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Firefly® MV

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1. DOO OOO Figure 2 GPIO pin layout Diagram Pin GPIO Function VexT Power camera externally 3 3V Power external circuitry up to a total of 150mA 3 100 Input Output default Trigger_Src 4 101 Input Output 5 102 Input Output RS232 Transmit TX 6 103 Input Output RS232 Receive RX 7 GND Table 4 GPIO pin assignments 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 see Section 3 8 2 Serial Communication Using GPIO 2 11 1 GPIO Electrical Characteristics The Firefly MV GPIO pins are bi directional When configured as outputs they operate as open collector transistor logic As inputs the lines are internally pulled up to 3 3V 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
2. occccccccccncnnnnnos 12 asynchronous trigger ccccccccccconcninnnoninonoss 42 minimum pulse length oooooooncccnnnnnnccccnccoo 44 I o a a E Suteataetect 43 triQQer AMO cinc 43 IIDC 1394 based Digital Camera DCAM Specifications scccszscscve ceseiidaeseie icons 30 image FIP ntir a E 45 B image tiMestaMp ooooonnoconocccnoccnnoncnnononnnonnnons 45 INPUEDINS siii aiii 28 Bayer Tile color conversion See color conversion input voltage ips 26 27 DINNING o oo See pixel binning integration tiMe oooooncnnnnnnccnnnncccncnoo See shutter Integration time oooonoonnnnnnnncnnnn noo See Shutter Cc L camera settings embedded in image 45 COIOF CONVETSION ocoocoococcnoconcconncononcnononinonasos 44 laptop power considerations oooocoocciocconinnnoo 13 color interpolation E co See color conversion o Jee eee EEE See status LED color processing edaneadeanenie aces See color conversion lens compatibility O E 22 custom image modes 35 See Format_7 lookup A E E E N 45 D M DCAMSee IIDC 1394 based Digital Camera maximum bandwidth seeeeeeeeeeeeeees 34 DCAM Specification maximum cameras running eeeee 34 memory channels ccc cceeeeeeeeeeeeeeeeeees 47 mirror MAYO cooooocccccncccnnnnnncccnnnnnnnnnnancnnnnnnnnnnns 45 E mounting DO ES ocooccccccocccccccccccnnnnncccnnnncnnnnnns 23 embedded image timestamp ccccccccncncncnns 45 EXPOSUre TI
3. 10 12 bit Video Data Output 8 and 16 bit digital data see Supported Data Formats below Standard Resolutions 640x480 1280x960 Frame Rates 60 30 15 7 5 FPS Partial Image Modes Pixel binning or center cut out 640x480 mode via Format_7 Interfaces 5 pin Mini B USB 2 0 for camera control video data transmission and power 7 pin JST GPIO connector 4 pins for trigger and strobe 1 pin 3 3 V 1 Vexr pin for external power Voltage Requirements 4 75 to 5 25 V via the Mini B USB 2 0 cable or JST 7 pin GPIO connector Power Consumption Less than 1W Automatic Manual Gain modes oon 0dB to 18dB Automatic Manual Shutter modes Shutter 0 12 ms to 8000 ms extended shutter mode Gamma 512 to 4095 Trigger Modes IIDC v1 31 Trigger Modes 0 and 3 Signal To Noise Ratio 66 dB Dimensions 44 mm x 34 mm x 24 38 mm case enclosed Mass 37 grams including tripod adapter Camera Specification IIDC 1394 based Digital Camera Specification v1 31 Emissions Compliance Complies with CE rules and Part 15 Class B of FCC Rules Operating Temperature Commercial grade electronics rated from 0 45 C Storage Temperature 30 60 C Operating Relative Humidity 20 to 80 no condensation Storage Relative Humidity 20 to 95 no condensation 3 Using standard non Format_7 video formats and modes Revised 29
4. 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 29 Apr 10 Copyright c 2010 Point Grey Research Inc z 49 N POINT GREY Point Grey Firefly MV Technical Reference Appendix B Memory Channel Registers Offset CURRENT FRAME RATE 600h CURRENT VIDEO MODE 604h CURRENT VIDEO FORMAT 608h CAMERA POWER 610h CUR SAVE CH 620h BRIGHTNESS 800h AUTO EXPOSURE 804h SHARPNESS 808h WHITE BALANCE 80Ch HUE 810h SATURATION 814h GAMMA 818h SHUTTER 81Ch GAIN 820h IRIS 824h FOCUS 828h TRIGGER MODE 830h TRIGGER DELAY 834h FRAME RATE 83Ch PAN 884h TILT 888h ABS VAL AUTO EXPOSURE 908h ABS VAL SHUTTER 918h ABS VAL GAIN 928h ABS VAL BRIGHTNESS 938h ABS VAL GAMMA 948h ABS VAL TRIGGER DELAY 958h ABS VAL FRAME RATE 968h IMAGE DATA FORMAT 1048h
5. MOVING 252 252 e58 cies abe ceee eee a eE 35 regions of interest cceeeeeeeeeeeeeeeeeeeeeeees 35 USB 2 0 Connector cc ccccccccccccceccccetecceceteecess 25 RO lisina See region of interest rolling Shutter io aci 39 RS 232 serial communication ooooccccccn 46 WwW White balance o ooooccccccccccnnnononnnnnnonononononononons 45 S saving camera settings See memory channels Y serial communication using GPIO 46 shutter oe eeees sete eetee teres eetee nese tenes 30 38 39 40 Y16 data format cccceecccesseceeteceeeeeeteeeerees 42 signal to noise ratio ceeee 7 8 9 42 software trigger See asynchronous trigger Revised 29 Apr 10 55 Copyright c 2010 Point Grey Research Inc Y N POINT GREY
6. AUTO EXPOSURE RANGE 1088h AUTO SHUTTER RANGE 1098h AUTO GAIN RANGE 10A0h GPIO_XTRA 1104h SHUTTER DELAY 1108h GPIO STRPAT CTRL 110Ch GPIO_CTRL_PIN_x 1110h 1120h 1130h 1140h GPIO_XTRA_PIN_x 1114h 1124h 1134h 1144h GPIO STRPAT MASK PIN x 1118h 1128h 1138h 1148h FRAME INFO 12F8h FORMAT 7 IMAGE POSITION 008h FORMAT 7 IMAGE SIZE 00Ch FORMAT 7 COLOR CODING ID 010h FORMAT_7 BYTE _PER_PACKET 044h Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc M POINT GREY Point Grey Firefly MV Technical Reference Appendix C 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 fora 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 fro
7. Adapter Card FFMV DEVKIT comes with a 2 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 2 10 Camera Power 2 10 1 Providing Power via the 1394 Interface The 6 pin 1394 connector 9 pin for 1394b cameras connects to a standard IEEE 1394 FireWire 6 pin 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 32V DC according to the IEEE 1394 standard The power consumption is outlined in the Camera Specifications section Revised 29 Apr 10 r 26 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Some systems such as laptop computers or those with several 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 For information about providing power to cameras equipped with an 8 pin miniature IEEE 1394 vertical connector part numbers 97 0010 06900 mono and 97 00100 07300 color see Knowledge Base Article 268 2 10 2 Providing Power Through the USB 2 0 Int
8. Apr 10 Copyright c 2010 Point Grey Research Inc Y N POINT GREY Point Grey Firefly MV Technical Reference 1 2 4 Spectral Response 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 1 2 4 1 FFMV 03M2M amp FMVU 03MTM Spectral Response Sensor Response Curve 110 E Micron MT9V022177ATM 1 3 640x480 CMOS Mono ID 2p 83 Relative Response signal power 28 199 424 650 875 1 101 Wavelength Test ID 209 Revised 29 Apr 10 Y Copyright c 2010 Point Grey Research Inc N POINT GREY 10 Point Grey Firefly MV Technical Reference 1 2 4 2 FFMV 03M2C 8 FMVU 03MTC Spectral Response Sensor Response Curve 110 E Micron MT9V022177ATC 1 3 640x480 CMOS Blue ID 440 E Micron MT9V022177ATC 113 640x480 CMOS Green ID 41 E Micron MT9V022177ATC 1 3 640x480 CMOS Red Mono D sn h ae oe corona boo cies ae cmo cres su anananss aos an aon ole oe Let oD ew A PEPE O Relative Response signal power 28 HT ar She eee ence eee eee eee ees 199 424 650 875 1 101 Wavelength Test ID 410 Revised 29 Apr 10 Y 11 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 1 2 4 3 FMVU 13S2C Spectral Response Sensor Response Curve 110 E Sony IMX035LQR 1 3 1328x
9. Color and Greyscale CONVerSiON ooooooccnnnncninnccooocccnnnccnnnnnannnccnnnnos 44 P E A A nu 45 Sla ICA ALA Pg 45 3 7 4 Image Flip MirTOP oooooonninnncccnnnncnnnnnononccnnnncnnnnnnnnnncnnnnnnnnnnnnnnnnnnnnn 45 3 7 5 Embedded Image Information oononnnccnnnncnnnnccooocccnnnccnnnanannncnnnnn 45 3 8 Camera and Device Control cccceeccceeeeeeeeeceneeeeeeeeeeeeeccneeeeeeeeeeeeenaaes 46 3 8 1 Programmable Strobe Output c ccccceeceeeceeceeeeeeeeeeeeeseneeeeees 46 3 8 2 Serial Communication Using GPIO 0 eeeeeeeeeeeeeeeeeeteteeeeees 46 3 8 3 Memory Channel Storage of Camera Settings ceeeees 47 3 8 4 Camera Upgrades ccccccccceeeeeeeeceeeeeeeeeeeeeeccneeeeeeeeeteensneeeeeees 47 Appendix A GIOSSASY acocinomisricsiaris rc 48 Appendix B Memory Channel RegistersS ccoccconnnnonnnnccccccnonenennnnanas 50 Appendix C Technical Support ResourC6S ccococccccnonocccccccononcnnnnnnnnnnnas 51 Appendix D Contacting Point Grey Research sssessee 52 Appendix E Revision History scisciscciisscscaccetcasanceccescadeasesancncceceeseacesenaaan 53 Revised 29 Apr 10 4 F Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference List of Figures Figure 1 IEEE 1394 connector pin configuration cccccccccceeecceeeeeeeeeeeeeteeeeeeeeeeeeees 25 Fig re 2 GPIO pinilayoUt ooo 28 Figure 3 F
