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A601f HDR User`s Manual V2

1. Name Extended_Data_Stream Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 4E7ABCBO 1B84 11D8 9651 00105A5BAE55 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available 1 30 Reserved Enable 31 Enable Disable this feature Read write 0 Disable 1 Enable Extended Data Chunk Layout Position Name Description 0 Pixel Data The pixel data from the captured image K Bytes K Gap For technical reasons there might be a gap between the M Bytes pixel data and the other data in the extended image data BASLER A601f HDR 5 9 Smart Features K M Stride Signed integer Indicates the number of bytes needed to 4 Bytes advance from the beginning of one row in an image to the beginning of the next row K M 4 Reserved 3 Bytes K M 7 Data Depth Effective data depth in bits of the pixels in the image 1 Byte K M 8 Top Y coordinate of the top left corner of the current area of in 2 Bytes terest AOI K M 10 Left X coordinate of the top left corner of the current AOI 2 Bytes K M 12 Height Height in pixels of the current AOI 2 Bytes K M 14 Width Width in pixels of the current AOI 2 Bytes K M 16 Reserved 3 Bytes K M 19 Color Coding ID Color coding ID which describes the pixel data for
2. 000005 4 13 4 5 2 Advanced Features Inquiry Registers 0 0 eee eee eee 4 13 5 Smart Features and the Smart Features Framework 5 1 Whatare Smart Features seersant Peta ana es a aa aes ah oe ee 5 1 5 2 What is the Smart Features Framework 0 0 00000 c eee eee eae 5 1 5 3 What do Need to Use Smart Features 0 0 00 cece eee nn 5 2 5 4 What is the Smart Features Framework Software 000e cee aces 5 2 5 5 Enabling and Parameterizing Smart Features 0000 c eee nenn 5 3 5 5 1 Checking to see if the Camera Supports Smart Features 5 3 5 5 2 Determining the Address a Smart Feature s CSR 000 5 4 5 5 3 Enabling and Parameterizing a Smart Feature 000005 5 6 5 6 Getting Smart Features Results 000 ccc eens 5 7 5 6 1 How Big a Buffer Do Need 0 eee 5 8 5 7 Standard Smart Features on the A601f HDR 0000 e eee ee 5 9 5 7 1 Extended Data Stream 0 0 tenes 5 9 5 7 2 Frame Counter sau tus ee eu earn dy hat Soda a he See ara 5 11 5 7 3 6Ycle Time Stamp seria rera negat Werten Din REM ea as 5 12 5 7 4DCAM Val es 2 222 a a I a 5 13 5 7 5 GRE Checksum u ae een a heels 5 16 5 7 6 Test lmages 2 2 ner aan ae ea Ruhe 5 19 5 7 7 Extended Version Information 0020 cece ee eee eee 5 23 5 7 8 Lookup Table 222m een nennen teens 5 24 5 7 8 1 Using the SFF Viewer to Upload a L
3. e If the exposure time is lt 100 us and the camera is running in non overlapped mode the changes will take effect on the next trigger after the changes are received by the camera If the exposure time is lt 100 us and the camera is running in overlapped mode when the changes are received by the camera the camera will delay the triggering of the next image until transmission of the current image is complete When transmission of the current image is complete the camera will change the AOI position will trigger the next image and will resume running in overlapped mode 1 The term non overlapped mode means that image capture is triggered in the following manner the camera captures exposes an image and completely transmits that image out of the camera before the next image capture is triggered In other words exposure and transmission of image N are both completed before exposure of image N 1 begins 2 The term overlapped mode means that image capture is triggered in the following manner the camera captures exposes an image and while this image is being transmitted out of the camera capture of the next image is triggered In other words capture of image N 1 begins while transmission of image N is still in progress BASLER A601f HDR 3 15 Basic Operation amp Standard Features 3 7 Selectable 8 or 10 Bit Pixel Depth When an A 0If HDR camera is operating in Format 7 Mode 0 it can be set to output pixel data
4. external conversion process gives much better results With the color coding set to Mono 16 Images are transmitted from the camera at 16 bit depth If the bit depth of the HDR images created by the camera is lower than 16 bits the 16 bit values transmitted from the camera will be packed with zero s For example assume that the bit depth of the HDR images is set to 14 bits In this case the camera would transmit 16 bit values but only the 14 LSBs would represent actual pixel data The two MSBs in the 16 bit values transmitted from the camera would be packed with zeros BASLER A6 01f HDR Using the HDR Feature With the color coding set for Vendor Specific 0 Images are transmitted from the camera at 16 bit depth however the transmitted 16 bits are in a special vendor unique format This 16 bit format is capable of representing any pixel value present in any HDR image created by the camera With the Vendor Specific 0 format the least significant byte of the transmitted 16 bits represents a base unsigned and the most significant byte represents an exponent The actual value of the pixel is Actual Pixel Value Base x 2 Porent Example 1 If an A601f HDR camera was set for Vendor Specific 0 color coding and it transmitted a value of 0x0220 the base would be 32 decimal and the exponent would be 2 decimal The actual pixel value would be Actual Pixel Value 32x 2 Actual Pixel Value 128 Example 2 If an A601f
5. i gt 30 us gt 5us gt ie je gt 30u8 lt 20 us lt 100 us lt 20 us lt 100 ps IntEn 9 Fame i Fi N Transf he Buffer 1 I t N 1 Transf he Buffi 1 Transfer rame N Transfer to the Image Buffer rame N 1 Transfer to the Image Buffer Transmission Start Delay 3 gt Transmission Start Delay 3 gt gt sion Frame N Transmission to the PC 2 Frame N 1 Transmission to the PC 2 Figure 3 5 Exposure Start Controlled with an ExTrig Signal 1 Frame Transfer Time AOI Height 2 x 15 28 us 15 28 us 2 Frame Transmission Time Packets frame x 125 us 3 If the transmission time is greater than the transfer time Start Delay 125 us If the transmission time is less than the transfer time Start Delay Transfer Time Transmission Time 125 us 3 9 Basic Operation amp Standard Features 3 3 3 4 3 10 Trigger Ready Signal The trigger ready signal is not defined in the 1394 Trade Association Digital Camera Specification Trigger ready is a patented feature of Basler cameras that allows our cameras to have optimized timings The maximum frame rate for the camera can be limited by any one of three factors The amount of time it takes to transfer a captured image from the CMOS sensor to the frame buffer The amount of time it takes to transfer an image from the frame buffer to the PC via the IEEE 1394 bus The exposure time set
6. 0 N A 1 Available 1 7 Reserved Image_lnq_1 8 Presence of test image 1 Read only 0 NA 1 Available Image_Ing_2 9 Presence of test image 2 Read only 0 N A 1 Available Image_Ing_3 10 Presence of test image 3 Read only 0 NA 1 Available Image_Inq_4 11 Presence of test image 4 Read only 0 N A 1 Available Image_Inq_5 12 Presence of test image 5 Read only 0 N A 1 Available Image_Ing_6 13 Presence of test image 6 Read only 0 N A 1 Available Image_Inq_7 14 Presence of test image 7 Read only 0 N A 1 Available 15 Reserved Image_On 16 18 0 No test image active Read write 1 Test image 1 active 2 Test image 2 active 3 Test image 3 active 19 31 Reserved BASLER A601f HDR 4 15 Configuring the Camera a BASLER A 0lf HDR 5 1 5 2 Smart Features Smart Features and the Smart Features Framework What are Smart Features Smart features are features unique to Basler cameras Test Images the Cycle Time Stamp and the CRC Cyclic Redundancy Check Checksum are examples of Basler smart features Insome cases enabling a smart feature will simply change the behavior ofthe camera The Test Image feature is a good example of this type of smart feature When the Test Image feature is enabled the camera outputs a test image rather than a captured image When certain smart features are enabled the camera actually develops some sort of information about each image
7. The Vendor Specific 0 color coding is defined in version 1 31 of the IIDC specification Color code definitions can vary from camera model to camera model This is especially true for older models of Basler cameras BASLER A601f HDR 3 19 Basic Operation amp Standard Features 3 20 BASLER A601f HDR Configuring the Camera 4 Configuring the Camera The A60If HDR is configured by setting status and control registers as described in the 1394 Based Digital Camera Specification issued by the 1394 Trade Association The specification is available at the 1394 Trade Association s web site www 1394ta org Except where noted all registers conform to version 1 30 of the specification If you are creating your own driver to operate the camera Sections 4 1 through 4 5 provide the basic information you will need about the registers implemented in the camera along with some information about read write capabilities A fully functional driver is available for Basler IEEE 1394 cameras such as the A601f HDR The Basler BCAM 1394 Driver Software Development Kit includes an API that allows a C programmer to easily integrate camera configuration and operating functions into your system control software The driver also includes a Windows based viewer program that provides camera users with quick and simple tools for changing camera settings and viewing captured images The BCAM 1394 Driver SDK comes with comprehensive document
8. registers To ensure backward compatibility the existing advanced features registers de scribed below will continue to be supported but their functionality will not be ex tended in the future The base address for the advanced features registers is Bus_ID Node_ID FFFF F2F0 0000 This address is contained in the Advanced_Feature_Inq register of the Inquiry register for feature presence section The offset field in each of the tables is the byte offset from the above base address 4 5 1 Advanced Features Access Control Register Advanced Features Access Control Register Offset Name Notes 0000h ACCESS_CONTROL_REGISTER See DCAM Spec V1 30 page 26 4 5 2 Advanced Features Inquiry Registers Inquiry Register for Advanced Features High Offset Name Field Bit Description 0008h ADV_INQ HI Presence 0 Presence of this feature Test Image 1 Presence of test images Shading 2 Presence of shading correction 3 Reserved Extd Versions 4 Presence of extended versions Firmware Upload 5 Presence of firmware upload capability 6 31 Reserved BASLER A601f HDR 4 13 Configuring the Camera Inquiry Register for Advanced Features Low Offset Name Field Bit Description 000Ch ADV_INQ_LO Presence 0 Presence of this feature 1 31 Reserved Inquiry Regi
9. setting for the Color_Coding_ID in the camera s Format_7 Mode_2 control and status register see pages 3 19 and 4 11 When the camera is operating in video Format_7 Mode_2 three color codings are available Mono 8 Mono 16 and Vendor Specific 0 With the color coding set to Mono 8 The HDR images created by the camera are reduced to 8 bit depth before they are transmitted A common gamma correction method is used to reduce the bit depth With this internal gamma conversion method each HDR pixel value is converted to an 8 bit value using the following formula PHDR Bez 255 9 PHDR Max Where Pg is the resulting 8 bit pixel value Pupp is the original pixel value in the HDR image PHDR Max iS the maximum pixel value that can be represented in the HDR image with the current HDR settings yis the current setting for the gamma parameter in the HDR CSR register This internal gamma conversion function is performed inside of the camera before the images are transmitted You should be aware that this internal function only produces an approximated gamma Images produced using this internal gamma function are intended for preview purposes when only an 8 bit monitor is available These images have limited suitability for high level image analysis purposes The Basler SFF Viewer includes a converter option that lets you do a gamma conversion on HDR images after they have been transmitted to the PC see Section 6 3 4 This
10. 3 1 Basic Operation amp Standard Features CMOS Sensor interface board in the host PC The physical and link layer controllers also handle transmission and receipt of asynchronous data such as programming commands The image buffer between the sensor and the link layer controller allows data to be transferred out of the sensor at a rate that is independent of the of the data transmission rate between the camera and the host computer This ensures that the data transmission rate has no influence on image quality Pixel End Reset i Switch Exposure Switch Ra Pixel O Memory Control Logic Row Decoder gt gt VGC VGC VGC VGC VGC VGC VGC VGC VGC 7 VGC m ADC ADC ADC ADC ADC ADC ADC ADC ADC ADC 3 2 Output Registers Figure 3 1 A601f HDR Sensor Architecture Digitized Pixel Data BASLER A601f HDR 8 MB Image Buffer Link Layer Controller Control Control AOI Gain Brtness Micro controller Asynchronous Data Figure 3 2 Block Diagram BASLER A601f HDR Isochronous and Asynchronous Data Basic Operation amp Standard Features Physical IEEE Layer 1394 Controll
11. 31 Starting shutter time start_shutter register value Read write x 20 us 16 Internal_Gamma 0 Presence of the internal gamma feature Presence_Inq 0 Not Available 1 Available ead only This bit is only set when the color coding is set to Mono 8 1 7 Reserved Min_Gamma 8 15 Minimum allowed value for the gamma setting Read only Max_Gamma 16 23 Maximum allowed value for the gamma setting Read only Gamma 24 31 This parameter sets the value of gamma in the con Read write version formula used when the camera is set for Mono 8 output The units for this parameter are 1 100ths So a set ting of 75 for example would represent 75 100ths or 0 75 When HDR is active the brightness and gain settings for the camera are fixed and can not be adjusted When HDR is active the shutter setting see page 4 7 is not used and changing this setting will have no effect on the camera s operation BASLER A601f HDR 6 7 Using the HDR Feature 6 3 2 Determining the Bit Depth of Transmitted HDR Images As described in Section 6 3 1 the bit depth of the HDR images created by the camera will be determined by the setting of the Dynamic Bits parameter While this setting determines the bit depth of the HDR image the camera creates it does not determine the bit depth of the images that are transmitted out of the camera The bit depth of the transmitted images is determined by the
12. DA 7 0x55 Step 1 Write the CSR GUID to the SF_Ing_Register Assuming that the address for the ACR is OxFFFF F2F0 0000 perform the following quadlet write operations to the SF_Ing_Register a Write quadlet data 0x3B34 004E to OxFFFF F2FO 0010 D1 b Write quadlet data 0x11D8 1B84 to OxFFFF F2FO 0014 D3 D2 c Write quadlet data 0x1000 B383 to OxFFFF F2F0 0018 D4 3 D 0 d Write quadlet data 0x55AE 5B5A to OxFFFF F2F0 001C D4 7 D 4 Instead of performing four quadlet write operations one block write operation can be performed Step 2 Read the start address for the smart feature from the SF_Addr_register a Read quadlet data from OxFFFF F2F0 0020 Address_Lo b Read quadlet data from OxFFFF F2F0 0024 Address_Hi If both Address_Lo and Address_Hi return zero the camera doesn t support the CRC checksum feature Assuming the read operations yielded Address _Lo OxF2F0 0038 and Address_Hi 0x0000 FFFF the CRC Checksum feature CSR s address is OxFFFF F2FO 0038 BASLER A601f HDR 5 5 Smart Features 5 5 3 Enabling and Parameterizing a Smart Feature Once you have determined the starting address of the control and status register CSR for your desired smart feature you are ready to enable and parameterize the feature by setting bits within the CSR Section 5 7 describes the standard smart features available on A601f HDR cameras Each smart features description includes an explanation of what the feature does and
