eee 15 Figure 2 IEEE 1394b connector pin configuratiOn oooooooW Woo 18 Figure 3 GPIO schematic ea asa en mem moh 20 Figure 4 Grasshopper external trigger timing characteristics usse 40 Figure 5 Relationship between video mode change and triggering 41 Figure 6 Test pattern sample image Mono and YUV formats ussssss 45 List of Tables Table 1 IEEE 1394b connector pin configuration oooooWoW Woo 19 Table 2 GPIO pin assignments ooooooooWoWoWoWo Wo WWW Wanna 20 Table 3 Status indicator LED descriptions ooo ooooWoooWoWoW Woo Wu 21 Table 4 Supported video formats modes and frame rates iiooooo 24 Table 5 Supported partial image Format 7 video formats and modes for GRAS 03K2C P 28 Table 6 Supported partial image Format 7 video formats and modes for GRAS 03S3M NN 29 Table 7 Supported partial image Format 7 video formats and modes for GRAS 14S3C E 30 Table 8 Supported partial image Format 7 video formats and modes for GRAS 14S5C EE 31 Table 9 Supported partial image Format 7 video formats and modes for GRAS 20S4C Om EEUU 32 Table 10 Supported partial image For
69. or The Grasshopper has an on board sensor that allows the user to monitor a variety of different voltages including the current 1394 bus voltage This feature can be accessed using the VOLTAGE registers 0x1A50 0x1A54 which are described in detail in the PGR IEEE 1394 Digital Camera Register Reference 4 7 2 Programmable Strobe Output The Grasshopper is capable of outputting a strobe pulse off one or all of its GPIO pins By default a pin that is configured to be a strobe output will output a pulse each time the camera begins integration of an image Setting a strobe duration value of zero will produce a strobe pulse indicating the exposure shutter time The Grasshopper can also be configured to output a variable strobe pulse pattern The strobe pattern functionality allows users to define the frames for which the camera will output a strobe For example this is useful in situations where a strobe should only fire e Every Nth frame e g odd frames from one camera and even frames from another or e N frames in a row out of T e g the last 3 frames in a set of 6 or e Specific frames within a defined period e g frames 1 5 and 7 in a set of 8 Related Knowledge Base Articles ID Title URL 179 Setting a GPIO pin to output a www ptgrey com support kb index asp a 4 amp qg 179 signal using DCAM v1 31 strobe functionality 207 Setting a GPIO pin to output a www ptgrey com support kb index asp a 4 amp q 207 strobe signal pulse
70. ower required to operate the cameras effectively 4 3 2 Exceeding Bandwidth Limitations Using Format 7 with Multiple Cameras There is a mechanism for effectively bypassing IEEE 1394 bus bandwidth negotiation when using cameras in Format 7 partial image mode This functionality is useful in any situation where the user is trying to host multiple cameras on the same bus in a configuration that would normally exceed the bandwidth allocation but where the cameras are configured to transmit data in a manner that does not exceed the total bandwidth For additional information see Knowledge Base Article 256 4 3 3 Calculating Maximum Possible Frame Rate The maximum frame rate allowable for each of the cameras on the bus depends on the resolution of the cameras and the frame rate and can be roughly approximated using the following general formula assuming all cameras are at the same resolution Frames_per_second Bandwidth Pixels per frame Bytes_per_pixel Num_cameras Example To calculate the approximate frames per second available to three 1024x768 Grasshoppers that are in 16 bit mode you would calculate Frames_per_second 80MB s 1024 768 2bytes pixel 3 80MB s 1 5MB frame 3 53 33 FPS 3 17 8 FPS The calculation above is only a rough estimate The DCAM standard defines a specific number of bytes per packet BPP for every non Format_7 video format mode frame rate combination This number is generally higher tha
71. pattern 212 GPIO strobe signal continues www ptgrey com support kb index asp a 4 amp q 212 after isochronous image transfer stops 4 7 3 RS 232 Serial Port The Grasshopper is capable of serial communications at baud rates up to 115 2Kbps via the on board logic level serial port built into the camera s GPIO connector To use this functionality a level converter must be used to convert the TTL digital logic levels to RS 232 voltage levels B amp B Electronics http www bb elec com part number 232LPTTL can be used for this conversion Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 46 iwl Point Grey Research Grasshopper Technical Reference Camera Operations and Features Related Knowledge Base Articles 151 Configuring and testing the RS www ptgrey com support kb index asp a 4 amp q 151 232 serial port 4 7 4 Memory Channel Storage of Camera Settings The Grasshopper has the ability to save and restore camera settings and imaging parameters via on board memory channels This is useful for saving default power up settings such as gain shutter video format and frame rate etc that are different from the factory defaults Memory channel 0 is used for the default factory settings that users can always restore to The Grasshopper provides two additional memory channels for custom default settings The camera will initialize itself at power up or when explicitly reinitialized u