10. Front Mount The Firefly MV board is equipped with four 2 1 PCB mounting holes that can be used to attach the camera directly to a custom fixture 2 4 3 Tripod Mount Adapter The Firefly MV tripod mount adapter comes with the Development Accessory Kit or can be purchased separately by contacting sales ptgrey com Revised 29 Apr 1 0 ri 23 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 2 5 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 o co a o Transmission oa gt 0 2 350 450 550 650 750 850 Wavelength Figure 1 IR filter transmittance graph 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 These properties apply to all imaging cameras except GRAS 1455 Related Knowledge Base Articles ID Title URL Selecting a lens for your camera www ptgrey com sup
11. 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 Tel 1 866 765 0827 na sales ptgrey com Mailing Address Tel 49 7141 488817 0 Point Grey Research GmbH Fax 49 7141 488817 99 Schwieberdinger Strasse 60 eu sales ptgrey com 71636 Ludwigsburg Germany ViewPLUS Inc http www viewplus co jp Cylod Co Ltd http www cylod com LUSTER LightVision Tech Co Ltd www lusterlighttech com Voltrium Systems Pte Ltd www voltrium com sq Apo Star Co Ltd www apostar com tw Revised 29 Apr 10 52 A Y Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Appendix E Revision History Revision Date Notes 1 1 July 9 2009 e Added RS 232 serial port functionality See Section 2 11 General Purpose Input Output GPIO and Section 3 8 2 Serial Communication Using GPIO e Provided clearer GPIO circuit diagram in Section 2 11 1 GPIO Electrical Characteristics 1 2 August 27 e Added link to Knowledge Base Article 295 in Section 2009 2 10 3 Other Power Considerations e Clarified in Section 3 5 that the Format_7 center cut out ROI of the FMVU 13S2 can be dynamically moved within the larger pixel array e Updates per the following Product Change Notification PCN s o 2009001A Discontinuation Notice for Firefly MV Board Level IEEE 1394a Models with CS Lens Mo
12. at 15 FPS and can change depending on the camera resolution and frame rate e Shutter maximum values increase as frame rate decreases e Pan 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 Revised 29 Apr 1 0 ri 30 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Property Min Max Auto On Off One Absolute Defaults Push Mode Brightness 1 255 Y N N N Auto On Exposure T 62 Y Y N N Auto On Gamma 0 1 N Y N N Off Pan 0 112 Y Y N N Auto On Shutter 0 06 ms 33 19 ms Y N N Y Auto On Gain 0 dB 12 04 dB Y N N Y Auto On White Balance 1 1023 N Y N N On COL Frame Rate 4 6 FPS 30 42 Y Y N Y Auto On FPS 30 FPS Table 6 General Camera Properties FFMV 03M2 FMVU 03MT Property Min Max Auto On Off One Absolute Defaults Push Mode Brightness 0 511 N N N N On Exposure 1 1023 Y Y Y Y Auto On Gamma 512 4095 N Y N N Off Shutter 0 12 ms 133 ms Y N Y Y Auto On Gain 0 dB 18 dB Y N Y Y Auto On White Balance 1 1023 N Y N N On COL Frame Rate 1 36 FPS 60 09 Y Y N Y Auto On FPS 15 FPS Table 7 General Camera Properties FMVU 13S2 3 2 Data Flow Image Capture Mic
13. base address and the desired CSR address For example if the base address is OxFFFFFOFO0000 and the value of the quadlet offset is 0x100 then the actual address offset is 0x400 and the actual adress OxFFFFFOFO0400 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 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
14. 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 3 7 4 Image Flip Mirror The FFMV 03M2M C and FMVU 03MTM C models support horizontal image mirroring The mirror image operation is performed on the camera using an on board frame buffer and is controlled using the IMAGE_DATA_FORMAT register 0x1048 which is described in detail in the Point Grey Digital Camera Register Reference 3 7 5 Embedded Image Information The Firefly MV 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 Revised 29 Apr 10 Y 45 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference FRAME_INFO register 0x12F8 which is described in detail in the Point Grey Digital Camera Register Reference The following table indicates which embedded image properties are supported by the Firefly MV by model Embedded Image Property FFMV 03M2 FMVU 13S2 FMVU 03MT Timestamp Y Y GPIO Pin State Y Y Stro
15. product please contact Point Grey Research Trademarks Point Grey Research PGR the Point Grey Research Inc logo Chameleon Digiclops Dragonfly Dragonfly Express Firefly Flea FlyCapture Grasshopper Ladybug and Triclops are trademarks or registered trademarks of Point Grey Research Inc in Canada and other countries Revised 29 Apr 10 2 Copyright c 2010 Point Grey Research Inc M POINT GREY Point Grey Firefly MV Technical Reference Table of Contents Table Of Content iii 3 List Of Fig reS courier 5 UStor Tables ea 5 1 A A aaa aa aa AEAEE AAN ERARA 6 al USNI TRISH ANU As aN 6 12 Camera Specifications ee EEEE 7 1 2 1 FFMV 03M2M C Specifications 7 1 2 2 FMVU 03MTM C Specifications sser 8 1 2 3 FMVU 13S2C SpecificatiONS cccococcccnnnnnnnnnnnnnnnnnnnnnnnnonnnos 9 1 2 4 Spectral ReOSpOnse cccccccccnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 10 1 2 5 Analog to Digital Converter cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeenaaes 12 1 3 System RequirementS oooocccccnnnnoooocccnnccononnnnnnncnnnnnnnnnnnnnnnncnnnncnnnnnnnn nn cnica 13 1 3 1 Laptop Notebook Considerations ccccccccccnnnononnnnnnnnnnnnnnnnnnos 13 1 3 2 Macintosh and Linux OS SUuppOlt ccccccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 13 1 4 Controlling the Camera sssini nra 13 1 4 1 FlyCap Demo Program ooccccncccocccccnnccconnnnnnncnnnncnnnnnnnnnncnnnncnnnnnnnnnnos 13 1 4 2 Custom Ap
16. the factory defaults during initialization Refer to Appendix B Memory Channel Registers for a full listing of all registers saved Memory channels are configured using the following registers which are described in detail in the Point Grey Digital Camera Register Reference MEMORY_SAVE 0x618 MEM_SAVE_CH 0x620 and CUR_MEM_CH 0x624 Related Knowledge Base Articles 290 Using memory channels to http www ptgrey com support kb index asp a 48 amp q 290 configure default start up settings 3 8 4 Camera Upgrades The firmware on the Firefly MV 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 firmware consult the UpdatorGU User Manual available in the downloads section Revised 29 Apr 10 7 47 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Appendix A 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
17. tiMES onnnnnnnnnnnnnnnccnnnnnnnnnnnnnnnnn 40 Revised 29 Apr 10 r 5 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 1 Introduction All model specific information presented in this manual reflects functionality available in the following camera firmware version FFMV 03M2M C 0 9 Release Candidate 12 FMVU 03MTM C 0 9 Release Candidate 12 FMVU 13S2C 1 2 Release Candidate 2 To check the camera firmware version consult our knowledge base www ptgrey com support kb index asp 7a 4 amp q 9 1 1 Using This Manual This manual attempts to provide the user with a detailed specification of the Firefly MV 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 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 user manuals technical references and application notes which can be downloaded from our website at www ptgrey com support downloads e Point Grey Digital Camera Register Reference e FlyCapture SDK Help Revised 29 Apr 10 6 Copyright c 2010 Point Grey Research Inc M POINT GREY Point Grey Firefly MV Technical Reference 1