13. Exposure will continue for the length of time specified in the Shutter control register At the end of the specified exposure time readout and transmission of the captured image will take place Repeat steps 3 4 and 5 each time that you want to begin exposure and capture an image Image exposure and transmission stop when the Iso_En Continuous_Shot control register is set to 0 the interactions of the camera s registers Typically IEEE 1394 cameras are used with a driver which includes an interface that allows the user to parameterize and op erate the camera without directly setting registers The Basler BCAM 1394 Camera Driver for example has both a simple Windows interface and a programmer s API for parameterizing and operating the camera These explanations of exposure start are included to give the user a basic insight into On A601f HDR cameras exposure of a new frame can begin while the previous frame is being read out This is commonly referred to as overlap mode Following the rec ommended method for exposure start in Section 3 2 5 will allow you to overlap expo sure with readout and achieve the camera s maximum frame rate BASLER A601f HDR Basic Operation amp Standard Features 3 2 5 Recommended Method for Controlling Exposure Start The camera can be programmed to begin exposure on a rising edge or on a falling edge of an ExTrig signal Also two modes of exposure contro
14. ID is set in the Color_Coding_ID field of the Format_7 Mode_0 register the camera outputs 16 bits per pixel but only 10 bits are effective The effective pixel data fills from the LSB and the unused bits are filled with zeros Pixel data is stored in the PC memory in little endian format i e the low byte for each pixel is stored at the lower address and the high byte is stored at the neighboring higher address When the camera is set for Mono 16 the maximum frame rate is 30 fps Color code definitions can vary from camera model to camera model This is especially true for older models of Basler cameras BASLER A601f HDR Basic Operation amp Standard Features Format_7 Mode_2 Format_7 Mode_2 is available on A601f HDR cameras This mode must be used when the High Dynamic Range smart feature is enabled as described in Section 6 Format_7 Mode 2 is parameterized by using the Format_7 Mode 2 control and status registers see page 4 11 The frame rate can be adjusted by setting the control and status registers for Format_7 Mode_2 in the same manner as described for Format_7 Mode_0 Color Codes In Format_7 Mode_2 the Mono 8 Mono 16 and Vendor Specific 0 color codings are available When the Mono 8 ID is set in the Color_Coding_ID field of the Format_7 Mode_2 register the camera outputs 8 bits per pixel Each 8 bit value directly represents the value of a pixel When the Mono 16 ID is set in the Color_Coding_ID field
15. Interface 3 5 3 2 4 Controlling Exposure Start with an ExTrig Signal 3 6 3 2 5 Recommended Method for Controlling Exposure Start 3 9 3 3 Trigger Ready Signal 000 ccc eee 3 10 3 4 Integrate Enabled Signal 00 ccc eee 3 10 3 5 Gain and Brightness pia cd peta ad acatiterieweeecaudedoewd reden 3 11 3 5 1 Setting the Gain tenes 3 12 3 5 2 Setting the Brightness 0 eee 3 13 3 6 Area of Interest AOI 1 2 0 0 ccc tenes 3 14 3 6 1 Changing AOI Parameters On the Fly 0000 nennen 3 15 BASLER A601f HDR Contents 3 7 Selectable 8 or 10 Bit Pixel Depth 000 cc eee 3 16 3 8 Available Video Formats Modes and Frame Rates 004 3 17 3 8 1 Standard Formats Modes and Frame Rates 0000 000s 3 17 3 8 2 Customizable Formats and Modes 2 0 00 cc eee eee eee eee 3 18 4 Configuring the Camera 4 1 Block Read and Write Capabilities 0 0 0 0 c eee 4 2 4 2 Changing the Video Format setting 0 0c eect eee 4 2 4 3 Configuration ROM 0 00 ccc teens 4 2 4 4 Implemented Standard Registers 0 0 0 c eee eee ee 4 3 4 4 1 Inquify Registers siers Wie ea Ge a ig a le 4 3 4 4 2 Control and Status Registers 0 000 cece eee 4 7 4 5 Advanced Features Registers 2 00 e eee et nennen ee 4 13 4 5 1 Advanced Features Access Control Register
16. Life Support Applications These products are not designed for use in life support appliances devices or systems where malfunction of these products can reasonably be expected to result in personal injury Basler cus tomers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Basler for any damages resulting from such improper use or sale Warranty Note Do not open the housing of the camera The warranty becomes void if the housing is opened All material in this publication is subject to change without notice and is copyright Basler Vision Technologies Contacting Basler Support Worldwide Europe Basler AG Ander Strusbek 60 62 22926 Ahrensburg Germany Tel 49 4102 463 500 Fax 49 4102 463 599 vc support europe baslerweb com Americas Basler Inc 740 Springdale Drive Suite 100 Exton PA 19341 U S A Tel 1 877 934 8472 Fax 1 877 934 7608 vc support usa baslerweb com Asia Basler Asia PTe Ltd 25 Internat Business Park 04 15 17 German Centre Singapore 609916 Tel 65 6425 0472 Fax 65 6425 0473 vc support asia baslerweb com www basler vc com Contents Table of Contents 1 Introduction 1 1 Documentation Applicability 0 00 nenn 1 1 1 2 Performance Specifications aussa 000 cee 1 2 1 3 Camera Models 0 0000 c cette eee 1 3 1 4 Spectral Response 2 22 ccc teens 1 3 1 5 Environment
17. Max_Value depends on format and mode For format 0 tne max shutter setting depends on the frame rate at 1 875 fps max 4095 OxFFF at 3 75 fps max 4095 OxFFF at 7 5 fps max 4095 OxFFF at 15 fps max 3331 0xD03 at 30 fps max 1665 0x681 at 60 fps max 831 0x33F For format 7 the max shutter setting is OxFFF 520h Gain_Inq The A601f HDR supports the following sub features for gain e Presence_Inq e ReadOut_Inq e Manual_Inq Min_Value 0x000 e Max_Value OxOFF 530h Trigger_Inq The A601f HDR supports the following sub features for trigger e Presence_Inq e ReadOut_Inq OnOff_Ing e Polarity_Inq e Trigger_Mode0_Inq e Trigger_Mode1_Inq 4 6 BASLER A601f HDR Configuring the Camera 4 4 2 Control and Status Registers Status and Control Registers for the Camera Offset Name Notes 600h Cur_V_Frame_Rate Default 0 604h Cur_V_Mode Default 0 608h Cur_V_Format Default Format 7 60Ch Iso_Channel Iso_Speed Default Channel 0 Default Speed S400 614h Iso_En Default 0 Continuous Shot 61Ch One_Shot Multi_Shot Default 0 Multi_Shot is not supported 630h Data_Depth Default 8 Read only This register is defined in version 1 31 of the IIDC specification Status and Control Registers for Features Offset Name Notes 800h Brightness Brightness settings range from 0 to 1023 0x000 to Ox3FF Typical
18. Number of Exposures ea Where DB the dynamic bits setting Q 1 with quality set to high 2 with the quality set to normal 3 with the quality set to medium 4 with the quality set to low Calculation B Sensor Readout Time for Each Exposure Readout Time AOI Height 3 x 15 28 us The sensor readout time will be the same for each exposure 6 10 BASLER A601f HDR Using the HDR Feature Calculation C The Exposure Time for Each Exposure an Exposure Time Sx 2 Where S start shutter setting in us Q 1 with quality set to high 2 with the quality set to normal 3 with the quality set to medium 4 with the quality set to low n the exposure number This calculation must be made for each exposure needed to create the HDR image The exposures are numbered starting with 0 So for example if the HDR image requires three exposures you will make the calculation for exposure number 0 exposure number 1 and exposure number 2 Calculation D For each exposure determine the sum of Exposure Time 90 us compare this sum to the readout time 60 us make note of the higher of the two values Calculation E Find the sum of the high values that you noted in calculation D This sum is THDR i e the total time in us that it takes to create one HDR image with the current settings Calculation F The maximum frame rate with the current HDR settings 4 Max Frames s THDR Once you have made these calcula
19. an explanation of the parameters associated with the feature The descriptions also include a detailed layout of how the bits contained within the feature s CSR relate to the parameters for the feature After reading the description of your desired smart feature you can enable and parameterize the feature by setting the appropriate bits within the CSR 5 6 BASLER A601f HDR Smart Features Getting Smart Features Results In many cases activating a smart feature results in additional data that must be transmitted by the camera i e the results of the smart feature The results of a smart feature will be appended to the image data so that each frame contains both image data and smart features results Before using any of the smart features that add information to the image data the extended data stream feature must be enabled The extended data stream is in itself a smart feature When the extended data stream feature is enabled information such as the height of the image the width of the image and the AOI size is added to each image s basic pixel data Disabling the extended data stream feature switches off all smart features that add information to the image data stream The extended data stream feature and any other smart features which add information to the image data stream will only work when the camera is set for video format 7 For other video formats enabling the extended data stream feature or any of the other smart features t
20. as smart features If a device doesn t recognize a Feature ID written to the Access Control Register a value of OxFFFF FFFF FFFF FFFF will be read back from the ACR This value indicates that the device does not implement the feature set associated with that Feature ID Assuming that the address of the Advanced Features Access Control Register is OxFFFF F2F0 0000 perform the following steps to see if a camera is smart features capable 1 Write the quadlet data 0x0030 533B to OxFFFF F2F0 0000 2 Write quadlet data 0x73C3 F000 to OxFFFF F2F0 0004 3 Read quadlet data from OxFFFF F2FO 0000 and OxFFFF F2F0 0004 If at least one of the read operations returns a value that is not equal to OxFFFF FFFF the camera supports smart features If both read operations return OxFFFF FFFF the camera does not support smart features Note that instead of performing two single quadlet write operations a block write can be performed The last three zeros in this quadlet data represent a timeout value See page 26 in version 1 30 of the 1394 Based Digital Camera Specification BASLER A601f HDR 5 3 Smart Features 5 5 2 Determining the Address a Smart Feature s CSR The control and status register CSR for each smart feature is identified by a 128 bit Globally Unique Identifier GUID GUIDs are also known as UUIDs Universal Unique Identifier A GUID consists of One 32 bit number D1 Two 16 bit numbers D2 D3 A sequence
21. default 725 0x2D5 Settings below the default decrease the brightness and settings above the default increase the brightness The effect of a change in the brightness setting var ies depending on the gain setting With the gain set to 0 changing the brightness setting by 4 results in a change of 1 in the digital values output by the cam era With the gain set to 255 changing the bright ness setting by 1 results in a change of 1 in the digital values output by the camera 81Ch Shutter Shutter settings range from 1 0x001 to 4095 OxFFF Exposure time shutter register value x 20 us Default 498 0x1F2 9 96 ms BASLER A601f HDR 4 7 Configuring the Camera Offset Name Notes 820h Gain Gain settings range from 0 0x00 to 255 OxFF A setting of 0x00 results in a gain of 1x OdB A setting of OxFF results in a gain of 4x 12 db Default 28 0x1C resulting in a gain of 2 5 dB 830h Trigger_Mode Setting On_Off to 0 disable trigger use default 1 enable trigger use Setting Trigger_Polarity to 0 low active 1 high active default Setting Trigger_Mode to 0 mode 0 programmable mode 1 mode 1 level mode The parameter portion of the register is ignored 4800 BASLER A60If HDR Configuring the Camera Control and Status Registers for Format_7 Mode_0 Format_7 Mode_0 is available on A601f HDR cameras The base address for each Fo
22. external trigger ExTrig signal is not used When exposure start is controlled via the 1394 bus two modes of operation are available one shot and continuous shot One Shot Operation In one shot operation the camera exposes and transmits a single image Exposure begins after the One_Shot control register is set to 1 see page 4 7 Exposure time is determined by the value field in the Shutter control register see page 4 7 The One_Shot control register is self cleared after transmission of the image data Continuous Shot Operation In continuous shot operation the camera continuously exposes and transmits images The exposure of the first image begins after the Iso_En Continuous_Shot control register is set to 1 see page 4 7 The exposure time for each image is determined by the value field in the Shutter control register The start of exposure on the second and subsequent images is automatically controlled by the camera If the camera is operating in video Format 0 the rate at which images will be captured and transmitted is determined by the value stored in the Cur_V_Frm_Rate Revision control register see page 4 7 If the camera is operating in video Format 7 the rate at which images will be captured and transmitted is determined by the value stored in the Byte_Per_Packet control register see pages 3 18 and page 4 10 Image exposure and transmission stop after the Iso_En Continuous_ Shot control register is set to 0
23. for the dynamic bits parameter must be between the indicated min and max inclusive While the setting for the dynamic bits parameter determines the bit depth of the HDR images created by the camera it does not necessarily determine the bit depth of the images transmitted from the camera See Section 6 3 2 for more details BASLER A601f HDR 6 3 Using the HDR Feature 6 4 The step size that you can use when changing the dynamic bits setting depends on the setting for the quality parameter lf the quality parameter is set to high the dynamic bits parameter can be set is steps of one 8 9 10 11 12 20 21 22 e If the quality parameter is set to normal the dynamic bits parameter can be set is steps of two 8 10 12 14 20 22 If the quality parameter is set to medium the dynamic bits parameter can be set is steps of three 8 11 14 17 20 e If the quality parameter is set to low the dynamic bits parameter can be set is steps of four 8 12 16 20 If the dynamic bits parameter is set to a value that is not valid with the current quality setting the camera will automatically change the dynamic bits setting to the next highest valid value For example if the quality parameter is set to medium and you set the dynamic bits to 12 the camera will automatically increase the dynamic bits setting to 14 S N Ratio in Bits Quality High Sensor Saturation Quality M
24. lines with each line containing two comma separated values The first value on each line represents a 10 bit pixel reading from the sensor and the second value represents the corresponding 8 bit output that will be transmitted from the camera The sample below shows part of a typical text file for a lookup table Assuming that you have enabled the lookup table feature on your camera and used the Upload button to load a file similar to the sample into the camera e Ifthe sensor reports that a pixel has a value of 1 the camera will output a value of 0 lf the sensor reports that a pixel has a value of 6 the camera will output a value of 1 e If the sensor reports that a pixel has a value of 1019 the camera will output a value of 254 vosauPrwmN Ho NNPRPRPRFOOOO Figure 5 8 Sample Text File for Use With Upload Button BASLER A601f HDR 5 27 Smart Features 5 8 5 28 Customized Smart Features The Basler A601f HDR has significant processing capabilities and Basler can accommodate customer requests for customized smart features A great advantage of the smart features framework is that it serves as a standardized platform for parameterizing any customized smart feature and for returning the results from the feature The Basler camera development team is ready and able to handle requests for customized smart features The cost to the customer for adding a customized smart feature to the A601f HDR will depend on the comp
25. of the Format_7 Mode_2 register the camera outputs 16 bits per pixel Pixel data is stored in the PC memory in little endian format i e the low byte for each pixel is stored at the lower address and the high byte is stored at the neighboring higher address Each 16 bit value directly represents the value of a pixel When the Vendor Specific 0 ID is set in the Color_Coding_ID field of the Format_7 Mode_2 register the camera outputs 16 bits per pixel Pixel data is stored in the PC memory in little endian format i e the low byte for each pixel is stored at the lower address and the high byte is stored at the neighboring higher address With the Vendor Specific 0 color coding each 16 bit value does not directly represent the value of a pixel The 16 bits represent a coding which must be properly interpreted to obtain the actual pixel value With the Vendor Specific 0 coding the least significant byte of the 16 bits represents a base unsigned and the most significant byte represents an exponent The actual value of the pixel is Actual Pixel Value Base x 2 Pone For example if an A601f HDR camera was set for Vendor Specific 0 color coding and it transmitted a value of 0x0220 the base would be 32 decimal and the exponent would be 2 decimal The actual pixel value would be Actual Pixel Value 32x 2 Actual Pixel Value 128 See Section 6 3 2 for more information about the color codings used with Format_7 Mode_2