72. power 199 424 650 875 1 10 Wavelength Test ID 284 GRAS 14S3C Sensor Response Curve 110 Wi Sony ICX267AK 1 2 1384x1032 CCD Blue ID 704 IB Sony ICX267AK 1 2 1384x1032 CCD Green ID 704 IM Sony ICX267AK 1 2 1384x1032 CCD Red Mono ID 704 83 N 55 H n n H P Nel 650 875 1 10 Wavelength Test ID 704 Relative Response signal power Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 50 l ems GREY ka RE SEARCH Point Grey Research Grasshopper Technical Reference Appendix A Spectral Response Curves GRAS 14S5M 110 IM Sony ICX285AL 2 3 1384x1036 CCD Mono ID 291 83 55 Relative Response signal power 28 199 424 650 875 1 101 Wavelength Test ID 291 GRAS 14S5C 110 Wi Sony ICX285AQ 2 3 1384x1036 CCD Blue ID 162 lll Sony ICX285AQ 2 3 1384x1036 CCD Green ID 162 B Sony ICX285AQ 2 3 1384x1036 CCD Red Mono ID 162 83 55 Relative Response signal power 28 199 424 650 875 1 101 Wavelength Test ID 162 Revised 17 Mar 11 P 51 Copyright c 2010 Point Grey Research Inc a POINT GREY RESEARCH Point Grey Research Grasshopper Technical Reference Appendix A Spectral Response Curves GRAS 20S4M 110 IM Sony ICX274AL 1 1 8 1624x1224 CCD Mono ID 237 83 55 Relative Response signal power 28 199 424 650 875 1 101 Wav
73. pplication FlyCap 1 5 3 Third Party Software Applications The following knowledge base article provides information on Point Grey IEEE 1394 camera compatibility with third party software development kits applications camera drivers and integrated development environments IDEs KB Article 152 www ptgrey com support kb index asp a 4 amp q 152 Revised 17 Mar 11 Fi Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Introduction 1 6 Camera Control Command Registers For a complete description of the Camera Control Command Registers implemented on the camera please refer to the Point Grey Research Digital Camera Register Reference included with the FlyCapture SDK and downloadable from www ptgrey com support downloads 1 7 Handling Precautions and Camera Care Do not open the camera housing Doing so voids the Hardware Warranty described at the beginning of this reference manual Your Point Grey digital camera module is a precisely manufactured device and should be handled with care Here are some tips on how to care for the device e Avoid electrostatic charging Please consult the following knowledge base article for more details www ptgrey com support kb index asp a 4 amp q 42 e Users who have purchased a bare board camera should take the following additional protective measures o Either handle bare handed or use non chargeable gloves
74. red green and blue pixel values see Color and Greyscale Conversion after the LUT has been applied Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 43 iwl Point Grey Research Grasshopper Technical Reference Camera Operations and Features Gamma is applied after the analog to digital conversion and is controlled using the GAMMA register 0x818 It can be used to apply a non linear mapping of the resulting 11 bit image down to 9 bits By default Gamma is OFF and has a value of 1 0 which yields a linear response For more information regarding the LUT CSR registers refer to the PGR IEEE 1394 Digital Camera Register Reference Due to limitations in the Bayer interpolator LUT gamma correction is unavailable on GRAS 50S5C models in the following situations 1 Pixel clock is greater than 50MHz The pixel clock frequency can be read from the floating point PIXEL_CLOCK_FREQ register 0x1AFO 2 Image width or height is greater than 2040 pixels 3 Image data format is either Y8 Raw8 or Haw16 4 6 3 Saturation The Grasshopper supports saturation which refers to color saturation as opposed to saturation of a CCD charge Saturation is controlled using the SATURATION register 0x814 4 6 4 Sharpness The Grasshopper supports sharpness which refers to the filtering of an image to reduce blurring at image edges Sharpness is implemented as an average upon a 3x3 block of pixels and is only applied to the green c