18. www ptgrey com support kb index asp a 48q 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 48 amp q 89 performed on my camera s images 3 7 2 Gamma Sensor manufacturers strive to make the transfer characteristics inherently linear which means that as the number of photons hitting the imaging sensor increases the resulting image intensity increases will be linear To augment this linearity the FFMV 03M2M C and FMVU 03MTM C support 12 10 bit gamma companding which produces a non linear response and can reduce noise at low light levels Gamma is OFF 0 by default To enable companding set gamma to 1 The FMVU 13S2C supports gamma functionality in conjunction with an 11 bit input lookup table that produces 8 bit output Gamma can be controlled using the GAMMA register 0x818 By default Gamma is OFF and has a value of 1 0 which yields a linear response Direct manipulation of the lookup table is not supported Related Knowledge Base Articles 280 High dynamic range HDR www ptgrey com support kb index asp a 48q 280 mode on Firefly MV 3 7 3 White Balance The Firefly MV 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
19. 1048 CMOS Blue ID 533 i Sony IMX035LQR 1 3 1328x1048 CMOS Green ID 533 E Sony IMXO35LQR 1 3 1328x1048 CMOS Red Mono ID 533 Relative Response signal power 199 424 650 875 1 101 Wavelength Test ID 533 1 2 5 Analog to Digital Converter Both the Micron MT9V022177ATM and Sony IMXO35LQR sensors include an on board A D converter to digitize the images produced by the CMOS The following tables illustrate the most important aspects of these processors Resolution 10 bit 27 MHz Variable Gain Amplifier 0 dB to 12 dB Black Level Clamp 0 to 255 Table 1 Micron MT9V022177ATM FFMV 03M2M C amp FMVU O3MTM C A D Properties Resolution 10 12 bit 54 MHz Variable Gain Amplifier O dB to 24 dB Pixel Gain Amplifier O dB to 18 dB Black Level Clamp 0 to 511 Table 2 Sony IMX035LQR FMVU 13S2 A D Properties Revised 29 Apr 10 r 12 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 1 3 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 PCI e card not included or 64 bit PCI slot Minimum 32 bit standard PCI slot for the IEEE 1394 card e Micros
20. 2 Camera Specifications 1 2 1 FFMV 03M2M C Specifications Imaging Sensor Micron 1 3 Wide VGA CMOS MT9V022177ATM BW MT9V022177ATC Color Shutter Type Global shutter using Micron TrueSNAP technology Active Imager Size 4 51mm H x 2 88m V Diagonal 5 35mm 1 3 type Active Pixels 752 H x 480 V Pixel Size 6um H x G6um V A D Converter On chip 10 bit analog to digital converter Video Data Output 8 and 16 bit digital data see Supported Data Formats below Standard Resolutions 640x480 Frame Rates 60 30 15 7 5 FPS Partial Image Modes Pixel binning and region of interest modes available via Format_7 Interfaces 6 pin IEEE 1394a for camera control video data transmission and power 7 pin JST GPIO connector 4 pins for trigger and strobe 1 pin 3 3 V 1 Vexr pin for external power Voltage Requirements 8 32V via IEEE 1394 cable or GPIO connector Vexr Power Consumption Less than 1W Automatic Manual Gain modes Gain OdB to 12dB Shutter Automatic Manual Shutter modes 0 03 ms to 512 ms extended shutter mode Gamma 0 to 1 enables 12 bit to 10 bit companding Trigger Modes IIDC v1 31 Trigger Modes 0 and 3 Signal To Noise Ratio 52 dB Dimensions 44 mm x 34 mm x 24 38 mm case enclosed Mass 37 grams including tripod adapter Camera Specification IIDC 1394 based
21. 2 6 the Firefly MV is capable of serial communications at baud rates up to 115 2Kbps via the on board serial port built into the camera s GPIO connector The serial port uses TTL digital logic levels If RS 232 signal levels are required 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 29 Apr 10 Y 46 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Related Knowledge Base Articles 151 Configuring and testing the RS www ptgrey com support kb index asp a 48q 151 232 serial port 3 8 3 Memory Channel Storage of Camera Settings The Firefly MV 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 Firefly MV provides two additional memory channels for custom default settings The camera will initialize itself at power up or when explicitly reinitialized using 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
22. Digital Camera Specification v1 31 Emissions Compliance Complies with CE rules and Part 15 Class B of FCC Rules Operating Temperature Commercial grade electronics rated from 0 45 C Storage Temperature 30 60 C Operating Relative Humidity 20 to 80 no condensation Storage Relative Humidity 20 to 95 no condensation Using standard non Format_7 video formats and modes Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc Y N POINT GREY Point Grey Firefly MV Technical Reference 1 2 2 FMVU 03MTM C Specifications Imaging Sensor Micron 1 3 Wide VGA CMOS MT9V022177ATM BW MT9V022177ATC Color Shutter Type Global shutter using Micron TrueSNAP technology Active Imager Size 4 51mm H x 2 88m V Diagonal 5 35mm 1 3 type Active Pixels 752 H x 480 V Pixel Size 6um H x 6um V A D Converter On chip 10 bit analog to digital converter Video Data Output 8 and 16 bit digital data see Supported Data Formats below Standard Resolutions 640x480 Frame Rates 60 30 15 7 5 FPS Partial Image Modes Pixel binning and region of interest modes available via Format_7 Interfaces 5 pin Mini B USB 2 0 for camera control video data transmission and power 7 pin JST GPIO connector 4 pins for trigger and strobe 1 pin 3 3 V 1 Vex pin for external power Voltage
23. ME ee eeeeeeeeees See shutter O extended shutter tiMesS oooccccccncnncccncnnnnnos 40 MAXIMUMS cecceccesceceeseescesseseeseeseeeeeereeses 40 OPtOCOUPIEL 0 2 seeeeereeeeteeeeeeneeneeeeetereneeatees 28 external trigger IP See asynchronous trigger output pins ia a asa 28 external trigger minimum duration 44 output pulse O See strobe external trigger timing information 43 P F partial image modes 000 See Format_7 faster frame rates See regions of interest PGM file format for Y16 images ooo oo c 42 firmware upgrades ceceeseeeseseeeseseseseeees 47 PGR IEEE 1394 Digital Camera Register Referente cocccccccnnnnononononnnnnnnonononnnnnnnnnnnnnnos 30 Revised 29 Apr 10 54 Copyright c 2010 Point Grey Research Inc Y N POINT GREY Point Grey Firefly MV Technical Reference pixel DINNING iarrair ieii piniis 35 status LED sarigini iiaii 29 pixel ese I X01 0 Sennen 32 OT 46 powering the camera 26 27 for duration of shutter oooooonnnncccccccccccccnnnns 46 variable pattern ccceeeeeeeeeeeeeeeeeeeees 46 R T ranges for properties eeeeeeeeeeeeeeeeeeeeeneees 30 raw Bayer data 36 CO nds 15 raw data MODO sssccscecsbecsesszecestec See asynchronous trigger Interpolatind cusco 44 region of interest ooooooocccccccccnonanacaconcncnnnanananon 35 CNANGING SIZE oooooococccocccocccoonconnconcconnnononoos 35 U
24. N POINT GREY Firefly MV Technical Reference Manual Version 1 3 Revised April 29 2010 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 O 2010 Point Grey Research Inc All Rights Reserved Point Grey Firefly MV Technical Reference For customers in the U S A 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 The shielded interface cable recommended in this manual must be used with this equipment in order to comply with the limits for a computing device pursuant to Subpart J of Part 15 of FCC Rules Hardware Warranty Point Grey Research Inc Point Grey warrants to the Original Purchaser that the Camer
25. Requirements 4 75 to 5 25 V via the Mini B USB 2 0 cable or JST 7 pin GPIO connector Power Consumption Less than 1W Automatic Manual Gain modes aa 0dB to 12dB Shutter Automatic Manual Shutter modes 0 03 ms to 512 ms extended shutter mode Gamma 0 to 1 enables 12 bit to 10 bit companding Trigger Modes IIDC v1 31 Trigger Modes 0 and 3 Signal To Noise Ratio 52 dB Dimensions 44 mm x 34 mm x 24 38 mm case enclosed Mass 37 grams including tripod adapter Camera Specification IIDC 1394 based Digital Camera Specification v1 31 Emissions Compliance Complies with CE rules and Part 15 Class B of FCC Rules Operating Temperature Commercial grade electronics rated from 0 45 C Storage Temperature 30 60 C Operating Relative Humidity 20 to 80 no condensation Storage Relative Humidity 20 to 95 no condensation Using standard non Format_7 video formats and modes Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc Y N POINT GREY Point Grey Firefly MV Technical Reference 1 2 3 FMVU 13S2C Specifications Imaging Sensor Sony 1 3 CMOS IMX035LQR C Color Shutter Type Rolling shutter Active Imager Size 7 64 mm H x 7 64 mm V Diagonal 6 08 mm 1 3 type Active Pixels 1328 H x 1048 V Pixel Size 3 63 um H x 3 63 um V A D Converter