26. opto coupler is 5 0 V 1 0 V The input current for the LED is 5 to 15 mA with 10 mA recommended For the ExTrig input a current between 5 and 15 mA means a logical one A current of less than 0 1 mA means a logical zero a 560 Ohm resistor is added to the positive line for an input the input voltage can be 12 VDC If a 1 2 or 1 5 kOhm resistor is added to the positive line for an input the input voltage can be 24 VDC As stated above the nominal input voltage for the LED on each input is 5 VDC If 2 4 2 Output Signals 2 4 2 1 IntEn Indicates that Exposure is Taking Place Output 0 Output 0 is an integration enabled IntEn signal that indicates when exposure is taking place The IntEn signal will be high during exposure and low when exposure is not taking place See Section 3 4 for more information on the IntEn signal As shown in Figure 2 3 the output for the IntEn signal is opto isolated The minimum forward voltage is 2 V the maximum forward voltage is 35 V the maximum reverse voltage is 6 V and the maximum collector current is 100 mA A conducting transistor means a logical one and a non conducting transistor means a logical zero 2 4 2 2 TrigRdy Indicates that Exposure Can Begin Output 1 Output 1 is a trigger ready TrigRdy signal that goes high to indicate the earliest point at which exposure start for the next frame can be triggered Section 3 3 explains the operation of the trigger ready sig
27. the ExTrig signal falls and continues until the ExTrig signal rises Figure 3 4 illustrates level controlled exposure with the camera set for rising edge triggering ExTrig Period lt a EEE Du Figure 3 4 Level Controlled Exposure with Rising Edge Triggering Z To enable the external trigger feature set the On_Off field of the Trigger_Mode control register see page 4 8 to 1 To set the triggering for rising or falling edge set the Trigger_Polarity field of the Trigger_Mode control register to 0 for falling edge or 1 for rising edge To set the exposure mode set the Trigger_Mode field of the Trigger_Mode control register to 0 for the programmable exposure mode or 1 for the level controlled exposure mode The ExTrig signal must be used in combination with a one shot or a continuous shot command If precise control of exposure start time is desired you must also monitor the Trigger Ready signal and you must base the timing of the ExTrig signal on the state of the Trigger Ready signal See Section 3 2 5 for recommended methods for using the signals The following descriptions assume that the ExTrig signal is set for rising edge triggering and the programmable exposure mode ExTrig One Shot Operation In ExTrig One shot operation a One Shot Command is used to prepare the camera to capture a single image When the ExTrig signal rises exposure will begin To use this method of operation follow this sequence 1
28. the interactions of the camera s registers Typically IEEE 1394 cameras are used with a driver which includes an interface that allows the user to parameterize and op erate the camera without directly setting registers The Basler BCAM 1394 Camera Driver for example has both a simple Windows interface and a programmer s API for parameterizing and operating the camera These explanations of exposure start are included to give the user a basic insight into On A6 01f HDR cameras exposure of a new image can begin while the previous im age is being read out This is commonly referred to as overlap mode Following the recommended method for exposure start in Section 3 2 5 will allow you to overlap ex posure with readout and achieve the camera s maximum frame rate BASLER A601f HDR 3 5 Basic Operation amp Standard Features 3 6 3 2 4 Controlling Exposure Start with an ExTrig Signal The external trigger ExTrig input signal can be used to control the start of exposure Arising edge or a falling edge of the signal can be used to trigger exposure start The Trigger _Mode control register see page 4 8 is used to enable ExTrig exposure start control and to selectrising or falling edge triggering The ExTrig signal can be periodic or non periodic When the camera is operating under control of an ExTrig signal the period of the ExTrig signal determines the camera s frame rate 1 ExTrig pe
29. will work when the camera is set for any valid video format Test Image one As shown in Figure 5 3 test image one consists of rows with several gray scale gradients ranging from 0 to 255 Assuming that the camera is operating at full 656 x 491 resolution and is set for a monochrome 8 bit output mode when the test images are generated e row 0 starts with a gray value of 1 for the first pixel e row 1 starts with a value of 2 for the first pixel row 2 starts with a gray vale of 3 for the first pixel and so on If the camera is operating at a lower resolution when the test images are generated the basic appearance of the test pattern will be similar to Figure 5 3 but the starting pixel values on each row will not be as described above The mathematical expression for test image one is grayvalue x y 1 MOD256 ee 2550 1 Qe 255 0 1 2 Figure 5 3 Test Image One BASLER A601f HDR 5 19 Smart Features Test Image Two As shown in Figure 5 4 test image two consists of rows with several gray scale gradients ranging from 0 to 255 Assuming that the camera is operating at full 656 x 491 resolution and is set for a monochrome 8 bit output mode when the test images are generated rows 0 1 and 2 start with a gray value of 0 for the first pixel rows 3 4 5 and 6 start with a gray value of 1 for the first pixel rows 7 8 9 and 10 start with a gray value of 2 on the first pixel and so on I
30. 0 us So for example if the value stored for the start shutter parameter is 5 the starting shutter time willbe 5x 20 us or 100 us Increasing the value of the start shutter parameter will increase the brightness of the resulting HDR image You should keep in mind that changes to the start shutter parameter have an effect on the allowed range of the dynamic bits setting As the start shutter parameter is increased the maximum allowed setting for the dynamic bits parameter decreases The start shutter parameter setting also affects the maximum frame rate that the camera can achieved As the start shutter value is increased the maximum achievable frame rate decreases Gamma When the camera s color coding see pages 3 19 and page 4 11 is set to Mono 8 the HDR images created by the camera will be converted to 8 bit images before they are transmitted A common gamma conversion formula is used to convert the images The setting for the gamma parameter determines the value of gamma in the conversion formula Section 6 3 2 explains the conversion process in more detail The units for the gamma parameter are in hundredths So if the gamma parameter is set to 75 for example this represents an actual gamma value of 75 hundredths or 0 75 A setting of 125 would represent 125 hundredths or 1 25 Before you set the gamma parameter you should then check the values of the minimum gamma and maximum gamma parameters Your setting for the gamma parame
31. 8 Bit Camera Output 2 0 256 512 768 1023 As shown in the bottom graph setting 10 Bit Sensor Output the brightness lower than the default value of 725 moves the response curve to the right This would decrease the 8 bit value output from the camera for any given 10 bit value from the sensor and thus decrease the apparent brightness of the image Increasing Light 8 Bit Camera Output Brightness Set to 600 0 256 512 768 1023 10 Bit Sensor Output Increasing Light Figure 3 7 Brightness Setting Changes Mapping 3 5 1 Setting the Gain The camera s gain setting is determined by the value field in the Gain control register see page 4 8 The value can range from 0 to 255 0x00 to OxFF Typical settings and the resulting amplification are shown in Table 3 1 Decimal Hex dB Amplification Decimal Hex dB Amplification Factor Factor 0 0x00 0 0 x 1 0 128 Ox7F 8 0 x 2 5 28 0x1C 2 5 x 1 3 170 OxAA 9 5 xX 3 0 43 0x2A 3 5 x 1 5 213 0xD4 10 9 x 3 5 85 0x55 6 0 x 2 0 255 OxFF 12 0 x 4 0 Table 3 1 Gain Settings tation of the gain settings on A601f HDR cameras is different from the implementation on other Basler cameras This means that you can not directly compare the response of an A6 01f HDR camera to another Basler camera with the same gain setting For example if you compare the response of an A601f HDR with the gain set to 100 and an A301f with the same gain setting you w
32. 80 pixels at 60 fps Format_0 Mode_1 FrameRate_0 YUV 4 2 2 16 bits pixel avg 320 x 240 pixels at 1 875 fps Format_0 Mode_1 FrameRate_1 YUV 4 2 2 16 bits pixel avg 320 x 240 pixels at 3 75 fps Format_0 Mode_1 FrameRate_2 YUV 4 2 2 16 bits pixel avg 320 x 240 pixels at 7 5 fps Format_0 Mode_1 FrameRate_3 YUV 4 2 2 16 bits pixel avg 320 x 240 pixels at 15 fps Format_0 Mode_1 FrameRate_4 YUV 4 2 2 16 bits pixel avg 320 x 240 pixels at 30 fps YUV 4 2 2 output is normally associated with color cameras but A6 01f HDR cameras are monochrome When an A 01f HDR camera is set for YUV 4 2 2 its output will be in the YUV 4 2 2 format but the output will be monochrome not color This mono chrome version of the YUV 4 2 2 format is provided so that the camera can be used with Windows XP accessories such as Movie Maker BASLER A601f HDR 3 17 Basic Operation amp Standard Features 3 18 3 8 2 Customizable Formats and Modes Format_7 Mode_0 and Format_7 Mode_2 are available on the A601f HDR Format_7 Mode_0 Format_7 Mode_0 is available on A601f HDR cameras This mode is used to enable and set up the area of interest AOI feature described in Section 3 6 Format_7 Mode 0 is parameterized by using the Format_7 Mode 0 control and status registers see page 4 9 When the camera is operating in Format_7 Mode_0 the frame rate can be adjusted by setting the number of bytes transmitted in each pac
33. BASLER A60If HDR gt USER S MANUAL Document Number DA00065902 Release Date 22 March 2004 BASLER 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 communica tions 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 For customers in Canada This apparatus complies with the Class A limits for radio noise emissions set out in Radio Inter ference Regulations Pour utilisateurs au Canada Cet appareil est conforme aux normes Classe A pour bruits radio lectriques sp cifi es dans le Reglement sur le brouillage radio lectrique
34. HDR camera was set for Vendor Specific 0 color coding and it transmitted a value of 0x0DC3 the base would be 195 decimal and the exponent would be 13 decimal The actual pixel value would be Actual Pixel Value 195 x 2 Actual Pixel Value 1597440 Note that the values delivered from the camera are not normalized This means that there can be different codings for the same value For example 1 2 128x2 64x2 32x2 BASLER A601f HDR 6 9 Using the HDR Feature 6 3 3 Maximum Frame Rate in the HDR Mode As a rule the maximum frame rate on an A 01f HDR camera is 60 frames per second The camera can not exceed this frame rate under any circumstances The maximum frame rate can also be limited by either of two factors The amount of time it takes to transfer an image from the frame buffer to the PC via the IEEE 1394 bus e The amount of time it takes to create an HDR image with the current HDR and AOI set tings To determine the maximum frame rate for a given set of HDR parameter values calculate a result in each of the two formulas below The formula that returns the lowest value will determine the maximum frame rate for the given HDR settings Formula 1 1 MS Packets frame x 125 us Formula 2 This formula includes a series of calculations needed to determine the time it takes to create an HDR image with the current settings Calculation A Number of Exposures Needed to Create the HDR Image
35. SR Otherwise the Value field holds the current raw value setting 2 4 reserved One_Push 5 If 1 aone push operation was in progress ON_OFF 6 0 The feature was disabled ignore the value 1 The feature was enabled A_M_Mode 7 0 The feature was in manual control mode 1 The feature was in auto control mode U_Value 8 19 U value B value B_Value V_Value 20 31 V_Value R_Value R_Value 28 White Balance Field Bit Description Absolute Value CSR 4 Bytes Abs Value 0 31 Floating point value with IEEE real 4 format Unit K Kelvin 32 Brightness CSR Content of the DCAM Brightness CSR 4 bytes Same layout as the Gain CSR 36 Brightness Absolute Field Bit Description Value CSR 7 4 Bytes Abs Value 0 31 Floating point value with IEEE real 4 format Unit 40 Chunk GUID 91108982 1COF 11D8 8AFO 00105A5BAE55 16 Bytes 56 Chunk Length This chunk s total length in bytes 4 bytes 60 Inverted Chunk Length The bitwise complement of the chunk length 4 bytes BASLER A601f HDR 5 15 Smart Features 5 7 5 CRC Checksum The CRC Cyclic Redundancy Check Checksum feature adds a chunk to each image frame containing a 16 bit CRC checksum calculated using the Z modem method The CRC Checksum chunk is always the last chunk added to the image data stream and the chunk is always 32 bits in size As shown in Figure 5 2 the checksum is calculated using all ofthe image d
36. Set the Shutter control register for your desired exposure time see Section 3 2 1 2 Set the One_Shot control register to 1 3 Check the state of the TrigRdy signal a If TrigRdy is high you can toggle ExTrig when desired b If TrigRdy is low wait until TrigRdy goes high and then toggle ExTrig when desired See Section 3 3 for more about TrigRdy 4 When ExTrig rises exposure will begin Exposure will continue for the length of time specified in the Shutter control register 5 At the end of the specified exposure time readout and transmission of the captured image will take place The One_Shot control register is self cleared after frame transmission BASLER A601f HDR 3 7 Basic Operation amp Standard Features 3 8 ExTrig Continuous Shot Operation In ExTrig Continuous shot operation a Continuous Shot Command is used to prepare the camera to capture multiple frames In this mode exposure will begin on each rising edge of the ExTrig signal To use this method of operation follow this sequence 1 2 3 Set the Shutter control register for your desired exposure time See Section 3 2 1 Set the Iso_En Continuous_Shot control register to 1 Check the state of the TrigRdy signal a If TrigRdy is high you can toggle ExTrig when desired b If TrigRdy is low wait until TrigRdy goes high and then toggle ExTrig when desired See Section 3 3 for more about TrigRdy When ExTrig rises exposure will begin
37. Structure of a Chunk Each chunk ends with a four byte unsigned integer indicating the length of the chunk and four bytes which indicate the bitwise complement of the length Transferring both the chunk length and the bitwise complement of the length serves as a mechanism to detect transmission errors If the last four bytes of a chunk aren t the bitwise complement of the preceding four bytes the chunk s length information isn t valid and this indicates that a transmission error occurred BASLER A601f HDR 5 7 Smart Features 5 8 There are different types of chunks for example the chunk that is added when the cycle time stamp smart feature is enabled and the chunk that is added when the frame counter smart feature is enabled Although most chunks follow the general structure described in Table 5 1 each type of chunk has unique aspects to its layout To allow you to distinguish between the chunks each chunk carries a chunk GUID The GUID for each chunk is transferred just before the chunk s length information If you look through the descriptions of the smart features in Section 5 7 you will notice that for smart features which add a chunk to the image data stream there is a description of the layout of the chunk and the chunk GUID associated with the chunk A chunk s length field contains the chunk s total length in bytes The GUID the length and the inverted length are included as part of the total chunk length By app