75. sing the contents of the last saved memory channel Attempting to save user settings to the read only factory defaults channel will cause the camera to switch back to using the factory defaults during initialization Refer to the Memory Channel Registers section in the Appendix for a full listing of all registers saved Memory channels are configured using the following registers which are described in detail in the PGR IEEE 1394 Digital Camera Register Reference MEMORY_SAVE 0x618 MEM_SAVE_CH 0x620 and CUR_MEM_CH 0x624 4 7 5 User Data Flash The Grasshopper provides the user with 512KB of flash memory for the purposes of non volatile data storage This is useful for saving user data such as calibration files software license keys etc The memory is divided into 2048 pages with 256 bytes available per page This feature is controlled using the DATA_FLASH_CTRL register 0x1240 which is described in detail in the PGR IEEE 1394 Digital Camera Register Reference 4 7 6 Camera Upgrades The firmware on the Grasshopper can be upgraded downgraded to later earlier versions using the UpdatorGUI program that is bundled with every firmware version available from www ptgrey com support downloads The latest firmware versions often include significant bug fixes and feature enhancements that may benefit some users To determine the changes made in a specific firmware version consult the Release Notes For more information on updating camera
76. t c 2010 Point Grey Research Inc a POINT GREY RESEARCH Point Grey Research Grasshopper Technical Reference Camera Physical Properties 2 4 Dust Protection Cameras are sealed when they are shipped To avoid contamination seals should not be broken until cameras are ready for assembly at customer s site Do not remove the protective glass Doing so can void the Hardware Warranty described at the beginning of this reference manual The case is designed to prevent dust from falling directly onto the CCD s protective glass surface This is achieved by placing a piece of clear glass monochrome camera models or IR cut off filter color models that sits above the surface of the CCD s glass A removable plastic retainer keeps this glass filter system in place By increasing the distance between the imaging surface and the location of the potential dust particles the likelihood of interference from the dust assuming non collimated light and the possibility of damage to the sensor during cleaning is reduced 2 5 Mounting 2 5 1 Using the Case The case is equipped with the following mounting holes e Two 2 M3x0 5mm mounting holes on the top of the case e Four 4 M3x0 5mm mounting holes on the bottom of the case that can be used to attach the camera directly to a custom mount or to the Grasshopper tripod mounting bracket 2 5 2 Using the Tripod Mounting Bracket The Grasshopper tripod mounting bracket comes with the Dev
77. t Grey Research Inc Fi 56 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Appendix D Technical Support Resources Appendix D Technical Support Resources Point Grey Research Inc endeavors to provide the highest level of technical support possible to our customers Most support resources can be accessed through the Product Support section of our website www ptgrey com support Creating a Customer Login Account The first step in accessing our technical support resources is to obtain a Customer Login Account This requires a valid name e mail address and camera serial number To apply for a Customer Login Account go to www ptgrey com support downloads Knowledge Base Our on line knowledge base at www ptgrey com support kb contains answers to some of the most common support questions It is constantly updated expanded and refined to ensure that our customers have access to the latest information Product Downloads Customers with a Customer Login Account can access the latest software and firmware for their cameras from our downloads site at www ptgrey com support downloads We encourage our customers to keep their software and firmware up to date by downloading and installing the latest versions Contacting Technical Support Before contacting Technical Support have you 1 Read the product documentation and user manual 2 Searched the Knowledge Base 3 Downloaded and ins