26. a Module provided with this package is guaranteed to be free from material and manufacturing defects for a period of one 1 year Should a unit fail during 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
27. a 4 amp q 200 Revised 29 Apr 10 7 28 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference The Vexr pin Pin 1 allows the camera to be powered externally On models with a IEEE 1394 interface the voltage limit is 8 30V On USB 2 0 models the voltage limit is 4 75 5 25V The 3 3V pin Pin 2 is fused at 200mA External devices connected to Pin 1 should not attempt to pull anything greater than that 3 30 VEXT GPIO EN gt l4 SR32 3 F5 10K 10K l0K 10K a JPI O opa ES R8 10K e cen RIO 10K AVAL cpp Rll 10K cpp BIZ 10K GPIOS IST EMO7B SRSS CO c T 1000pF 1000pF 8 R13 10K g R46 R42 10K ae R45 SSS ee 250R R43 10K bas R44 250R Figure 3 Firefly MV GPIO Circuit Diagram 2 12 Status Indicator LED The LED on the back of the Firefly MV module provides the following general status messages LED Status Description Off Not receiving power Steady on Receiving power and successful camera initialization Steady on and very bright Acquiring transmitting images Flashing bright then brighter Camera registers being accessed no image acquisition Steady or slow flashing on and off Firmware updating or possible camera problem Table 5 Status indicator LED descri
28. aasaaaean 23 2 4 3 Tripod Mount Adapter cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaaeeteneeees 23 2 5 Infrared Cut Off Filter io a 24 26 JEEE 1394 Interface iii niin 25 2 6 1 Standard 6 pin IEEE 1394 Connector cccccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 25 2 6 2 8 pin Miniature Vertical IEEE 1394 Connector ccccccccccncnnnnnnnns 25 2 12 USB 2 0ntelface aaa 25 28 Calesita A 26 2 0 te ECET I Cale is 26 Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 2 8 2 USB 2 0 Cables cooooccocncccconocooncccnnncccnnnnnnnnccnnnncnnnnnnnnnnnnnnncnnnnnnnnnnnrs 26 2 9 Host Adapter Card oooccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninoss 26 2 10 Camera POWeTF oocoooccccncccconnnonnncnnnnnccnnnnnnnnnnnnnnncnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnninannns 26 2 10 1 Providing Power via the 1394 Interface ooooonnnnnnnicicnnnniinnnccnncos 26 2 10 2 Providing Power Through the USB 2 0 Interface o 27 2 10 3 Other Power Considerations oooononncnnnccnnnccccnnoconnnccnnncccnnnnnnnnnos 27 2 11 General Purpose Input Output GPIO ccccccnnccnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnos 28 2 11 1 GPIO Electrical Characteristics c ccccceccteeeeceeeeeeeeeeeeeteeaes 28 2 12 Status Indicator LED smtp patada 29 3 Camera Operations and Features cccccccccccccccccccccncccnnnn
29. ability of various hardware platforms operating systems software and drivers to handle multiple USB 2 0 image streams Therefore questions or troubleshooting of these issues cannot be addressed Wherever possible Point Grey FireWire cameras should be used for applications that require multiple cameras running simultaneously on the same computer 3 4 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 bandwidth 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 two 1394a 640x480 Firefly MVs that are in 8 bit mode you would calculate Frames_per_second 40MB s 640 480 1byte pixel 2 40MB s 0 29MB total_frames 2 138 FPS 2 69 FPS The calculation above is only a rough estimate The IEEE 1394 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 than 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 Isochronous Bandwidth Requirements se
30. at are the differences www ptgrey com support kb index asp a 48q 163 between pixel binning and region of interest custom image modes Revised 29 Apr 10 Y 36 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference FFMV 03M2C amp FMVU 03MTC Mode Pixel Format Te E 640x480 FPS 320x240FPS 160x 120 FPS 0 Raw8 4 4 61 112 193 0 Raw16 44 49 112 193 1 Mono8 22 122 224 1 Mono16 2 2 122 224 2 Mono8 4 2 f 122 224 2 Mono16 4 2 122 224 Table 9 Partial image Format 7 video formats modes and frame rates for FFMV 03M2C and FMVU 03MTC FMVU 13S2C a Unit Size 1328x1048 664x524 Mode Pixel Format H V FPS FPS 640x480 FPS 0 Raw8 4 4 23 60 0 Raw16 4 4 50 12 1 Raw8 4 4 60 1 Raw16 4 4 47 Table 10 Partial image Format 7 video formats modes and frame rates for FMVU 13S2C 3 5 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 s
31. be Pattern Y N Exposure N Y 3 8 Camera and Device Control 3 8 1 Programmable Strobe Output The Firefly MV 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 Firefly MV 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 q 179 signal using IIDC 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 pattern 212 GPIO strobe signal continues www ptgrey com support kb index asp a 4 amp q 212 after isochronous image transfer stops 3 8 2 Serial Communication Using GPIO Beginning with firmware version 0 9
32. ction of the Point Grey Digital Camera Register Reference For example a single Firefly MV in 640x480 Y16 mode running at 15 FPS is sending 640 pixels per packet Each pixel consists of 16 bits or 2 bytes of data Therefore the camera is sending 640 2 1280Bpp of data The maximum bandwidth of the 1394a bus as discussed above is 4096Bpp so it would be possible for 4096 1280 3 rounded down Firefly MVs to run in 640x480 Y16 mode at 15 FPS on the same 1394a bus Revised 29 Apr 1 0 r 34 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 3 4 4 Problems Maximizing Frame Rates In some circumstances due to 1394 bus bandwidth limitations set by the operating system some cameras may not be able to achieve the maximum calculated frame rate Example According to the formula in the section Calculating Maximum Possible Frame Rate it is possible to run four 640x480 cameras in Y8 8 bit mode at 30 FPS However when attempting to do this via the FlyCap demo program Format and Frame Rate controls starting the fourth camera at 30 FPS often results in a bandwidth exceeded error The workaround to this problem is to circumvent the Windows bandwidth restrictions by directly manipulating the camera s CURRENT_FRAME_RATE register 600h In the example above start three instances of the FlyCap demo program with each camera running at 30 FPS Start the fourth camera up at 15 FPS then acce
33. docs The Firefly MV USB 2 0 interface is not backward compatible with a USB 1 1 interface If the computer on which you want to operate a Point Grey USB camera does not have a built in USB 2 0 host controller you can install a USB 2 0 PCI host adapter card For more information refer to Knowledge Base Article 309 Using USB PCI 2 0 host adapter cards with USB cameras Revised 29 Apr 10 r 25 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Related Knowledge Base Articles 325 Differences between USB www ptgrey com support kb index asp a 4 amp q 325 cameras and FireWire cameras 2 8 Cables 2 8 1 IEEE 1394 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 48 amp q 197 2 8 2 USB 2 0 Cables The maximum cable length between any USB node e g camera to USB USB to hub etc is 5 0m as indicated by the USB specification Standard shielded twisted pair copper cables must be used For more information refer to the following FAQ on the usb org website http www usb org about fag ans5 2 9 Host
34. dress all possible applications of the Firefly MV camera 3 4 1 Maximum Number of Cameras on a Single Bus 1394 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 same 1394 bus e Although the 1394a 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 Tl chipset can support at most 4 simultaneous DMA channels or contexts Similar adapters based on the Lucent Agere chipset support up to 8 DMA contexts There are no known 1394b chipsets that allow more than 4 simultaneous DMA contexts See Knowledge Base Article 146 for more information e The maximum bandwidth of the 1394a bus is 400Mbits sec 5120Bytes packet 8000 cycles sec The usable bandwidth as defined by the 1394a Trade Association and enforced by the Microsoft Windows 1394 driver stack 1394bus sys ohci1394 sys etc is approximately 80 or 40MBytes sec 4096Bytes 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 4915Bytes packet e The 1394a standard limits the maximum number of devices on a single bus to 63 e An inadequate power supply Consult the voltage and power requirements in the General Specifica