38. _Gnd_Com In_Gnd_Comm 6 Out_VCC_Com 7 In 2 8 In_1 9 560 Q Out_VCC_Com In_3 10 Cable Shields Cable Shields Gnd PC3Q64Q Shield To IEEE 1394a 2000 Compliant Physical Layer Controller IEEE Camera_Power_In 1394 Socket Figure 2 3 I O Schematic BASLER A601f HDR 2 7 Camera Interface 2 8 BASLER A601f HDR 3 1 Basic Operation amp Standard Features Basic Operation and Standard Features Functional Description 3 1 1 Overview A60If HDR area scan cameras employ a CMOS sensor chip which provides features such as a full frame shutter and electronic exposure time control Normally exposure time and charge readout are controlled by values transmitted to the camera s control registers via the IEEE 1394 interface Control registers are available to set exposure time and frame rate There are also control registers available to set the camera for single frame capture or continuous frame capture Exposure start can also be controlled via an externally generated trigger ExTrig signal The ExTrig signal facilitates periodic or non periodic start of exposure When exposure start is controlled by a rising ExTrig signal and the camera is set for tne programmable exposure mode exposure begins when the trigger signal goes high and continues for a pre programmed period of time Accumulated charges are read out when the programmed exposure time ends At readout accumulated charges are transported fr
39. a in its original packaging only Do not discard the packaging Cleaning Avoid cleaning the surface of the CMOS sensor if possible If you must clean it use a soft lint free cloth dampened with a small quantity of high quality window cleaner Because electrostatic discharge can damage the CMOS sensor you must use a cloth that will not generate static during cleaning cotton is a good choice To clean the surface of the camera housing use a soft dry cloth To remove severe stains use a soft cloth dampened with a small quantity of neutral detergent then wipe dry Do not use volatile solvents such as benzine and thinners they can damage the surface finish BASLER A601f HDR Camera Interface 2 Camera Interface 2 1 Connections 2 1 1 General Description The A601f HDR is interfaced to external circuitry via an IEEE 1394 socket and a 10 pin RJ 45 jack located on the back of the housing Figure 2 1 shows the location of the two connectors IEEE 1394 Socket Figure 2 1 Camera Connectors BASLER A601f HDR 2 1 Camera Interface 2 1 2 Pin Assignments The IEEE 1394 socket is used to supply power to the camera and to interface video data and control signals The pin assignments for the socket are shown in Table 2 1 Pin Signal 1 Power Input 8 0 to 36 0 VDC DC Gnd TPB TPA 2 3 4 TPB 5 6 TPA Table 2 1 Pin Assignments for the IEEE 1394 Socket The RJ 45 j
40. ack is used to interface the external trigger integrate enabled and trigger ready signals The pin assignments for the jack are shown in Table 2 2 Pin Designation Use 1 Output 3 Reserved for future use 2 Output 2 Reserved for future use 3 Output 1 Trigger Ready Output 4 Output 0 Integrate Enabled Output 5 Input O External Trigger Input 6 In Gnd Comm Common ground for all inputs 7 Out VCC Comm Common VCC for all outputs 8 Input 2 Reserved for future use 9 Input 1 Reserved for future use 10 Input 3 Reserved for future use Table 2 2 Pin Assignments for the RJ 45 jack 2 2 BASLER A601f HDR Camera Interface Figure 2 2 A 01f HDR Pin Numbering The camera housing is connected to the cable shields and coupled to signal ground through an RC network see Figure 2 3 for more details 2 1 3 Connector Types The 6 pin connector on the camera is a standard IEEE 1394 socket The 10 pin connector on the camera is an RJ 45 jack Caution The plug on the cable that you attach to the camera s RJ 45 jack must have 10 pins Use of a smaller plug such as one with 8 pins or 4 pins can damage the pins in the RJ 45 jack on the camera BASLER A601f HDR 2 3 Camera Interface 2 2 Cables The maximum length of th
41. al Requirements 2 0 00 cece tee 1 4 1 5 1 Temperature and Humidity 0 00 ee 1 4 1 5 2 Ventilation 2220 nennen nennen eens 1 4 1 6 PreGautions ates de sen vee ene de renee Mae eee re 1 4 2 Camera Interface 21 CONNECUONS Are ae BAe ee eae E 2 1 2 1 1 General Description 222222 eee 2 1 2 1 2 Pin Assignments ot hele es eden a ee eben 2 2 2 1 3 C0hNnsclorTypes nannte ee Du a neun rien 2 3 2 2 G bles vu 22a de ee ERR a re eee cas ORD 2 4 2 3 GCamera PoWer nn a a N ehr 2 4 2 4 Video Data and Control Signals 22m ceneeeeenne een 2 5 2 434 Input Signals 2a 3 24 Karren an der it 2 5 2 4 1 1 ExTrig Controls Exposure Start Input O 05 2 5 2 4 2 Output Signals 0 0 0 nennen nennen nn 2 5 2 4 2 1 IntEn Indicates that Exposure is Taking Place Output 0 2 5 2 4 2 2 TrigRdy Indicates that Exposure Can Begin Output 1 2 5 2 4 2 3 Pixel Data ee a a ee aes 2 6 2 4 3 IEEE 1394 Device Information 0000 e eee eee 2 6 3 Basic Operation and Standard Features 3 1 Functional Description 0 0 eect eee 3 1 SAA OVE Wo ot we leer Pardee EEE ten ae T 3 1 3 2 Exposure Control g2 csigee42 Patel wed yee gedaan Dada ande es 3 4 3 2 1 Setting the Exposure Time 0 000 c cee eee 3 4 3 2 2 Maximum Exposure Time 00 0c eee 3 4 3 2 3 Controlling Exposure Start with Shot Commands via the 1394
42. art feature s data is added as trailing data to each image as the image is transmitted from the camera The SFF provides a mechanism for parsing the smart features data added to images transmitted out of the camera by assigning a unique identifier GUID to each smart feature Whenever the camera adds data for a smart feature to an image it includes the GUID for the smart feature as BASLER A601f HDR 5 1 Smart Features 5 3 5 4 part ofthe added data The GUIDs are especially useful when you enable several smart features that add data to the image stream The GUIDs make it possible to identify which portion of the added data is the result of each enabled smart feature Refer to Sections 5 6 and 5 7 for detailed information about getting smart features results What do I Need to Use Smart Features To use smart features you will need A camera that supports smart features Not all camera models support smart features And with some camera models that do support smart features you may find that older cameras may not support all available smart features or may not support smart features at all Section 5 5 contains information about checking a camera to see if it supports smart features A method of accessing the camera s DCAM register structure We strongly recommend that you use the Basler BCAM 1394 Driver v1 7 or higher along with the Basler Smart Features Framework software to access the registers See Section 5 4 for more
43. at either 8 bit or 10 bit depth For 8 Bit Depth Set the Color_Coding_ID field of the Format_7 Mode_0 register for Mono 8 see page 3 18 With this ID set the camera outputs 8 bits per pixel For 10 Bit Depth Set the Color_Coding_ID field of the Format_7 Mode_0 register for Mono 16 With this ID set the camera outputs 16 bits per pixel but only 10 bits are effective The effective pixel data fills from the LSB and the unused bits are filled with zeros Pixel data is stored in the PC memory in little endian format i e the low byte for each pixel is stored at the lower address and the high byte is stored at the neighboring higher address On an A601f HDR set to Mono 16 the maximum frame rate is 30 fps 3 16 BASLER A601f HDR 3 8 Basic Operation amp Standard Features Available Video Formats Modes and Frame Rates 3 8 1 Standard Formats Modes and Frame Rates The following standard video formats modes and frame rates are available on the A601f HDR Format_0 Mode_5 FrameRate_0 Mono 8 bits pixel 640 x 480 pixels at 1 875 fps Format_0 Mode_5 FrameRate_1 Mono 8 bits pixel 640 x 480 pixels at 3 75 fps Format_0 Mode_5 FrameRate_2 Mono 8 bits pixel 640 x 480 pixels at 7 5 fps Format_0 Mode_5 FrameRate_3 Mono 8 bits pixel 640 x 480 pixels at 15 fps Format_0 Mode_5 FrameRate_4 Mono 8 bits pixel 640 x 480 pixels at 30 fps Format_0 Mode_5 FrameRate_5 Mono 8 bits pixel 640 x 4
44. ata and all of the appended chunks except for the checksum itself This data is used to calculate the checksum Figure 5 2 Data Used for the Checksum Calculation The extended data stream feature see Section 5 7 1 must be enabled in order to use the CRC Checksum feature or any of the other smart feature that adds informa tion to the image data stream Disabling the extended data stream feature switches off all smart features that add information to the image data stream The CRC Checksum feature will only work when the camera is set for video format 7 The data transmission method used on A601f HDR cameras is extremely reliable The CRC Checksum feature is included on the camera because CRC checksums are so commonly used with data transmission applications Control and Status Register for the CRC Checksum Feature Name CRC_Checksum Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 3B34004E 1B84 11D8 83B3 00105A5BAE55 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available 1 30 Reserved Enable 31 Enable Disable this feature Read write 0 Disable 1 Enable 5 16 BASLER A601f HDR Smart Features CRC Checksum Chunk Layout The CRC checksum is an exception to the normal chunk structure The CRC chunk is always 32 bits wide and is always the last chunk appen
45. ation including a programmer s guide and code samples For more information visit the Basler web site at www basler vc com BASLERAGOI HDR S A Configuring the Camera 4 1 Block Read and Write Capabilities The camera supports block reads and block writes If you do a single read or a block read the camera will return a O for all non existent registers If you do a single write to a non existent register or a block write that includes non existent registers the writes to non existent registers will have no effect on camera operation 4 2 Changing the Video Format setting Whenever the Current Video Format setting is changed you must also do the following If the Cur_V_Format is changed from Format 7 to Format 0 you must also write the Cur_V_Mode and the Cur_V_Frm_Rate If the Cur_V_Format is changed from Format 0 to Format 7 you must also write the Cur_V_Mode the Image_Position the Image_Size and the Bytes_Per_Packet See Section 3 8 2 for more information on setting the Bytes per Packet in Format 7 4 3 Configuration ROM The configuration ROM in the A601f HDR is compliant with the DCAM specification V 1 30 42000 BASLER A60If HDR Configuring the Camera 4 4 Implemented Standard Registers A list of all standard registers implemented in A601f HDR appears below The base address for all camera control registers is Bus_ID Node_ID FFFF FOFO 0000 This address is contained in the configuration ROM in the camera un
46. ch of the tables is the byte offset from the above base address Offset Name Notes 000h Max_Image_Size_Inq Hmax 656 Vmax 491 The VGA sub image is positioned in the center of the full size image 004h Unit_Size_Ing Hunit 1 Vunit 1 008h Image_Position Default 0 0 00Ch Image_Size Default Hmax Vmax 010h Color_Coding_ID Default Mono 8 ID 0 014h Color_Coding_Inq The A601f HDR supports the following color codes in this mode e Mono 8 ID 0 e Mono 16 ID 5 024h Color_Coding_Inq e Vendor Specific 0 ID 128 034h Pixel_Number_Inq The value of this register depends on the following registers e Image_Size 038h Total_Bytes_Hi_Inq The value of this register depends on the following registers e Image_Size e Color_Coding_ID The value includes the following data Image data Padding bytes Data added by any enabled smart features 03Ch Total_Bytes_Lo_Ing See Total_Bytes_Hi_Inq register This field is defined in version 1 31 of the IIDC camera specification The Vendor Specific 0 color coding is unique to Basler When this color coding is selected the camera outputs 16 bits per pixel but the 16 bits do not directly represent a pixel value See page 3 19 and Section 6 3 2 for more information BASLER A60I HDR o i Configuring the Camera Offset Name Notes 040h Packet_Para_Inq UnitBytePerPacket 4 MaxBytePerPacket dep
47. d for controlling 3 9 exposure time setting 005 3 4 extended data stream smart feature 5 9 extended version info smart feature 5 23 external trigger signal controlling exposure with 3 6 electrical characteristics 2 5 min high low time 222 222 n nee 3 6 F firmware ID number 0 005 1 1 frame counter smart feature 5 11 frame rate basic specification 1 2 standard frame rates 3 17 functional description 2 22 2222 3 1 BASLER A601f HDR Index G Galli ae er rar mek eae 3 11 gamma using with the HDR feature 6 5 6 8 H high dynamic range smart feature 6 1 housing Size nee are ee er 1 2 humidity requirements 2 22222222 1 4 l IEEE 1394 Device Information 2 6 input signals external trigger 0 eee eee 2 5 integrate enabled signal 2 5 3 10 L lens adapters 0 0 0 cece eee ee 1 2 level controlled exposure mode 3 7 lookup table smart feature 5 24 M mechanical considerations 7 1 models camera 0 ee eee 1 3 mounting facilities 22222222 7 1 O one shot operation 2222222 3 5 3 7 output signals integrate enabled 2 0000 2 5 pixel data 422 2 6 trigger ready 0 eee eee eee eee 2 5 P perfo
48. d is movable For example assume that the camera is mounted on an arm mechanism and that the mechanism can move the camera to view different portions of a product assembly Typically you do not want the camera to move during exposure In this case you can monitor the IntEn signal to know when exposure is taking place and thus know when to avoid moving the camera The IntEn signal is present on output 0 of the camera see Section 2 4 2 1 and the fall of the signal in relation to the start and the end of exposure See Figure When you use the integrate enabled signal be aware that there is a delay in the rise 3 5 for details BASLER A601f HDR Gain and Brightness On A 60If HDR cameras the output from the camera s sensor is digital and the gain and brightness functions are accomplished by manipulation of the sensor s digital output signal As shown in the top graph in Figure 3 6 when the gain is set to 0 the full 10 bit output range of the camera s CMOS sensor is mapped directly to the 8 bit output range of the camera In this situation a gray value of O is output from the camera when the pixels in the sensor are exposed to no light and a gray value of 255 is output when the pixels are exposed to very bright light This condition is defined as 0 dB of system gain for the camera As shown in the three lower graphs increasing the gain setting to a value greater than 0 maps a smaller portion of the se
49. ded to the image data The lower 16 bits ofthe chunk are filled with the checksum and the upper 16 bits of the chunk are filled with zeros Bit Description 0 7 CRC Checksum low byte 8 15 CRC Checksum high byte 16 23 0x00 24 31 0x00 Using the Checksum to Check the Data Integrity When the checksum smart feature is enabled the following two C functions can be used to check if an acquired frame contains a valid CRC checksum The user must pass the acquired image buffer and the buffer s length in bytes to the CheckBuffer function The CheckBuffer function uses the CRC16 function to calculate the checksum These two samples are intended to aid you in developing the code for your application They are provided solely as examples brief Calculates a 16 bit CRC checksum param pData Pointer to the data buffer param nbyLength Size of the buffer in bytes return The CRC checksum 4 unsigned short CRC16 const unsigned char pData unsigned long nbyLength unsigned long i j c bit unsigned long crc 0 for i 0 i lt nbyLength i c unsigned long pData for j 0x80 j j gt gt 1 bit crc amp 0x8000 crc lt lt 1 if c amp j bit 0x8000 if bit crc 0x1021 return unsigned short crc amp Oxffff BASLER A601f HDR 5 17 Smart Features 5 18 P brief Verifies a frame buffer s CRC checksum param pData Pointer to the frame param nbyLen
50. e A6 01f HDR is shown in Figure 1 2 35 30 D oa 20 15 Quantum Efficiency 10 400 500 600 700 800 900 1000 Wavelength nm Figure 1 2 A601f HDR Spectral Response The spectral response curve excludes lens characteristics and light source characteristics BASLER A601f HDR 1 3 Introduction 1 3 1 6 Environmental Requirements 1 5 1 Temperature and Humidity Housing temperature during operation 0 C 50 C 32 F 122 F Humidity during operation 20 80 relative non condensing 1 5 2 Ventilation Allow sufficient air circulation around the camera to prevent internal heat build up in your system and to keep the housing temperature below 50 C Additional cooling devices such as fans or heat sinks are not normally required but should be provided if necessary Precautions To ensure that your warranty remains in force Read the manual Read the manual carefully before using the camera Keep foreign matter outside of the camera Do not open the casing Touching internal components may damage them Be careful not to allow liquid flammable or metallic material inside the camera housing If operated with any foreign matter inside the camera may fail or cause a fire Electromagnetic Fields Do not operate the camera in the vicinity of strong electromagnetic fields Avoid electrostatic charging Transporting Transport the camer