78. talled the latest version of software and or firmware If you have done all the above and still can t find an answer to your question contact our Technical Support team at www ptgrey com support contact Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 57 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Appendix E Contacting Point Grey Research Appendix E Contacting Point Grey Research For any questions concerns or comments please contact us via the following methods Email Knowledge Base Downloads Main Office Distributors For all general questions about Point Grey Research please contact us at info ptgrey com For technical support existing customers only contact us at http www ptgrey com support contact Find answers to commonly asked questions in our knowledge base at http www ptgrey com support kb Users can download the latest manuals and software from http www ptgrey com support downloads Mailing Address Tel 1 604 242 9937 Point Grey Research Inc Toll free North America only 12051 Riverside Way 1 866 765 0827 Richmond BC Canada Fax 1 604 242 9938 V6W 1K7 sales ptgrey com USA Tel 1 866 765 0827 na sales ptgrey com Europe Mailing Address Tel 49 7141 48881 7 0 Israel Point Grey Research GmbH Fax 49 7141 48881 7 99 Schwieberdinger Strasse 60 eu sales ptgrey com 71636 Ludwigsburg Germany J
79. tput a strobe pulse see the Programmable Strobe Output section and connecting an oscilliscope up to the input trigger pin and the output strobe pin The camera will strobe each time an image acquisition is triggered the start of the strobe pulse represents the start of exposure 4 5 10 2 Ensuring Trigger is Armed It is possible for the Grasshopper to be in asynchronous trigger mode but not be ready to accept a trigger The reason for this is that the camera may be currently exposing an image the camera is only ready to be triggered again when this image finishes integrating and is completely read off of the CCD To ensure that the camera is ready to be triggered poll the SOFTWARE TRIGGER register 0x62C or SOFT ASYNC TRIGGER register 0x102C The concept of polling to ensure the trigger is armed is demonstrated in the AsyncTriggerEx example program distributed with the FlyCapture SDK Once the trigger is reporting that it is armed there should be no delay between when the user can enable isochronous transmission and when they can trigger the camera In fact it is possible to trigger the camera before iso is enabled and receive the image that was triggered provided iso is enabled at some point during exposure For example assuming a 10ms shutter time it is possible to trigger the camera enable iso 5ms after and still receive the triggered image Related Knowledge Base Articles ID Title URL 169 Time between software trigger www ptgre
80. ulting signal to noise ratio that is actually being produced by the A D converter see www ptgrey com support kb index asp a 4 amp q 1 70 The PGM file format can be used to correctly save 16 bit images However there are very few photo manipulation display applications that can correctly display true 16 bit images XV in Linux and Adobe Photoshop are two possibilities 4 5 10 Asynchronous External Trigger Modes The Grasshopper provides a number of different asynchronous trigger modes which allows the start of exposure shutter to be initiated by an external electrical source hardware trigger or camera register write software trigger Supported modes include 0 1 3 14 and 15 These modes and their operation are described in greater detail in the PGR IEEE 1394 Digital Camera Register Reference 4 5 10 1 External Trigger Timing The time from the external trigger going low to the start of shutter is shown below Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 39 iwl Point Grey Research Grasshopper Technical Reference Camera Operations and Features External trigger SP www Oris i less than 10us N Exposure time HAgL shutter time e O ims 1 30ms 30 FPS Data transfer THRONE CT 09 69 Figure 4 Grasshopper external trigger timing characteristics It is possible for users to measure this themselves by configuring one of the camera s GPIO pins to ou
81. ure Description IEEE 1394b Bandwidth 800Mb s interface allows full color RGB output at high data rates Automatic Synchronization Multiple Grasshoppers on the same 1394b bus automatically sync Programmable Exposure User programmable shutter gain and black clamp settings via software Fast Frame Rates Faster standard frame rates plus pixel binning and ROI support Multiple Trigger Modes Bulb trigger mode multiple triggered exposures before readout Trigger at Full Frame Rate Overlapped trigger input image acquisition and transfer 1 1 2 Image Processing Feature Description Color Conversion On camera conversion to YUV411 YUV422 and RGB formats Image Processing On camera control of sharpness hue saturation gamma LUT Image Flip Mirror Horizontal image flip mirror image Embedded Image Info Pixels contain frame specific info e g shutter 1394 cycle time Test Pattern Continuous static image for testing and development Revised 17 Mar 11 6 Copyright c 2010 Point Grey Research Inc k POINT GREY a RESEARCH Point Grey Research Grasshopper Technical Reference Introduction 1 1 3 Camera and Device Control Feature Description Auto White Balance Auto and one push white balance for easy color balancing Frame Rate Control Fine tune frame rates for video conversion e g PAL 24 FPS Improved Strobe Output Increased drive strength configurable strobe pattern output RS