35. e version 0 9 2 5 To upgrade camera firmware visit http www ptgrey com support downloads index asp 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 Multisync 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 MultiSync software is compatible with the Firefly MV as of Firmware version 0 0 0 11 Related Knowledge Base Articles 112 Synchronizing Point Grey www ptgrey com support kb index asp a 48
36. e frame rate by two e g 15 FPS to 7 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 Point Grey Digital Camera Register Reference The terms integration and exposure are often used interchangeably with shutter time 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 Firefly MV 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 exposing images even when ISO is off in order to keep things such as t
37. ead 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 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 Contig ROM Configuration read only memory A section of memory dedicated to describing low level device characteristics such as Model and Vendor ID IEEE 1394 version 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 IIDC Abbreviation for Instrumention and Industrial Digital Camera The IIDC 1394 based Digital Camera Specification 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 spontan
38. en isochronous and asynchronous modes Although the gain setting on the camera remains the same switching from free running mode to trigger mode may result in darker images and require an automatic or manual re adjustment of the gain setting 3 6 9 1 External Trigger Timing The time from the external trigger going low to the integration time is shown below External trigger I Exposure time o o gt 9 Data transfer St A E O O FFMV 03M2 FMVU 03MT FMVU 13S2 1 Min 1us Min 1us 2 less than 10us Varies according to shutter speed approximately the difference between frame rate and shutter speed 3 Exposure time Exposure time 4 1ms 1 2 horizontal line scans horizontal line frequency can be read from register 0x1AF4 5 30 ms 30 FPS 30 ms 30 FPS Figure 6 Firefly MV external trigger timing characteristics 3 6 9 2 Ensuring Trigger is Armed It is possible for the Firefly MV 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 CMOS Revised 29 Apr 10 r 43 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference To ensure that the camera is ready to be triggered poll the SOFTWARE_TRIGGER register 0x62C The concept of
39. eously 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 IIDC specification FPS Frames Per Second Frame Rate Often defined in terms of number of frames 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 29 Apr 10 Copyright c 2010 Point Grey Research Inc r 48 N POINT GREY Point Grey Firefly MV Technical Reference Grabbing Images A commonl
40. erface The 5 pin USB 2 0 Mini B vertical connector provides a power connection between the camera and the host computer The ideal input voltage is 5V DC however the camera is designed to handle voltages between 4 75V and 5 25V DC according to the USB 2 0 standard The power consumption is outlined in the Camera Specifications section 2 10 3 Other Power Considerations Some Point Grey cameras allow 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 Consult the Point Grey Digital Camera Register Reference for more information When a camera is power cycled power disengaged then re engaged the camera reverts to its default factory settings or if applicable the last saved memory channel KB Article 295 http www ptgrey com support kb index asp a 4 amp q 295 Revised 29 Apr 1 0 Y 27 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 2 11 General Purpose Input Output GPIO The Firefly MV has a 7 pin GPIO connector on the back of the case The connector is made by JST Mfg P N BM07B SRSS TB The Development Kit contents include a pre wired female connector refer to the diagram below for wire color coding Additional female connectors Mfg P N SHR 07V S B can be purchased from Digikey P N 455 1382 ND
41. es 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 MENA Notes FFMV 640x480 Y8 60 FPS 0 03 64 03M2M C 640x480 Y8 30 FPS 0 06 128 FMVU 640x480 Y8 15 FPS 0 12 256 03MTM C 640x480 Y8 7 5 FPS 0 25 512 FMVU 1352C 640x480 Y8 60 FPS 0 04 2004 640x480 Y8 30 FPS 0 07 4011 640x480 Y8 15 FPS 0 13 8025 640x480 Y8 7 5 FPS 0 25 16053 Table 11 Extended shutter minimum and maximum times Related Knowledge Base Articles 166 Extended shutter mode www ptgrey com support kb index asp a 4 amp q 166 operation for IIDC 1 31 compliant Point Grey Imaging Products Revised 29 Apr 10 Y 40 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 3 6 6 Automatic Inter Camera Synchronization 3 6 6 1 Synchronization of 1394 Cameras Synchronizing multiple FFMV cameras is subject to the following limitations 1 The cameras must be using firmware version 0 0 0 11 or later 2 The cameras must be running in a standard image capture mode non Format_7 3 The cameras must be running at 30 or 60 FPS Synchronizing multiple FFMV cameras across buses can be configured without any special conditions beginning with firmwar
42. est many of the capabilities of your Point Grey camera system Consult the Point Grey FlyCapture User Manual for more information Revised 29 Apr 10 r 13 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 1 4 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 application FlyCap 1 4 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 48 amp q 152 1 4 4 Custom Applications Built with other APIs The FlyCapture SDK supports custom applications built with DirectShow TWAIN and ActiveX components An ActiveX Programming Reference is installed by default in the Start menu at Point Grey Research gt PGR FlyCapture gt Documentation 1 5 Camera Control Command Reg
43. gorithms Images should be acquired using one of the Format_7 video modes that support Raw8 or Raw16 pixel encoding or non Format_7 Y8 Y16 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 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 queried using the BAYER_TILE_MAPPING register 0x1040 that is implemented on all Point Grey 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 Read the BAYER_TILE_MAPPING register 0x1040 to determine the current Bayer output format e g RGGB GRBG etc Using a Bayer format of RGGB for example if we access the image data via the pData pointer we would have the following e pData 0 Row 0 Column 0 red pixel R e pData 1 Row 0 Column 1 green pixel G e pData 640 Row 1 Column 0 green pixel G Revised 29 Apr 10 r 44 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference e pData 641 Row 1 Column 1 blue pixel B Related Knowledge Base Articles ID Title URL 33 Different color processing
44. h Inc Y N POINT GREY 20 Point Grey Firefly MV Technical Reference 2 1 3 Board Level Dimensions For board level drawings of FMVU models contact support ptgrey com 2 1 4 Tripod Mount Adapter Dimensions 6 0 ZS 2 1 5 M12 Microlens Mount Dimensions Available separately for board level camera models Revised 29 Apr 10 7 21 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference lt 15756 mm Ly No P Oi LENS THREAD M12X0 5 6H A N e ae O Nu Y NL DOWEL PINS x2 2 2 Lens Setup and Compatibility The lens holder is compatible with CS mount lenses A 5 mm adapter included can be used to accommodate C mount lenses A 12 mm adapter can be used for mounting a microlens Users with a board level camera and microlens may mount a microlens holder to the board instead of using an adapter This solution is not recommended for case enclosed cameras as mounting the microlens holder requires opening the case and voiding the hardware warranty Also because the microlens holder has a smaller diameter than the CS mount holder there will be a gap between the microlens holder and the case Lenses and 12 mm microlens adapters are not included with individual cameras but can be purchased separately from Point Grey Research For more information visit our Products Accessories web page To differentiate between C and CS mount