51. e IEEE 1394 cable used between the camera and the adapter in your PC or between the camera and a 1394 hub is 4 5 meters as specified in the IEEE 1394 standard Standard shielded IEEE 1394 cables must be used The maximum length of the I O cable is at least 10 meters The cable must be shielded and must be constructed with twisted pair wire Close proximity to strong magnetic fields should be avoided 2 3 Camera Power Power must be supplied to the camera via the IEEE 1394 cable Nominal input voltage is 12 0 VDC however the camera will operate properly on any input voltage from 8 0 VDC to 36 0 VDC as specified in the IEEE 1394 standard Maximum power consumption for the A601r HDR is 1 7 W at 12 VDC Ripple must be less than 1 Caution Use only standard IEEE 1394 connectors The polarity of the input power to the camera must be as shown in Table 2 1 Do not reverse the input power polarity Reversing the polarity will damage the camera 2 4 BASLER A601f HDR 2 4 Camera Interface Video Data and Control Signals 2 4 1 Input Signals 2 4 1 1 ExTrig Controls Exposure Start Input 0 Input O is designed to receive an external trigger ExTrig signal that can be used to control the start of exposure For more detailed information on using the ExTrig signal to control exposure see Section 3 2 4 As shown in Figure 2 3 the input for the ExTrig signal is opto isolated The nominal input voltage for the LED in the
52. e sampled at the start of exposure of each image use the DCAM values feature or any of the other smart feature that adds information to the image data stream Disabling the extended data stream feature switches off all smart features that add information to the image data stream The extended data stream feature see Section 5 7 1 must be enabled in order to The DCAM values feature will only work when the camera is set for video format 7 Control and Status Register for the DCAM Values Feature Name DCAM_Values Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 494DE528 1B84 11D8 8A0C 00105A5BAE55 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available 1 30 Reserved Enable 31 Enable Disable this feature Read write 0 Disable 1 Enable BASLER A601f HDR 5 13 Smart Features DCAM Values Chunk Layout Position Name Description 0 Gain CSR Content of the DCAM Gain CSR 4 Bytes A ae Field Bit Description Presence_Inq 0 Presence of this feature If 0 the DCAM feature is not avail able and all of its values should be ignored Abs_ Control 1 Absolute control mode If 1 the DCAM feature is in absolute control mode and the current value can be read from the Absolute Value CSR Other
53. e smart feature does not add information to the image data stream and can be accessed even when the extended data stream feature see Section 5 7 1 is disabled When you enable the lookup table feature the 1024 quadlets that represent the lookup table are automatically populated with values based on the current gain and brightness settings If you want use a customized lookup table you must 1 Use the the look table feature Control and Status Register CSR to enable the lookup table feature 2 Use the CSR to load the values for the customized lookup table When the lookup table is enabled changes in the gain and brightness settings will have no effect on camera operation The lookup table feature will work when the camera is set for any valid video format The lookup table feature can not be used when the high dynamic range feature see Section 6 is enabled BASLER A601f HDR 5 25 Smart Features Control and Status Register for the Lookup Table Feature Name Lookup_Table Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID B28C667C DF9D 11D7 8693 OOOC6EOBD1B0 Position Field Bit Description 0 Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available 1 30 Reserved Enable 31 Enable Disable this feature Read write 0 Disable 1 Enable 4 In_Depth_Inq 0 15 Bit depth of the
54. e_Per_Packet BytePerPacket set by user RecBytePerPacket 4092 OxFFC 048h Packet_Per_Frame_Inq The value of this register depends on the following registers e Image_Size e Color_Coding_ID e Byte_Per_Packet The value Includes the following data Image data Padding bytes Data added by any enabled smart features 04Ch Unit_Position_Inq Hposunit 1 Vposunit 1 054h Data_Depth Indicates the effective data depth of the pixel in formation being transmitted from the camera The value of this register depends on the following registers e Color_Coding_ID In Format _7 Mode_0 Color_Coding_ID Effective Bits Data Depth Transmitted ID 0 Mono 8 8 8 ID 5 Mono 16 10 16 ID 2 YUV 4 2 2 8 16 When you lower the bytes per packet setting the number of bytes needed to transmit a frame the packets per frame will increase Due to limitations in the DCAM structure a maximum of 4095 packets per frame is allowed If you set the bytes per packet too low the number of packets per frame will exceed the 4095 packet limit and the camera will not transmit frames properly This field is defined in version 1 31 of the IIDC specification 4 10 BASLER A601f HDR Configuring the Camera Control and Status Registers for Format_7 Mode_2 Format_7 Mode_2 is available on A601f HDR cameras The base address for each Format _7 Mode_2 camera control register is Bus_ID Node_ID FFFF F1F0 0200 The offset field in ea
55. edium DOREEN S N Ratio in Bits E 5 5 H 70 a a fe fa rg fee 65 8 0 fff 4 5 001 Figure 6 2 Signal to Noise Ratio of HDR Images with a 20 Bit Depth 01 10 1 0 Sensor Saturation 10 100 S N Ratio in Bits S N Ratio in Bits Quality Normal 10 1 0 10 100 Sensor Saturation Quality Low RO Perea eee ee 75 ee fee fee fe A a N fen ff 6 5 pn fon 8 0 on i f 5 5 H 5 0 ee fe fee u 4 5 001 01 10 1 0 10 100 Sensor Saturation BASLER A6 01f HDR Using the HDR Feature Start Shutter The HDR feature creates high dynamic range images by capturing a series of images at progressively longer exposure times and then combining the series of images into a single HDR image The setting for the start shutter parameter determines the exposure time for the first image in the series The camera automatically calculates the exposure time for the other images in the series based on the start shutter value The maximum allowed setting for start shutter can vary depending on other HDR settings So before you set the start shutter parameter you should check the values of the minimum start shutter and maximum start shutter parameters Your setting for the start shutter parameter must be between the indicated min and max inclusive The value of the start shutter parameter represents nin the equation Starting Shutter Time n x 2
56. em Control and Status Register for the High Dynamic Range Feature Name High_Dynamic_Range Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 93F1F19D 5761 4260 A9D787F7BE722129 Position Field Bit Description 0 Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available aaah 1 Reserved One_Push_Auto 2 One push automatic parameter adjustment Read write Setting the bit to 1 will initiate the automatic adjust ment routine The bit will reset to zero when the rou tine is complete ae 3 Reserved Quality 4 5 Determines the number of exposures that will be Read write captured to create the final image Higher quality requires more exposures 0 High Quality 1 Normal Quality 2 Medium Quality 3 Low Quality 6 7 Reserved Min_Dynamic_Bits 8 15 Minimum allowed value for the dynamic bits setting Read only Max_Dynamic_Bits 16 23 Maximum allowed value for the dynamic bits setting Read only Dynamic_Bits 24 31 Sets the depth of the HDR image Read write 4 Min_Start_Shutter 0 31 Minimum allowed value for the starting shutter Read only setting BASLER A 01f HDR Using the HDR Feature 8 Max_Start_Shutter 0 31 Maximum allowed value for the starting shutter Read only setting 12 Start_Shutter 0
57. ending length information and a chunk GUID to each chunk the camera sends a self describing data stream and allows easy navigation through the individual chunks that make up a complete image data frame Don t confuse CSR GUIDs with chunk GUIDs Each smart feature has a control and status register CSR associated with it and each CSR has a unique CSR GUID assigned to the register The CSR GUIDs are used to help you keep track of which CSR is associated with each smart fea ture Any smart feature that adds a chunk of data to the image data stream also has a unique chunk GUID assigned to the feature The chunk GUID will be included the chunk of data that a smart feature adds to the image data The chunk GUIDs let you determine which smart feature is associated with each added chunk in the image data stream The CRC Checksum is an exception to the general structure of a chunk See Section 5 7 5 for more information 5 6 1 How Big a Buffer Do Need When smart features that add data to the image are enabled the size of each transmitted frame will be larger than you would normally expect for a frame which contains only image data To determine the size of the buffer that you will need to hold an image with appended smart features data check the Total_Bytes_Hi_Inq and Total_Bytes_Lo_Inq fields of the Format_7 register for the mode you are currently using Make sure to check these fields after all s
58. ends on e Image_Size e Color_Coding_ID 044h Byte_Per_Packet BytePerPacket set by user RecBytePerPacket 4092 OxFFC 048h Packet_Per_Frame_Inq The value of this register depends on the following registers e Image_Size e Color_Coding_ID Byte_Per_Packet The value includes the following data Image data Padding bytes Data added by any enabled smart features 04Ch Unit_Position_Inq Hposunit 1 Vposunit 1 054h Data_Depth Indicates the effective data depth of the pixel in formation being transmitted from the camera The value of this register depends on the following registers e Color_Coding_ID In Format _7 Mode_2 Color_Coding_ID Effective Bits Data Depth Transmitted ID 0 Mono 8 8 8 ID 5 Mono 16 16 16 ID 128 Vend Spec 0 16 16 This field is defined in version 1 31 of the IIDC specification The Vendor Specific 0 color coding is unique to Basler When this color coding is selected the camera outputs 16 bits per pixel but the 16 bits do not directly represent a pixel value See page 3 19 and Section 6 3 2 for more information 4420 BASLER A 0lf HDR Configuring the Camera 4 5 Advanced Features Registers The functionally of the advanced features control and status registers has been made part of Basler s Smart Features Framework SFF We strongly recommend that you use the SFF registers see Section 5 rather than the advanced features
59. er Isochronous Bus and Asynchronous Data Basic Operation amp Standard Features 3 2 Exposure Control 3 2 1 Setting the Exposure Time Exposure time is determined by the value stored in the Shutter control register see page 4 7 The value in the register can range from 1 to 4095 0x001 to OxFFF The value in the register represents n in the equation Exposure Time nx 20 us So for example ifthe value stored in the SHUTTER register is 100 0x064 the exposure time will be 100 x 20 us or 2000 us If you are operating the camera at a standard frame rate you can determine the maximum shutter setting for that frame rate by reading the Max_Value field of the Shutter_Ing register see page 4 6 3 2 2 Maximum Exposure Time The maximum exposure time for a given frame rate is determined by the following formula 1 maximum exposure time frame rate For example if a camera is operating at 40 fps 1 40 fps 0 0250s So in this case the maximum exposure time is 25 0 ms Exceeding the maximum exposure time for your frame rate will cause the camera to slow down i e it will cause the camera to operate at a lower frame rate BASLER A601f HDR Basic Operation amp Standard Features 3 2 3 Controlling Exposure Start with Shot Commands via the 1394 Interface Exposure start can be controlled by sending shot commands directly to the camera via the 1394 bus In this case an
60. f the CMOS array The top left corner is designated as column 0 and row 0 as shown in Figure 3 8 The location and size of the area of interest is defined by declaring a left most column a width a top row and a height For example suppose that you specify the left column as 10 the width as 16 the top row as 4 and the height as 10 The area of the array that is bounded by these settings is shown in Figure 3 8 The camera will only transmit pixel data from within the area defined by your settings Information from the pixels outside of the area of interest is discarded Column 012 3 4 5 6 7 8 910 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25126 27 28 29 30 31 Row 0 Rowl Row2 Row 3 gt The camera will only transmit the pixel data from this area sii bocce a Starting Column gt Width in Columns Figure 3 8 Area of Interest The AOI feature is enabled by setting the camera to operate in Format_7 Mode_0 This is accomplished by setting the Cur_V_Format control register see page 4 7 to 7 and the Cur_V_Mode control register to 0 The location of the area of inte
61. f the camera is operating at a lower resolution when the test images are generated the basic appearance of the test pattern will be similar to Figure 5 4 but the staring pixel values on each row will not be as described above The mathematical expression for test image two is grayvalue Kerl MOD 256 round off all values nw O NNN NNN Il D Figure 5 4 Test Image Two Test Image Three Test image three is similar to test image one but it is not stationary The image moves by 1 pixel from right to left whenever a one shot or a continuous shot command signal is sent to the camera 5 20 BASLER A601f HDR Smart Features Test Image Five Test image five is a stationary image Figure 5 5 shows the general appearance of test image five The test image is generated using a complex mathematical formula and its appearance will vary significantly depending on how the HDR parameters are set The main way that this image can be used is to check the basic functionary of your HDR feature To check basic HDR functionality enable test image five and vary the HDR parameters If you see the appearance of the test image changing as you change the HDR parameters it means that the basic HDR functions are operational Figure 5 5 Test Image Five Test Image Six Test image six is similar to test image five but it is not stationary The image moves by 1 pixel from right to left whenever a one shot or a continuous shot command signal is sent to
62. firmware ID number for an A6 01f HDR camera is by using the BCAM Viewer included with the Basler BCAM 1394 driver To see the firmware ID number 1 Attach your camera to a computer equipped with the BCAM 1394 driver 2 Double click the BCAM Viewer icon on your desktop or click Start gt All Programs Basler Vision Technologies BCAM 1394 BCAM Viewer The viewer program window will open 3 Find the camera name in the Bus Viewer panel that Hig yay as oc the T ee of Info Video Format Trigger Advanced Features e w ndow and CIICK on the camera name Model pa nm 4 Click on the icon in Vendor Basler H nn at the top of Node ID 0x003053 20400695 This is the i Firmware 5 A properties window Driver Version 11 7 0013 ID Number similar to the one shown Firmware Version 101374 03 mk2c6_A604 v1 3 3 22 in Figure 1 1 will open Use the figure asa guide Device Name BASLER amp A602F 37443701 533000 to find the firmware ID number Copy to clipboard OK Cancel Figure 1 1 BCAM Properties Window You can also access the firmware ID number by using the Extended Version Information smart feature See Section 5 7 7 for more information BASLER A601f HDR 1 1 Introduction 1 2 Performance Specifications Category Specification Sensor Type Micron MT9V403 1 2 inch CMOS Global Shutter Pixels 656 H x 491 V Pixel Size 9 9 um H x 9 9 um V Max Frame Rate at full res