82. uring this period Point Grey will at its option repair or replace the damaged unit Repaired or replaced units will be covered for the remainder of the original equipment warranty period This warranty does not apply to units that after being examined by Point Grey have been found to have failed due to customer abuse mishandling alteration improper installation or negligence If the original camera module is housed within a case removing the case for any purpose voids this warranty Point Grey Research Inc expressly disclaims and excludes all other warranties express implied and statutory including but without limitation warranty of merchantability and fitness for a particular application or purpose In no event shall Point Grey Research Inc be liable to the Original Purchaser or any third party for direct indirect incidental consequential special or accidental damages including without limitation damages for business interruption loss of profits revenue data or bodily injury or death WEEE The symbol indicates that this product may not be treated as household waste Please ensure this product is properly disposed as inappropriate waste handling of this product may cause potential hazards to the environment and human health For more detailed information about recycling of this product please contact Point Grey Research Trademarks Point Grey Research PGR the Point Grey Research Inc logo Chameleon Digiclops Dra
83. w Powered down activity On for 0 5s during activity Red Green flashing Camera firmware is being updated Flashes at 5Hz Table 3 Status indicator LED descriptions Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc 21 fe dd Point Grey Research Grasshopper Technical Reference Camera Operations and Features 4 Camera Operations and Features The Grasshopper line of IEEE 1394 cameras complies with the IDC 1394 based Digital Camera DCAM Specification Version v1 31 To determine the specific DCAM v1 31 features implemented in a particular Grasshopper model consult the following sections of the PGR IEEE 1394 Digital Camera Register Reference Inquiry Registers for Basic Functions Inquiry Registers for Feature Presence Inquiry Registers for Feature Elements You can query the registers described in these sections to identify whether specific features have been implemented For a complete description of the Camera Control Command Registers implemented on the Grasshopper please refer to the PGR IEEE 1394 Digital Camera Register Reference included with the PGR FlyCapture SDK and downloadable from www ptgrey com support downloads Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 22 POINT GREY ka RESEARCH Point Grey Research Grasshopper Technical Reference Camera Operations and Features 4 1 General Camera Properties The following section provides an overview of the c
84. y com support kb index asp a 4 amp q 169 and start of integration 177 Maximum frame rate possible in www ptgrey com support kb index asp a 4 amp q 177 external trigger mode O0 221 Synchronizing to an external www ptgrey com support kb index asp a 48 amp q 221 signal using DCAM 1 31 Trigger_Mode_0 4 5 10 3 Minimum Trigger Pulse Length The minimum trigger pulse length than the camera will respond to is 16 ticks of the current pixel clock The pixel clock frequency can be read from the floating point PIXEL_CLOCK_FREQ register Ox1AFO Revised 17 Mar 11 Copyright c 2010 Point Grey Research Inc Fi 40 ans adds ka isk E Point Grey Research Grasshopper Technical Reference Camera Operations and Features 4 5 10 4 Changing Video Modes While Triggering You can change the video format and mode of the camera while operating the camera in trigger mode Note that subsequent triggers may be ignored for a period of time depending on the nature of the mode format change and the frequency of triggering Figure 5 shows the relationship between changing video modes and triggering I c AE TKI SKK KOP Sensor PENA Exposure End of shutter Sensor Reaout Change request gt Video mode change configuration begins Max 10 ms Triggers are ignored until video mode change configurat

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