45. he auto exposure Revised 29 Apr 1 0 ri 38 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 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 For an explanation of the differences between global shutter FFMV 03M2 amp FMVU 03MT and rolling shutter FMVU 13S2 refer to the following knowledge base article Related Knowledge Base Articles 115 Key differences between rolling www ptgrey com support kb index asp a 48q 115 shutter and frame global shutter 3 6 3 Gain The Firefly MV supports automatic and manual 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 Refer to Section 1 2 for ranges by model 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 Point Grey Digital Camera Register Reference Increasing gain also increases image noise which can affect image quality To increase image intensity try adjusting the lens aperture iris and shutter time first 3 6 4 Auto Exposure Auto exposure AE allows the camera
46. ing aggregates adjacent vertical pixel values to form a single average pixel value 2X horizontal binning works in the same manner except adjacent horizontal pixel values are aggregated Revised 29 Apr 1 0 ri 35 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 2X Vertical Binning BEE EEES 2X Horizontal Binning 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 The FMVU 13S2 supports only two ROI configurations in Format_7 mode full size and 640x480 which is obtained from the sensor s center cut out feature The center cut out ROI can be dynamically moved within the larger pixel array Related Knowledge Base Articles 163 Wh
47. irefly MV GPIO Circuit DiagraM oooooncicnncooncccnnnnccnnnnanonncnnnnnnnnnnnannnnnnnnncnnnnnns 29 Figure 4 FFMV 03M2 FMVU 03MT Data FIOW ooooooocooocccccccccccccoonnnccnnnncnnnnnnnnnncnnnncnnannns 31 Figure 5 FMVU 13S2 Data FIOW oooococconccoocccccnccccnnnnonnncnnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannns 32 Figure 6 Firefly MV external trigger timing Characteristics oooonnonncccnnnicinnicococccnnnccnannns 43 List of Tables Table 1 Micron MT9V022177ATM FFMV 03M2M C 8 FMVU O3MTM C A D Properties z usaaaagaandeaauaeasagaaseigasaaanasdaaaasagaadaaed T 12 Table 2 Sony IMXO35LQR FMVU 13S2 A D Properties occcccccccccnnnnnnnnnnnnnnnnnnnnnnos 12 Table 3 IEEE 1394 connector pin ConfiguratiON ooooonnnncnnnccnnnncccnnncoonnccnnnnonnnnnr nn ncnnnnnos 25 Table4 GPIO pimassignmentS iaa 28 Table 5 Status indicator LED descriptiONS ococccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 29 Table 6 General Camera Properties FFMV 03M2 FMVU O3MT a 31 Table 7 General Camera Properties FMVU 13S2 oooocccccccccnnccccnccoonncnnnnccnnnnnnnnncnnnnno 31 Table 8 Supported video formats modes and frame rates oooccccccnncccccononnnnnnnnnnnns 33 Table 9 Partial image Format 7 video formats modes and frame rates for FFMV 03M2C and FMVU O3MTC ooo aiii 37 Table 10 Partial image Format 7 video formats modes and frame rates for FMVU BS luna 37 Table 11 Extended shutter minimum and maximum
48. isters 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 Revised 29 Apr 1 0 Y 14 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 1 6 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 Avoid electrostatic charging Please consult the following knowledge base article for more details www ptgrey com support kb index asp a 48q 42 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 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 When handling the camera unit avoid touching the lenses Fingerprints will affect the quality of the image produced by the device To clean the lenses use a standard camera lens cleaning kit or a clean dry cotton cloth Do not apply excessive force To clean the i
49. ize of 640x480 pixel format of Mono16 2 bytes per pixel and 4088 bytes per packet the calculation would be as follows FPS 1 640 480 2 4088 0 000125 FPS 53 Revised 29 Apr 10 7 37 Copyright c 2010 Point Grey Research Inc M POINT GREY Point Grey Firefly MV Technical Reference 3 6 Image Acquisition 3 6 1 Camera Power The FFMV 03M2M C and FMVU 03MTM C models allow 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 If isochronous transmit ISO_EN ONE_SHOT MULTI_SHOT is enabled while the camera is powered down the camera will automatically write Cam_Pwr_Ctrl 1 to power itself up However disabling isochronous transmit does not automatically power down the camera The camera will typically not send the first two images acquired after power up unless the camera is in asynchronous trigger 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 3 6 2 Shutter The Firefly MV supports automatic and manual control of the CMOS shutter time Refer to Section 1 2 for ranges by model Shutter times are scaled by the divider of the basic frame rate For example dividing th
50. lenses consult the following article KB Article 98 ptgrey com support kb index asp a 4 amp qg 98 Revised 29 Apr 10 r 22 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 2 3 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 likelinood of interference from the dust assuming non collimated light and the possibility of damage to the sensor during cleaning is reduced 2 4 Mounting 2 4 1 Top and Bottom Mounts The FMVU xx plastic case is equipped with four 4 M2 X 3 5 mounting holes on both the top and bottom faces of the case 8 holes total These holes can be used to attach the camera directly to a custom mount or standard tripod Because the case is plastic plastic screws are required 2 4 2
51. m 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 installed 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 29 Apr 1 0 F 51 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Appendix D Contacting Point Grey Research For any questions concerns or comments please contact us via the following methods Email Knowledge Base Downloads Main Office Distributors USA Europe Israel Japan Korea China Singapore Malaysia Thailand Taiwan 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
52. maging surface of your CCD follow the steps outlined in www ptgrey com support kb index asp a 4 amp q 66 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 Avoid excessive shaking dropping or any kind of mishandling of the device 1 6 1 Heat Dissipation The plastic case of the Firefly MV does not get hot Nevertheless the camera can generate significant heat especially when running in some high data rate video modes A high quality lens with a metal housing in conjunction with the lens mount can act as an effective heat sink As such the lens and lens mount may become very warm to the touch This is expected behaviour and will not cause damage If reducing heat is a concern use a cooling fan to set up a positive air flow around the camera while ensuring there is enough open space around the camera to facilitate the free flow of air Revised 29 Apr 1 0 ri 15 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 1 7 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 ptgre
53. memory channel is ON If not ON no white balance correction occurs FIFO Queue The final output of image data is controlled in a first in first out FIFO queue Depending on your camera s interface data is transferred at the following rates 1334A or USR aan e 480 Mbit s via a 5 pin Mini B USB 2 0 port e 400 Mbit s via a 6 pin IEEE 1394a port Pixel Correction White Balance 3 3 Standard Data Formats Modes and Frame Rates This section lists the different video formats modes and frame rates that are supported by the Chameleon 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 e CURRENT_VIDEO_MODE register 0x604 e CURRENT_FRAME_RATE register 0x600 Revised 29 Apr 10 32 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Models o FFMV 03M2C o FFMV 03M2M e FMVU 03MTC FMVU 03MTM e FMVU 1352C Modes 7 5fps 15fps 30fps 60fps 640x480 Y8 ecce6e c c c 640x480 Y16 c c e 1280x960 Y8 1280x960 Y16 o B W output only Color data is removed due to pixel binning Table 8 Supported video formats modes and frame rates 3 4 Frame Rates and Camera Bandwidth This section is recommended for advanced users only and is not meant to ad