63. formation is not ordinarily useful to the camera user However for troubleshooting purposes Basler technical support may ask you to read this register and to supply the results age data stream and can be accessed even when the extended data stream feature The extended version information smart feature does not add information to the im see Section 5 7 1 is disabled The extended version feature will work when the camera is set for any valid video for mat Control and Status Register for the Extended Version Information Feature Name Extended_Version_Information Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 2B2D8714 C15E 4176 A235 6EF843D747B4 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available 1 7 Reserved Length 8 15 Specifies the length in quadlets of the string field 16 31 Reserved Version_Info n Bytes An ASCII character string that includes the version numbers for the camera s internal software The length of this string field is equal to the number of quadlets given in the length field above The ASCII character string in the Version_Info field contains the camera s firmware ID number You can read the string to determine your camera s firmware ID The ID number s position in the string is described
64. g check the frame rate to see if it now meets your needs 6 3 6 HDR Test Images Two test images test images five and six are available for checking the basic functionality of the HDR feature See Section 5 7 6 for more information on test images BASLER A6 01f HDR Mechanical Considerations 7 Mechanical Considerations 7 1 Camera Dimensions The camera housing for the A601f HDR is manufactured with high precision Planar parallel and angular sides guarantee precise mounting with high repeatability A 0lf HDR cameras are equipped with four M3 mounting holes on the bottom and two M3 mounting holes on the top as indicated in Figure 7 1 Caution To avoid collecting dust on the sensor mount a lens on the camera immediately after unpacking it BASLER A601f HDR Mechanical Considerations 2 x M3 4 deep Fo 73 3 st 13 3 lt 50 gt lt gt 4 x M3 4 deep 5l D 4 lt aan N eee urface of the CMOS Sensor BP 59 Tolerances s g are TBD 17 526 e Figure 7 1 A601t HDR Mechanical Dimensions in mm 7 2 BASLER A601f HDR Revision History Revision History Doc ID Number Date Changes DA00065901 9 March 2004 Initial release of this manual This revision of the manual applies to cameras
65. gth Size of frame in bytes return 1 if the check succeeds 0 otherwise int CheckBuffer const unsigned char pData unsigned long nbyLength unsigned long nCurrentCRC nDesiredCRC Calculate the CRC checksum of the buffer Don t take the last four bytes containing the checksum into account nCurrentCRC CRC16 pData nbyLength sizeof unsigned long Retrieve the desired CRC value from the data buffer nDesiredCRC unsigned long pData nbyLength sizeof unsigned long 1 Return TRUE if they are equal return nCurrentCRC nDesiredCRC BASLER A601f HDR Smart Features 5 7 6 Test Images A6 01f HDR cameras include a test image mode as a smart feature The test image mode is used to check the camera s basic functionality and its ability to transmit an image via the video data cable The test image mode can be used for service purposes and for failure diagnostics In test mode the image is generated with a software program and the camera s digital devices and does not use the optics the CMOS pixel array or the ADCs Test images one two three five and six are available on A601f HDR cameras When a test image is active the gain brightness and exposure time have no effect on the image The test image smart feature does not add information to the image data stream and can be enabled even when the extended data stream feature see Section 5 7 1 is disabled The test image feature
66. hat normally add data to the image stream does not affect the image data stream the camera only sends the basic image data without any added information Frame N Frame N 1 Extended Image Data Chunk Smart _ Smart Extended Image Data Chunk Smart Smart includes basic image data plus added FeatureA Feature B includes basic image data plus added Feature A Feature B eco data such as image height and width Chunk Chunk data such as image height and width Chunk Chunk Figure 5 1 Image Data Stream with Smart Features Enabled As illustrated in Figure 5 1 when smart features are enabled each image frame consists of chunks For example the frame may include a chunk which contains the extended image data the basic image data plus the added height width etc information a chunk which contains the results for the frame counter smart feature a chunk which contains the results for the cycle time stamp smart feature etc Table 5 1 describes the general structure of a chunk Position Name Description 0 Data The data that the chunk is transporting K Bytes K Chunk GUID Identifies the type of chunk and the smart feature associated with the 16 Bytes chunk Note that a smart feature s chuck GUID is not the same as its CSR GUID K 16 Length The chunk s total length in bytes 4 Bytes K 20 Inverted Length The bitwise complement of the length 4 Bytes Table 5 1 General
67. ill only work when the camera is set for video format 7 Control and Status Register for the Frame Counter Feature Name Frame_Counter Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 4433C4A4 1B84 11D8 86B2 00105A5BAE55 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available 1 30 Reserved Enable 31 Enable Disable this feature Read write 0 Disable 1 Enable Frame Counter Chunk Layout Position Name Description 0 Counter The frame counter 4 Bytes 4 Chunk GUID 8C5DB844 1COF 11D8 965F 00105A5BAE55 16 Bytes 20 Chunk Length This chunk s total length in bytes 4 bytes 24 Inverted Chunk Length The bitwise complement of the chunk length 4 bytes BASLER A 0If HDR 5 11 Smart Features 5 12 5 7 3 Cycle Time Stamp The cycle time stamp feature adds a chunk to each image frame containing the value of the counters for the IEEE 1394 bus cycle timer The counters are sampled at the start of exposure of each image The extended data stream feature see Section 5 7 1 must be enabled in order to use the cycle time stamp feature or any of the other smart feature that adds informa tion to the image data stream Disabling the extended data stream feature switches off all smart features that add information to
68. ill see a significant difference This hap pens because the gain scales on the two cameras are implemented differently and are not directly comparable Because the sensor used on the A601f HDR has a direct digital output the implemen BASLER A601f HDR Basic Operation amp Standard Features 3 5 2 Setting the Brightness The camera s brightness is changed by setting the value field in the Brightness control register see page 4 7 The setting can range on a decimal scale from 0 to 1023 0x000 to Ox3FF The default is typically 725 0x2D5 by may vary slightly from camera to camera Settings below the default decrease the brightness and settings above the default increase the brightness The effect of a change in the brightness setting varies depending on the gain setting With the gain set to 0 changing the brightness setting by 4 results in a change of 1 in the digital values output by the camera With the gain set to 255 changing the brightness setting by 1 results in a change of 1 in the digital values output by the camera BASLER A601f HDR 3 13 Basic Operation amp Standard Features 3 6 Sta rting Row 3 14 Area of Interest AOI The area of interest AOI feature allows you to specify a portion of the CMOS array and during operation only the pixel information from the specified portion of the array is transmitted out of the camera The area of interest is referenced to the top left corner o
69. in Section 1 1 BASLER A601f HDR 5 23 Smart Features 5 24 5 7 8 Lookup Table A6 01f HDR cameras have a sensor that reads pixel values at a 10 bit depth however the cameras can be set to output pixel values at an 8 bit depth When set for 8 bit output the camera normally uses an internal process to convert the 10 bit pixel values from the sensor to the 8 bit values transmitted out of the camera When making the 10 to 8 bit conversion the internal process takes the camera s current gain and brightness settings into account A60If HDR cameras include a smart feature that allows you to use a custom lookup table to map the 10 bit sensor output to the 8 bit camera output rather than using the internal process When the custom lookup table is enabled the gain and brightness settings have no effect The 10 to 8 bit conversion is based solely on the lookup table The lookup table is essentially just a list of 1024 values Each value in the table represents the 8 bit value that will be transmitted out of the camera when the sensor reports a particular 10 bit value for a pixel The first number in the table represents the 8 bit value that will be transmitted out of the camera when the sensor reports that a pixel has a value of 0 The second number in the table represents the 8 bit value that will be transmitted out of the camera when the sensor reports that a pixel has a value of 1 The third number in the table represents the 8 bi
70. information about the SFF Software driver that can get images in format 7 and that provides access to the DCAM registers can be used to work with smart features If you do use a different driver you can adapt the access techniques described in the SFF Software tutorial see Section 5 4 to the driver you are using We strongly recommend that you use the Basler BCAM 1394 driver However any You should be aware that drivers other than the Basler BCAM driver have not been tested with smart features What is the Smart Features Framework Software A Smart Features Framework Software SFF Software package is available from Basler The SFF Software has two major components e An SFF Viewer The viewer is a Windows based tool that allows you to easily enable and disable smart features parameterize the camera capture and view images and view smart features results An SFF Tutorial The tutorial explains how to access the cameras smart features from within your own applications The tutorial is based on the assumption that you are using the Basler BCAM 1394 driver with your camera The SFF software package is available for download at the Basler web site To download the software go to http www baslerweb com popups popup_en_1825 php The SFF Viewer will only work on PCs that have the BCAM driver v1 7 or higher in stalled BASLER A601f HDR 5 5 Smart Features Enabling and Parameteri
71. ing formula P Y Pg 255 en HDR Max Where Pg is the resulting 8 bit pixel value Pupp is the original pixel value in the HDR image PHDR Max IS the highest pixel value in the captured HDR or 255 if the highest value is less than 255 yis the current value in the Gamma setting in the Configurator window of the viewer You can use the Configurator window in the software tool to set the value of gamma BASLER A601f HDR 6 15 Using the HDR Feature Tonemap Conversion The tonemap converter adjusts the histogram of the values in the HDR image so that the result is an 8 bit grayscale image with a nearly balanced histogram Laplace Conversion With a Laplace conversion bandpass filtering is used to decompose the HDR image into several subimages with different spatial frequency ranges These subimages are then compressed The subimages with low frequencies are compressed more to eliminate global light distribution The high frequency subimages which contain most of the details of the scene are compressed less The subimages are then recombined to form a single 8 bit image The Laplace conversion technique has several advantages and disadvantages The advantages are that it is a quick conversion when compared to the most sophisticated filter algorithms making it good for live viewing and that it has the most highly detailed contrast of any of the implemented converters The main disadvantage is that the resulting images look
72. it directory The offset field in each of the tables is the byte offset from the above base address 4 4 1 Inquiry Registers Camera lnitialize Register Offset Name Notes 000h Initialize Camera will reset itself break any state lock and re initialize itself to factory settings Inquiry Register for Video Format Offset Name Notes 100h V_Format_Inq The A601f HDR supports format_0 and format_7 Inquiry Registers for Video Mode Offset Name Notes 180h V_Mode_Inq_0 In format_0 the A601f HDR supports Format 0 mode_1 320 x 240 pseudo YUV 4 2 2 16 bits pix avg mode_5 640 x 480 mono 8 bits pixel 19Ch V_Mode_Inq_7 In format_7 the A601f HDR supports Format 7 e mode_0 656 x 491 mode_2 656 x 491 See Section 3 8 1 for more information on the pseudo YUV 4 2 2 mode BASLER A601f HDR 4 3 Configuring the Camera 4 4 Inquiry Registers for Video Frame Rate Offset Name Notes 204h V_Rate_Inq_0_1 Format_0 Mode_1 In format 0 mode 1 the A601f HDR supports the following frame rates 1 875 fps frame rate 0 3 75 fps frame rate 1 7 5 fps frame rate 2 15 fps frame rate 3 30 fps frame rate 4 214h V_Rate_Ing_0_5 Format_0 Mode_5 In format 0 mode 5 the A601f HDR supports the following frame rates 1 875 fps frame rate 0 3 75 fps frame
73. ket The number of bytes per packet is set by the BytePerPacket field of the Byte_Per_Packet register The value that appears in the MaxBytePerPacket field of the Packet_Para_Inq control register will show the maximum allowed bytes per packet setting given the current AOI settings When the bytes per packet is set to the maximum the camera will transmit frames at its maximum specified rate By default the AOI is set to use the full sensor area and the bytes per packet is set to 4092 If you set the bytes per packet to a value lower than the maximum the camera will transmit frames at a lower rate The rate is calculated by the formula 1 F s AAA az Packets per Frame x 125 us Keep in mind that when you lower the bytes per packet setting the number of bytes needed to transmit a frame the packets per frame will increase Due to limitations in the DCAM structure a maximum of 4095 packets per frame is allowed If you set the bytes per packet too low the number of packets per frame will exceed the 4095 packet limit and the camera will not transmit frames properly When the camera is operating in Format_7 the Cur_V_Frame_Rate control register is not used and has no effect on camera operation Color Codings In Format_7 Mode_0 the Mono 8 and Mono 16 color codings are available When the Mono 8 ID is set in the Color_Coding_ID field of the Format_7 Mode_0 register the camera outputs 8 bits per pixel When the Mono 16
74. l are available pro grammable and level controlled see Section 3 2 4 For this illustration we are as suming that a rising edge trigger and the programmable exposure mode are used If a camera user requires close control of exposure start there are several general guidelines that must be followed The camera should be placed in continuous shot mode The user must use an external trigger ExTrig signal to start exposure The user must monitor the trigger ready TrgRdy signal Arising edge of the ExTrig signal must only occur when the TrgRdy signal is high Assuming that these general guidelines are followed the reaction of the camera to a rising external trigger signal will be as shown in Figure 3 5 The start of exposure will typically occur 22 us after the rise of the ExTrig signal The integrate enabled IntEn signal will rise between 5 and 20 us after the start of exposure The actual length of exposure will be equal to the programmed exposure time The IntEn signal will fall between 30 and 100 us after the end of exposure TIMING CHARTS ARE NOT DRAWN TO SCALE BASLER A601f HDR TrigRdy ExTrig gt i 22 us lt 22us Exposure Exposure Exposure E Frame N Frame N 1 Frame N 2 xposure 25ps i i lt
75. lexity of algorithm software and firmware development of incorporating the feature within the smart features framework and of testing to ensure that the feature meets specifications Please contact your Basler sales representative for more details about customized smart features BASLER A601f HDR 6 1 Using the HDR Feature Using the HDR Feature What is the HDR Feature Most digital cameras operate with sensors that use an 8 10 or 12 bit value to encode the brightness of each pixel in the images captured by the sensor If the sensor operates in a linear fashion with a 12 bit depth it can capture images with a dynamic range of up to 72 dB between the darkest area in the image and the lightest area in the image For many applications where the light sources in the field of view can be adjusted this range is usually enough to accurately represent all of the gradations of shading within the image But for situations where a bright light source or shiny materials are located within the field of view or where a scene is captured in daylight this dynamic range may not be enough In these situations you will often find that if a high exposure time is used to capture detail in the darker areas of the field of view the light areas appear overexposed in the captured images And if a short exposure time is used to avoid overexposure in the lighter areas of the captured images all detail is lost in the darker areas The basic problem is that the ve