54. nnonnnnnnos 30 3 1 General Camera Properties i sisisisississisdviviviviviviviiiviniviaiivivinvisivivaisss 30 3 2 Dalal A henna RGR EAnENEnnNEnENEnEHEnE 31 3 3 Standard Data Formats Modes and Frame Rates 0 ccceecesseseeeeeeeees 32 3 4 Frame Rates and Camera Bandwidth ccccccceeceeeeeeeeeneeeeeeeeeeeeesaaes 33 3 4 1 Maximum Number of Cameras on a Single Bus 1394 33 3 4 2 Maximum Number of Cameras on a Single Bus USB 2 0 34 3 4 3 Calculating Maximum Possible Frame Rate ceeeeeeees 34 3 4 4 Problems Maximizing Frame Rates ee 35 3 5 Customizable Data Formats and Modes cccccceeeeeeeeeeeeeeeeeeeeeeseaaes 35 3 5 1 Calculating Format_7 Frame Rates cccccceeseeeeeeeeeeeeeneeeeees 37 3 6 Image Acquisition da 38 3 6 1 Camera Power 38 3 6 2 Shutter Rs 38 30 Gall conos 39 3 6 4 Auto Exposure cooccooooooccccccccccnnnnnnnnccnnnncnnnnnnnnnnnnnnncnnnnnnnnnnnnnnnncnnnnnnns 39 3 6 5 Extended Shutter TiMS oooonccinnnnononcccnncccnnncnannnconnncnnnnnnnnncnnnnn 40 3 6 6 Automatic Inter Camera Synchronization ooonnnonnccnnnnnnnnnnccoonccnnnno 41 3 6 7 Frame Rate Control ooooconncccnnnccccnncononcccnnnccnnnnnnnnonnnnncnnnnnnnnnnnnnnnnos 42 3 6 8 Y16 16 bit Mono Image Acquisition c ccceeeeeeeeeeeteneeeeeees 42 3 6 9 Asynchronous External Trigger Modes 42 Sd IMAGE PFOCESSING e O 44 3 7 1
55. o images However the camera uses a 10 bit A D converter depending on model see the Analog to Digital Converter section Therefore only 10 bits of useable data are theoretically possible To determine the number of bits of useable image data and resulting 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 170 The data format for Y16 images is controlled by the Y16 Data_Format field of the IMAGE_DATA_FORMAT register 0x1048 Consult the Point Grey Digital Camera Register Reference for more information The PGM file format can be used to correctly save 16 bit images However an appropriate photo manipulation display application must be used to correctly display true 16 bit images XV ImageJ or Adobe Photoshop are suggested solutions 3 6 9 Asynchronous External Trigger Modes The Firefly MV supports 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 and 3 These modes and their operation are described in greater detail in the Point Grey Digital Camera Register Reference Revised 29 Apr 1 0 ri 42 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference The Micron sensor on FFMV 03M2 and FMVU 03MT models implements different gain registers betwe
56. of 800Mbit per second Absolute Values Real world values such as milliseconds ms decibels dB or percent 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 transferred 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 R
57. oft Windows XP Service Pack 1 e Microsoft Visual C 6 0 to compile and run example code 1 3 1 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 IEEE 1394a 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 3 2 Macintosh and Linux OS Support Users wishing to operate their Point Grey camera on the Macintosh OS X or Linux operating systems should consult the following knowledge base articles Macintosh support www ptgrey com support kb index asp a 48 amp q 173 Linux support www ptgrey com support kb index asp a 4 amp q 17 1 4 Controlling the Camera The Firefly MV can be controlled by the following types of applications 1 4 1 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 Point Grey 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 t
58. plications Built with the FlyCapture APl 14 1 4 3 Third Party Software Applications ccoococoonnonnnnnnnnnnnnnnnnnnos 14 1 4 4 Custom Applications Built with other APIS ccoccccccnnnnnnnnnnnns 14 1 5 Camera Control Command RegisterS ooooooocccnnnncinnncoooccccnncccnnnnnannncnnnnncnannns 14 1 6 Handling Precautions and Camera Carre oocccccccccnnncoooncccnncconnnannnncnnnncnnnnnns 15 1 6 1 Heat Dissipation cccceceeceeeee ccc eeeeeeeeeeeeeeeaaaeeeeeeeeeeeseaaaaeeeeeeees 15 1 7 Camera ACCESSOSICS oooccccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnonnnnnnnnnnnnnnnnnnnnnnnnnnnss 16 2 Camera Physical Properties ccccceceeesseseeeeeeeeeeeeeeeeeeeseeeeees 17 2 1 Physical Description and Dimensions cceeeeeeeeeeeeeeeeeeeeeeeeaeeeeees 17 2 1 1 FMVU 03S2 and FMVU 13S2 DimensionS cccccccnnccnnnnnnnnnnnnnns 17 212 RFMV 03M2 DIM NSIONS 3 ius ctr dada cda 18 21 3 Board Level DIMENSIONS usada dododidadadadanadad 21 2 1 4 Tripod Mount Adapter Dimensions ooooccccccccconocccncccnnnnccnnnnnanannnos 21 2 1 5 M12 Microlens Mount DIMENSIONS ooooccccccccccnnnnccncccnnnnncnonnnaninnnos 21 2 2 Lens S tup and Compatibility ob 22 2 32 Dust Protection 2 55 vsssascsssssssiassazacnceessncayesaaasaraansnaawasgaaancacasnaawaaaaeanraeaeaaaeaaos 23 24 MOM ati 23 24 1 Top and Bottom MouN S ona nadan dca dida 23 24 2 A ebeaassnareaati
59. 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 ptgrey com support kb index asp a 48q 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_0 221 Synchronizing to an external www ptgrey com support kb index asp a 48q 221 signal using IIDC 1 31 Trigger_Mode_0 3 6 9 3 Minimum Trigger Pulse Length The minimum trigger pulse length that 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 3 7 Image Processing 3 7 1 Color and Greyscale Conversion The color Firefly MV model provides raw Bayer data for users to apply their own color conversion algorithm or one of the FlyCapture library al
60. port kb index asp a 4 amp q 345 Revised 29 Apr 10 Y 24 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 2 6 IEEE 1394 Interface 2 6 1 Standard 6 pin IEEE 1394 Connector Firefly MV FFMV models have a standard 6 pin IEEE 1394 connector pin configuration shown below that is used for data transmission camera control and powering the camera 6 5 4 3 2 M 1 Figure 1 IEEE 1394 connector pin configuration Power Input 8 to 32 VDC DC GND TPB TPB TPA TPA O O01 amp Go Po Table 3 IEEE 1394 connector pin configuration The signal on the Twisted Pair A is 1 0V DC This voltage is then detected on the Twisted Pair B signal line levels of 0 6 to 1 0V DC are used to determine when a device has been removed or added i e device attached gt 1 0V device not attached lt 0 6V 2 6 2 8 pin Miniature Vertical IEEE 1394 Connector Firefly MV part numbers 97 0010 06900 mono and 97 00100 07300 color are equipped with an 8 pin miniature IEEE 1394 vertical connector For more information about this interface see Knowledge Base Article 268 2 7 USB 2 0 Interface Firefly MV FMVU models have a USB 2 0 Mini B vertical connector that is used for data transmission camera control and powering the camera For more detailed information consult the USB 2 0 specification available from http www usb org developers
61. ptions Revised 29 Apr 10 29 Copyright c 2010 Point Grey Research Inc 4 POINT GREY Point Grey Firefly MV Technical Reference 3 Camera Operations and Features Both the IEEE 1394 and USB 2 0 models of the Firefly MV comply with the IDC 1394 based Digital Camera Specification Version v1 31 To determine the specific IIDC v1 31 features implemented in a particular Firefly MV model consult the following sections of the Point Grey 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 The Point Grey Digital Camera Register Reference contains complete descriptions of the Camera Control Command Registers implemented on the Firefly MV The Point Grey Digital Camera Register Reference is included with the FlyCapture SDK and downloadable from www ptgrey com support downloads 3 1 General Camera Properties The following section provides an overview of the different IIDC compliant camera properties implemented by the Firefly MV Definitions and the effects of these properties on an image can be found in the Glossary section and in various sections of this Technical Reference and in the Point Grey Digital Camera Register Reference The following property ranges apply to a lo res Firefly MV at 640x480 resolution running
62. q 112 cameras across multiple PCs Revised 29 Apr 10 Y 41 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 3 6 6 2 Synchronization of USB Cameras Point Grey does not support synchronizing multiple USB cameras on the same bus For more information see Section 3 4 2 Maximum Number of Cameras on a Single Bus USB 2 0 3 6 7 Frame Rate Control The current base frame rate is controlled using the CURRENT _FRAME_RATE register 0x600 The Firefly MV 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 Point Grey 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 0x83C to zero manual then adjust the value using the Value field or using the ABS_VAL_FRAME_RATE register recommended 3 6 8 Y16 16 bit Mono Image Acquisition The Firefly MV can output Y16 16 bit per pixel mon
63. rface 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 to 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
64. ron MT9V022 CMOS Sensor A D Converter SB 2 0 or IEEE Peer Figure 4 FFMV 03M2 FMVU 03MT Data Flow 12 10 bit Gamma Companding hite Balance Pixel Correction Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc POINT GREY 31 Point Grey Firefly MV Technical Reference Sony IMX035LQR CMOS Sensor A D Converter m Gain Brig ess USB 2 0 Interfa RG m Image Capture Figure 5 FMVU 13S2 Data Flow Image Data Flow Step Description Image capture analog to digital conversion and gamma Sensor adjustment FFMV 03M2 FMVU 03MT only all take place on board the camera sensor m The sensor s A D Converter transforms pixel voltage into a 10 Analog To Digital AD or 12 bit value adjusting for gain and brightness in the Soneran process Gain and brightness cannot be turned off The Firefly MV supports gamma adjustment to reduce noise at low light levels For more information see Section 3 6 2 Gamma Lookup Table and Gamma The gamma setting of the camera s default memory channel is OFF and no correction occurs The camera firmware corrects any blemish pixels identified during manufacturing quality assurance by applying the average value of neighboring pixels For more information see Knowledge Base Article 314 In color models color intensities can be adjusted manually to achieve more correct balance The white balance setting of the camera s default
65. ss register 600h and set the register to Ox80000000 FrameRate_4 30 FPS 3 5 Customizable Data Formats and Modes The Firefly MV implements IIDC Format_7 customizable video modes see the Customizable Formats and Modes section for camera specific information that allow for faster frame rates based on selecting a specific region of interest ROI of the image or by configuring the camera to aggregate pixel values using a process known as binning The table below outlines the Format_7 custom image modes that are supported by the Firefly MV The implementation of these modes and the frame rates that are possible are not specified by the IIDC and are subject to change across firmware versions All Format_7 modes allow specifying a region of interest sub window for transmission Additionally Mode_1 and Mode_2 implement pixel binning Binning is performed directly on the CMOS sensor chip The FMVU 13S2C model supports binning of raw Bayer tiled data As a result color data is maintained Color binning is not supported on the FMVU 03MTC or FFMV 03M2C Color data is not maintained when operating these models in pixel binning mode Mode_1 implements a combination of 2X vertical and 2X horizontal binning resulting in images that are half the resolution of the original image both in height and width Mode_2 implements vertical binning only resulting in a half height resolution The figures below illustrate how binning works 2X vertical binn
66. tions section of your camera s Technical Reference or Getting Started manual to determine the amount of power required to operate the cameras effectively Revised 29 Apr 10 r 33 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 3 4 2 Maximum Number of Cameras on a Single Bus USB 2 0 A single USB port generally constitutes a single bus The USB standard allows for 127 devices including up to five levels of hub devices to be connected to a single bus In practice however this limit may be further defined by the following considerations e Adequate power supply The Firefly MV USB requires 5 volts V of power to operate effectively While a standard non powered bus provides 500 milliamps mA of power at 5V an internal bus powered hub provides only 400mA Externally powered hubs provide 500mA per port e Adequate bandwidth The USB 2 0 bandwidth capacity is 480 megabits per second Mbit s Depending on the operating configuration of the cameras and other devices this bandwidth must be shared on the system e Adequate CPU cycles There must be enough CPU cycles to allow for the USB 2 0 polling I O to operate normally If polling is constrained the camera s FIFO buffer may overflow resulting in dropped frames Point Grey does not support the use of multiple USB 2 0 cameras streaming simultaneously on the same computer There has been no rigorous qualification of the
67. to automatically control shutter and or gain in order to achieve a specific average image intensity and is controlled using the AUTO_EXPOSURE register 0x804 There are three AE states State Description Off Control of the exposure is achieved via setting shutter gain and or iris On The camera automatically modifies shutter gain and or iris to try and Manual AE match 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 or 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 29 Apr 10 Y 39 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference 3 6 5 Extended Shutter Times The maximum shutter time for the Firefly MV can be extended beyond the normal shutter range by setting the ON_OFF bit 6 of the FRAME_RATE register 0x83C to zero OFF Once the FRAME_RATE is turned off the Max_Value of the ABS_VAL_SHUTTER register increas
68. unt o 2009002A Discontinuation Notice for Firefly MV Board Level IEEE 1394a Models with M12 Microlens Mount o 2009003A Discontinuation Notice for Firefly MV IEEE 1394a Development Accessory Kit e Section 3 5 Customizable Data Formats and Modes Removed Mono8 16 formats from Format_7 Mode 0 These formats are no longer supported e Section 3 6 9 Asynchronous External Trigger Modes Added note about re adjusting gain after switching between free running and trigger mode on Micron sensor models 1 3 April 29 e Section 3 5 1 Calculating Format_7 Frame Rates Updated 2010 equation e Added Section 2 1 5 M12 Microlens Mount Dimensions e Section 3 3 Standard Data Formats Modes and Frame Rates Clarified that 30 and 60 FPS are achieved through pixel binning with no color output e Section 1 2 3 FMVU 13S2C Specifications Changed maximum gain setting to 18 dB Revised 29 Apr 10 53 A Y Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Index FOMMAL T oiiire 35 1 G 16 bit Mono data format See Y16 data format A cea eke A A A dated 39 gamma e earn ida harias nadd asada 45 4 lcd ias 45 general purpose input output pins 4 pin 1394 CableS oooooccccoccnocccocnnocanocanonaronoon 13 electrical characteristics ooooooooooo 28 A H A D converter See analog to digital converter Dead oidos 15 analog to digital Converter
69. y com support kb index asp a 48q 131 Revised 29 Apr 1 0 Y 16 Copyright c 2010 Point Grey Research Inc N POINT GREY Point Grey Firefly MV Technical Reference Camera Physical Properties 2 1 Physical Description and Dimensions FMVU 03S2 and FMVU 13S2 Dimensions GPIO COND wi YNECTOR STATUS LED ON NECTOR USB2 C Front View 24 38 19 18 0 28 Side View with USB Connector Rear View with USB 2 0 Connector Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc Y 17 N POINT GREY Point Grey Firefly MV Technical Reference 5 88 M2 X_3 50 DEE FOR THREAD FO P RMING SCREW Top View with USB Connector 2 1 2 FFMV 03M2 Dimensions Front View Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc POINT GREY 18 Point Grey Firefly MV Technical Reference 6 17 0 34 0 13940 CONNECTOR N N o 6 5 STATUS l GPIO CONNECTOR Rear View with 1394a Connector k J 4x HOLES FOR M2 THREAD FORMING o pa SCREW Top View with 1394a Connector Revised 29 Apr 10 Copyright c 2010 Point Grey Research Inc POINT GREY 19 Point Grey Firefly MV Technical Reference LENS MOUNT Side View with 1394a Connector N m Revised 29 Apr 10 Copyright c 2010 Point Grey Researc
70. y 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 125us Each 125us timeslot on the bus is called a frame Isochronous 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 inte

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