76. mart features have been enabled and all other settings affecting the image size have been completed The size information in these fields will allow you to properly set up buffers to receive the transmitted images BASLER A601f HDR Smart Features Standard Smart Features on the A601f HDR 5 7 1 Extended Data Stream The extended data stream feature has two functions When it is enabled information such as image height image width and AOI size is added to the basic pixel data for each image It must be enabled before you can use any other smart feature that adds information to the image data stream With the extended data stream feature enabled the basic pixel data for each image and the added information such as the image height and width are included in an extended data chunk Refer to the extended data chunk layout below for a complete description of the information included in the extended data chunk smart feature that adds information to the image data stream Disabling the extended data stream feature switches off all smart features that add information to the image data stream The extended data stream feature must be enabled in order to use any of the other The extended data stream feature and any other smart features which add informa tion to the image data stream will only work when the camera is set for video format 7 Control and Status Register for the Extended Data Stream Feature
77. mat See 1 Byte DCAM V1 31 See also Section 3 8 2 of this document K M 20 Reserved 3 Bytes K M 23 Color Filter ID For color cameras describes the orientation of the color fil 1 Byte ter to the current AOI See DCAM V1 31 K M 24 Chunk GUID 94ED7C88 1COF 11D8 82E0 00105A5BAE55 16 Bytes K M 40 Chunk Length This chunk s total length in bytes 4 Bytes K M 44 Inverted Chunk Length The bitwise complement of the chunk length 4 Bytes 5 10 BASLER A601f HDR Smart Features 5 7 2 Frame Counter The frame counter feature numbers images sequentially as they are captured The counter starts at 0 and wraps at 4294967296 operating continuously at 100 frames per second it would take the counter about 500 days to wrap The counter increments by one for each captured frame Whenever the camera is powered off the counter will reset to 0 Note that if the camera is in continuous shot mode and continuous capture is stopped up to two numbers in the counting sequence may be skipped This happens due to the internal image buffering scheme used in the camera use the frame counter feature or any of the other smart feature that adds information to the image data stream Disabling the extended data stream feature switches off all smart features that add information to the image data stream The extended data stream feature see Section 5 7 1 must be enabled in order to The frame counter feature w
78. modes amp frame rates customizable 000 cee eee 3 18 1 F191 6 f 0 ee 22 2 221 ee 3 17 video output formats 2 22222 1 2 Ww WIQHK ee vote i een ee 1 2 vi BASLER A601f HDR
79. nal in more detail As shown in Figure 2 3 the output for the TrigRdy signal is opto isolated The minimum forward voltage is 2 V the maximum forward voltage is 35 V the maximum reverse voltage is 6 V and the maximum collector current is 100 mA A conducting transistor means a logical one and a non conducting transistor means a logical zero BASLER A601f HDR 2 5 Camera Interface 2 6 2 4 2 3 Pixel Data Pixel data is transmitted as isochronous data packets according to version 1 30 of the 1394 based Digital Camera Specification DCAM issued by the 1394 Trade Association see the trade association s web site www 1394ta org The first packet of each frame is identified by a 1 in the sync bit of the packet header Pixel Data Transmission Sequence Pixel data is transmitted in the following sequence Row 0 Pixel 0 Row 0 Pixel 1 Row 0 Pixel 2 Row 0 Pixel 654 Row 0 Pixel 655 e Row 1 Pixel 0 Row 1 Pixel 1 Row 1 Pixel 2 Row 1 Pixel 654 Row 1 Pixel 655 Row 2 Pixel 0 Row 2 Pixel 1 Row 2 Pixel 2 Row 2 Pixel 654 Row 2 Pixel 655 and so forth 2 4 3 IEEE 1394 Device Information The A 0lf HDR uses an IEEE 1394a 2000 compliant physical layer device to transmit pixel data Detailed spec sheets for devices of this type are available at the Texas Instruments web site www ti com BASLER A601f HDR Camera Interface 10 Pin RJ 45 Jack Out_3 1 Out_2 2 Out_1 3 Out_0 4 In_O 5 In
80. nsor s 10 bit range to the camera s 8 bit output When a smaller portion of the sensors range is mapped to the camera s output the camera s response to a change in light level is increased This can be useful when at your brightest exposure a gray value of less than 255 is achieved For example if gray values no higher than 127 were achieved with bright light you could increase the gain setting so that the camera is operating at 6 dB an amplification factor of 2 and see an increase in gray values to 254 BASLER A601f HDR Basic Operation amp Standard Features 5 amp O g v 5 o Gain Set to 0 5 0 256 512 768 1023 10 Bit Sensor Output Increasing Light 5 ge Pe O w 5 o Gain Set to 28 0 256 512 768 1023 10 Bit Sensor Output Increasing Light 5 e 0 5 o Gain Set to 85 5 oo 0 256 512 768 1023 10 Bit Sensor Output Increasing Light 12 dB 5 2 O g 5 o Gain Set to 255 5 oo 256 512 768 1023 10 Bit Sensor Output Increasing Light Figure 3 6 Mapping at Various Gain Settings Basic Operation amp Standard Features 3 12 As shown in the top graph in Figure 3 7 setting the brightness higher than the default value of 725 moves the response curve to the left This would increase the 8 bit value output from the camera for any given 10 bit value from the sensor and thus increase the apparent brightness of the image Brightness Set to 850
81. of 8 bytes D4 0 DA 7 GUID example CA8A916A 14A4 4D8E BBC9 983DF50495C16 D1 D2 D3 D4 0 D4 1 D4 2 DA 7 Section 5 7 describes the standard smart features available on A601f HDR cameras Each smart feature description includes the GUID assigned to the feature s CSR To determine the starting address of a smart feature s CSR the features CSR GUID must be written to the Smart Features Inquiry register SF_Inq_Register The SF_Ing_Register s offset relative to the Access Control Register is 0x10 If the camera recognizes the GUID as the CSR GUID for an implemented smart feature the address of CSR for the feature can be read from the Smart Features Address Register SF_Addr_Register at offset 0x20 If the feature isn t supported by the device a value of 0x0 will be read from the SF_Addr_Register SF_Ing_Register Layout Bit Offset 0 7 8 15 16 23 24 31 10h D1 14h D3 D2 18h D4 3 D4 2 D4 1 D4 0 ich D4 7 D4 6 D4 5 D4 4 SF_Addr_Register Layout Bit Offset 0 7 8 15 16 23 24 31 20h Address _Lo 24h Address_Hi 5 4 BASLER A601f HDR Smart Features Example Determine the address of the CRC Checksum smart feature which has a CSR GUID of 3B34004E 1B84 11D8 83B3 00105A5BAE55 D1 0x3B34 004E D2 0x1B84 D3 0x11D8 DA 0 0x83 D4 1 OxB3 DA 2 0x00 D4 3 0x10 D4 4 Ox5A D4 5 0x5B D4 6 OxAE
82. olution 60 fps in 8 bit output modes 30 fps in 16 bit output modes frame rate is lower when the HDR feature is used Video Output Formats Mono 8 8 bits pixel Mono 16 16 bits pixel up to 16 bits effective Vendor Specific 0 16 bits pixel Pseudo YUV 4 2 2 16 bits pix avg See page 3 19 and Section 6 3 2 for more details See Section 3 8 1 for more details Gain and Brightness Programmable via IEEE 1394 bus Exposure Time Control Programmable via IEEE 1394 bus Synchronization External via External Trigger signal Power Requirements 8 0 to 36 0 VDC 12 VDC nominal lt 1 ripple 1 7 W max 12 VDC typical supplied via 1394 cable I O Electrical Characteristics Inputs Outputs opto isolated 2 to 35 VDC maximum forward voltage 100 mA max collector current opto isolated 5 VDC nominal 10 mA nominal See Sections 2 4 1 and 2 4 2 for more details Max Cable Lengths 1394 45m VO 10m See Section 2 2 for more details Lens Adapter C mount Housing Size Without lens adapter 59 0 mm x 44 mm x 29 mm Lx WxH With C mount adapter 67 3 mm x 44 mm x 29 mm Weight lt 100g typical Conformity CE FCC Table 1 1 A601f HDR Performance Specifications BASLER A601f HDR Introduction 1 3 Camera Models Currently only one model of the A601f HDR is available The camera is monochrome 1 4 Spectral Response The spectral response for th
83. om each of the sensor s light sensitive elements pixels to a pixel memory see Figure 3 1 As the charges are moved out of the pixels and into the pixel memories they are converted to voltages There is a separate memory for each pixel Because the sensor has memories that are separate from the pixels exposure of the next image can begin while the sensor is reading out data from the previously captured image The pixel memories can be connected to a bus and there is one bus per vertical column For readout the pixel memories are addressed row wise by closing a switch that connects each pixel memory in the addressed row to the column buses As the voltages leave the column buses they are amplified an offset is applied and they are digitized by the ADCs A variable gain control and a 10 bit analog to digital converter ADC are attached to the end of each column bus From the column buses the digitized signals enter a horizontal output register The 10 bit digital video data is then clocked out of the output register through an FPGA and into an image buffer The data leaves the image buffer and passes back through the FPGA to a 1394 link layer controller where it is assembled into data packets that comply with version 1 30 of the 1394 based Digital Camera Specification DCAM issued by the 1394 Trade Association The packets are passed to a 1394 physical layer controller which transmits them isochronously to a 1394 BASLER A601f HDR
84. ookup Table 5 27 5 8 Customized Smart Features 0 000 cece tees 5 28 6 Using the HDR Feature 6 1 What is the HDR Feature 0 0 ec eae 6 1 6 2 How Does the HDR Feature Work 0 0 c eee nae 6 2 6 3 Using the HDR Feature iaa T RKE EA n EA R 6 3 6 3 1 Enabling and Parameterizing the HDR Feature 6 3 Il BASLER A601f HDR Contents 6 3 2 Determining the Bit Depth of Transmitted HDR Images 6 8 6 3 3 Maximum Frame Rate in the HDR Mode 002c ee eee 6 10 6 3 4 Viewing HDR Images with Basler s SFF Viewer 0005 6 15 6 3 5 Manually Adjusting the HDR Settings with Basler s SFF Viewer 6 17 6 3 6 HDR Test lmages irunk rataa AAA ea ee amd ages 6 18 7 Mechanical Considerations 7 1 Camera Dimensions 0 000 c cent nee 7 1 Revision History vu nesses oso ea ay ee vee i Feedback Has nme nenne e Area a vad Su jii Mde Gate ee a ee here ee e a E v BASLER A601f HDR III Contents IV BASLER A601f HDR Introduction 1 Introduction 1 1 Documentation Applicability This User s Manual applies to cameras with a firmware ID number of 19 Cameras with a lower or a higher firmware ID number may have fewer features or have more features than described in this manual Features on cameras with a lower or a higher firmware ID number may not operate exactly as described in this manual An easy way to see the
85. orm the final images There are four quality settings High Normal Medium and Low The higher the quality setting the greater the number of exposures used to create each HDR image Using higher quality settings represents a trade off When you use the higher settings you will see very low noise in your HDR images see Figure 6 2 on the next page At lower settings the noise in the HDR images increases But since higher quality images require more exposures to create the frame rate you can achieve with the high quality settings will be low Using the lower quality settings will increase your achieveable frame rate but there will be more noise in the HDR images The setting for the quality parameter has an influence on the step size of the dynamic bits parameter see Dynamic Bits below Dynamic Bits The dynamic bits parameter setting determines the bit depth of the HDR images created by the camera For example when the dynamic bits is set to 18 the HDR images created by the camera will have an 18 bit depth The absolute maximum for the dynamic bits setting is 22 however the maximum may be limited by other settings For example as the value of the start shutter parameter is increased the maximum allowed value for the dynamic bits setting decreases Before setting the dynamic bits you should set all other HDR parameters You should then check the values of the minimum dynamic bits and maximum dynamic bits parameters Your setting
86. ow to make the following settings e Video Mode 2 Color Coding Vendor Specific 0 e HDR Quality high HDR Start Shutter 1 e HDR Dynamic Bits 8 HDR Converter Type Tone Map 3 Capture an image and use the Viewer window to examine the pixel values in the brightest parts of the image The pixel values in these areas should be about 240 to 250 if you place the cursor over the image the values for the pixel under the cursor will be displayed in the Viewer window s status bar a Ifthe pixel values are not in that range use the Configurator window to adjust the HDR starting shutter value Increasing the value will make the brightest pixel values in the captured images higher Decreasing the value will make them lower You could also adjust the image brightness by increasing or decreasing the lighting on your object b Continue to capture images examine the pixels and adjust the starting shutter value until the brightest pixels are in the 240 to 250 range 4 Use the Configurator window to increase the HDR dynamic bits setting by 1 and then capture a new image You should notice that increasing the setting makes the detail in the dark parts of the image become more visible a Continue increasing the dynamic bits setting by 1 capturing an image and examining the image until the detail in the dark parts is at an acceptable level When you are adjusting the dynamic bits setting you may notice that the maximum for the
87. pixel data reported by the sensor Read only Out_Depth_Ing 16 31 Bit depth of the pixel data transmitted from the camera Read only 8 Quadlet_O 1 Quadlet Defines the 8 bit value that will be transmitted from the Read write camera when the 10 bit pixel value from the sensor is 0 The 8 LSBs of the quadlet carry the data for the field The 24 MSBs are all zeros 12 Quadlet_1 1 Quadlet Defines the 8 bit value that will be transmitted from the Read write camera when the 10 bit pixel value reported from the sensor is 1 16 Quadlet_2 1 Quadlet Defines the 8 bit value that will be transmitted from the Read write camera when the 10 bit pixel value reported from the sensor is 2 e e e e e e e e e e e e 4096 Quadlet_1022 1 Quadlet Defines the 8 bit value that will be transmitted from the Read write camera when the 10 bit pixel value reported from the sensor is 1022 4100 Quadlet_1023 1 Quadlet Defines the 8 bit value that will be transmitted from the Read write camera when the 10 bit pixel value reported from the sensor is 1023 5 26 BASLER A601f HDR Smart Features 5 7 8 1 Using the SFF Viewer to Upload a Lookup Table The Configurator window in the Basler SFF Viewer see Section 5 4 includes an Upload button that can be used to easily load a file containing a customized lookup table into the camera The file must be plain text and must be formatted correctly The file must have 1024
88. rate 1 7 5 fps frame rate 2 15 fps frame rate 3 30 fps frame rate 4 60 fps frame rate 5 CSR Inquiry Registers for Format 7 Offset Name Notes 2E0h V_CSR_Ing_7_0 The A601f HDR implements the CSR for format_7 mode_0 2E8h V_CSR_Ing_7_2 The A601f HDR implements the CSR for format_7 mode_2 Inquiry Register for Basic Functions Offset Name Notes 400h Basic_Func_Ing The A601f HDR supports the following basic functions Advanced_Feature_Ing e Vmode_Error_Status_Ing Feature_Control_Error_Status One_Shot_Inq BASLER A601f HDR Inquiry Registers for Feature Presence Configuring the Camera Offset Name Notes 404h Feature_Hi_Inq The A601f HDR supports the following features e Brightness e Shutter e Gain e Trigger 408h Feature_Lo_Inq 0 480h Advanced_Feature_Ing The A601f HDR implements a Basler advanced feature set BASLER A601f HDR 4 5 Configuring the Camera Inquiry Registers for Feature Elements Offset Name Notes 500h Brightness_Inq The A601f HDR supports the following sub features for brightness e Presence_Inq e ReadOut_Inq e Manual_Inq Min_Value 0x000 e Max_Value Ox3FF 51Ch Shutter_Ing The A601f HDR supports the following sub features for shutter e Presence_Inq e ReadOut_Inq e Manual_Inq e Min_Value 0x001 e
89. rest is defined by setting a value for the left field and a value for the top field within the Image_Position control register for Format_7 Mode_0 see page 4 9 The size of the area of interest is defined by setting a value for the width field and a value for the height field within the Image_Size control register for Format_7 Mode_0 To use the entire CMOS array in A601f HDR cameras set the value for left to 0 the value for top to 0 the value for width to 656 and the value for height to 491 The sum of the setting for Left plus the setting for Width must not exceed 656 The sum of the setting for Top plus the setting for Height must not exceed 491 on monochrome cameras or 490 on color cameras BASLER A601f HDR Basic Operation amp Standard Features 3 6 1 Changing AOI Parameters On the Fly Making AOI parameter changes on the fly means making the parameter changes while the camera is capturing images continuously On the fly changes are only allowed for the parameters that determine the position of the AOI i e the parameters for top and left Changes to the AOI size are not allowed on the fly The camera s response to an on the fly change in the AOI position will vary depending on the way that you are operating the camera e If the exposure time is 2 100 us the changes will take effect on the next trigger after the changes are received by the camera
90. riod frame rate For example if you are operating a camera with an ExTrig signal period of 20 ms 1 20 ms 50 fps So in this case the frame rate is 50 fps The minimum high time for a rising edge trigger signal or low time for a falling edge trigger signal is 1 us Exposure Modes If you are triggering the camera with an ExTrig signal two exposure modes are available programmable mode and level controlled mode Programmable Exposure Mode When programmable mode is selected the length of the exposure will be determined by the value stored in the Shutter control register see page 4 7 If the camera is set for rising edge triggering exposure starts when the ExTrig signal rises If the camera is set for falling edge triggering exposure starts when the ExTrig signal falls Figure 3 3 illustrates programmable exposure with the camera set for rising edge triggering ExTrig Period lt gt Exposure determined by shutter setting Figure 3 3 Programmable Exposure with Rising Edge Triggering BASLER A601f HDR Basic Operation amp Standard Features Level Controlled Exposure When level controlled mode is selected the length of the exposure will be determined by the ExTrig signal alone If the camera is set for rising edge triggering exposure begins when the ExTrig signal rises and continues until the ExTrig signal falls If the camera is set for falling edge triggering exposure begins when
91. rmance specifications 1 2 pin assignments anuanua naaa 2 2 pixel data nu mas een 2 6 Pixel depth m ash 3 16 piXelisizer ar deta ite dul ete cleat tind 1 2 power requirements 1 2 2 4 precautions sce epee Leelee EUR 2 1 4 programmable exposure mode 3 6 R registers implemented in the camera 4 3 4 15 v Index S sensor pixel Size nsin Patho ee 1 2 PA rte oy SN he N E E ENE 1 2 Yperen a Eu 2 1 2 shot commands controlling exposure with 3 5 Shutter value 2 ace u a 3 4 smart features CRC checksun 00 00 eee 5 16 customized smart features 5 28 cycle time stamp 22 22 22 5 12 DCAM values 0 0000 e eee 5 13 defined 323 534 Be Ses baa 5 1 extended data stream 2 5 9 extended version info 5 23 frame counter ounan unnn na 5 11 lookup table 0 0 0 c eee eee 5 24 requirements 002 c cee eee eee 5 2 test made ir una ea ale 5 19 smart features framework defined rannte tiden aana 2 Des na 5 1 smart features framework software 5 2 spectral response 2 22 222er 1 3 T temperature requirements 1 4 test image smart feature 5 19 trigger ready signal 2 5 3 10 V ventilation requirements 1 4 video format changing the setting 4 2 video formats
92. rmat _7 Mode_0 camera control register is Bus_ID Node_ID FFFF F1F0 0000 The offset field in each of the tables is the byte offset from the above base address Offset Name Notes 000h Max_Image_Size_Inq Hmax 656 Vmax 491 The VGA sub image is positioned in the center of the full size image 004h Unit_Size_Inq Hunit 1 Vunit 1 008h Image_Position Default 0 0 00Ch Image_Size Default Hmax Vmax 010h Color_Coding_ID Default Mono 8 ID 0 014h Color_Coding_Inq The A601f HDR supports the following color codes in this mode e Mono 8 ID 0 e Mono16 ID 5 024h Color_Coding_Inq Field is not used in this mode 034h Pixel_Number_Inq The value of this register depends on the following registers e Image_Size 038h Total_Bytes_Hi_Inq The value of this register depends on the following registers e Image_Size e Color_Coding_ID The value Includes the following data Image data Padding bytes Data added by any enabled smart features 03Ch Total_Bytes_Lo_Ing See Total_Bytes_Hi_Inq register 040h Packet_Para_Inq UnitBytePerPacket 4 MaxBytePerPacket depends on e Image_Size e Color_Coding_ID This field is defined in version 1 31 of the IIDC specification BASLER A601f HDR 4 9 Configuring the Camera Offset Name Notes 044h Byt
93. ry wide range of lighting gradations present in these situations can not be accurately represented by an 8 10 or 12 bit output For situations where the lighting ranges from very dark to very light a digital camera that can output detailed images on a scale which represents a very high dynamic range is required The A60If HDR has this capability Technically it can output images at up to a 22 bit depth a scale that can represent images with up to a 132 dB dynamic range In practice you will find the useful limit to be about 19 bits and an approximately 112 dB dynamic range BASLER A601f HDR 6 1 Using the HDR Feature 6 2 6 2 How Does the HDR Feature Work The principle behind the HDR feature is fairly simple When an HDR image capture is triggered on the camera the camera actually captures several complete images at progressively longer exposure times In the images with the shortest exposure times the bright areas will be sharp and clear but the dark areas will be underexposed and details will be lost In the images with the longest exposure times the bright areas will be overexposed but the dark areas will be clear and will show detail The HDR algorithm examines the collected set of images and for each pixel in the scene it selects the pixel value from the collected images that best represents the scene It them merges these pixel values into a single image and scales the pixel values in the combined image to an output range of
94. setting is lower than the technically achieveable value of 22 that you might expect You should be aware that increasing the starting shutter setting has an effect on the maximum setting for dynamic bits As you increase the starting shutter setting the maximum allowed setting for dynamic bits will decrease BASLER A601f HDR 6 17 Using the HDR Feature 6 18 5 Use the Configurator window to place the camera in continuous capture mode and note the frame rate This frame rate represents the maximum rate that can be achieved with the current HDR settings If the frame rate is too low to meet your needs you can make the following changes to increase the maximum rate a Decrease the quality setting Decreasing the quality setting by one level will significantly increase the maximum allowed frame rate Decreasing the quality level will also increase the noise level in the image however the increase in noise level is minimal You should be aware that when you decrease the quality setting the number of valid dynamic bit settings becomes more limited See the descriptions of the quality setting and the dynamic bits setting on page 6 3 for more information b Decrease the dynamic bits setting Decreasing the dynamic bits setting will increase the maximum allowed frame rate Decreasing the dynamic bits setting will cause the dark parts of the image to lose detail After you make a change to either the quality setting or the dynamic bits settin
95. ster for Extended Version Information Offset Name Field Bit Description 1010h EXTD_VERSIONS_INQ Presence 0 Presence of this feature es 1 7 Reserved Length 8 15 Specifies the length in quadlets of the String field in the Extended Versions Information Register see below 16 31 Extended Versions Information Register Offset Name Field Bit Description 1014h EXTD_VERSIONS String n Bytes An ASCII character string that includes the Read only software version numbers for the camera The length of this string field is equal to the number of quadlets given in the Length field of the Inquiry Register for Extended Version Information see above This string contains the camera s firmware ID number You can read the string to determine your camera s firmware ID The ID number s position in the string is described in Section 1 1 For troubleshooting purposes Basler technical support may ask you to read this register and to supply the results 4 14 BASLER A601f HDR Status and Control Register for Test Images Configuring the Camera This advanced features register can be used to control the operation of the camera s test image feature see Section 5 7 6 for a description of the available test images Offset Name Field Bit Description 0098h TEST_IMAGE Presence_Inq 0 Presence of this feature Read only
96. t value that will be transmitted out of the camera when the sensor reports that a pixel has a value of 2 And so on The advantage of the lookup table feature is that it allows the user to customize the response curve of the camera The graphs below represent the contents of two typical lookup tables The first graph is for a lookup table where the values are arranged so that the output of the camera increases linearly as the sensor output increases The second graph is for a lookup table where the values are arranged so that the camera output increases quickly as the sensor output moves from 0 through 511 and increases gradually as the sensor output moves from 512 through 1023 255 8 Bit Camera Output 0 0 255 511 767 1023 10 Bit Sensor Reading Figure 5 6 LUT with Values Mapped in a Linear Fashion 255 8 Bit Camera Output 0 0 255 511 767 1023 10 Bit Sensor Reading Figure 5 7 LUT with Values Mapped for Higher Camera Output at Low Sensor Readings BASLER A601f HDR Smart Features Please look at the next page and examine the layout of the control and status register for the lookup table smart feature You will notice that the first two quadlets of the register include bits that allow you to check for this feature s presence and to enable or disable the feature These initial two quadlets are followed by 1024 quadlets The 1024 quadlets contain the values that make up the customized lookup table The lookup tabl
97. ter monitors can only display images at 8 bits per pixel in grayscale mode Because HDR images captured by your camera and transmitted to your PC normally have greater than 8 bit depth they can t usually be displayed on a standard computer monitor The Basler SFF Viewer see Section 5 4 includes converters that can be used to reduce captured HDR images to 8 bit depth so that they can be viewed on a standard monitor Three conversion methods are available in the viewer Gamma Tonemap and Laplace The Configurator window in the SFF Viewer software is used the select the conversion method and the Viewer window is used to view the resulting images For more information on using the SFF Viewer see the online help file included with the software The converters were developed so that the HDR images captured by A601f HDR cam eras could be reduced to 8 bit depth for viewing on standard monitors But these con verters are also useful on other Basler IEEE 1394 cameras that do not have the HDR feature For example the Basler A102f can output images with an effective 12 bit depth The HDR converters in the SFF Viewer can be used to reduce the 12 bit im ages to 8 bits so that they can be viewed on a standard monitor Gamma Conversion A common gamma filter is the most simple method for converting captured HDR images to 8 bit depth for on screen display With this method each HDR pixel value is converted to an 8 bit value using the follow
98. ter must be between the indicated min and max inclusive As mentioned above this internal gamma conversion function is performed inside of the camera before the images are transmitted You should be aware that this internal function only produces an approximated gamma Images produced using this internal gamma function are intended for preview purposes when only an 8 bit monitor is available These images have limited suitability for high level image analysis purposes The Basler SFF Viewer includes a converter option that lets you do a gamma conversion on HDR images after they have been transmitted to the PC see Section 6 3 4 This external conversion process gives much better results BASLER A601f HDR 6 5 Using the HDR Feature 6 6 One Push Auto The one push auto parameter is used to initiate a routine that automatically sets the camera s HDR parameters Setting the one push auto parameter to 1 initiates the routine The parameter will automatically reset to zero when the routine is complete When the one push auto routine is activated the camera begins capturing and examining images As it examines the captured images it automatically adjusts the HDR settings so that the bright parts of the captured scene are not saturated and the dark parts are not too dark Once the routine is complete the camera will use the new HDR settings made by the routine The camera will continue to use these settings until you change th
99. that it acquires In these cases the information is added to each image as trailing data when the image is transmitted from the camera Examples of thistype of smart feature are the Cycle Time Stamp feature and the CRC Checksum When the Cycle Time Stamp feature is enabled after an image is captured the camera determines when the acquisition occurred and develops a cycle time stamp for the image And if the CRC Checksum feature is enabled the camera calculates a checksum for the image The cycle time stamp and checksum are added as trailing data to each image as the image is transmitted from the camera What is the Smart Features Framework The first component of the Smart Features Framework SFF is a mechanism that allows you to enable and to parametrize smart features This mechanism is essentially an extension of the register structure defined in the DCAM specification for use with Advanced Features The SFF establishes a register for each smart feature By setting bits within the register for a particular smart feature you can enable the feature and control how the feature operates When certain smart features are enabled the camera actually develops some sort of data about each image that it acquires For example when the Cycle Time Stamp feature is enabled the camera creates a time stamp for each image based on when the image exposure started In the cases where a smart feature develops some sort of data about a captured image the sm
100. the camera BASLER A6 01f HDR 5 21 Smart Features 5 22 Control and Status Register for the Test Image Feature Name Test_lmages Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 2A411342 COCA 4368 B46E EESDEEBF0548 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available Bes 1 7 Reserved Image_Inq_1 8 Presence of test image 1 Read only 0 Not Available 1 Available Image_Inq_2 9 Presence of test image 2 Read only 0 Not Available 1 Available Image_Ing_3 10 Presence of test image 3 Read only 0 Not Available 1 Available Image_Ing_4 11 Presence of test image 4 Read only 0 Not Available 1 Available Image_Inq_5 12 Presence of test image 5 Read only 0 Not Available 1 Available Image_Ing_6 13 Presence of test image 6 Read only 0 Not Available 1 Available Image_Ingq_7 14 Presence of test image 7 Read only 0 Not Available 1 Available eee 15 Reserved Image_On 16 18 0 No test image active Read write 1 Test image 1 active 2 Test image 2 active 3 Test image 3 active 5 Test image 5 active 6 Test Image 6 active 19 31 Reserved BASLER A601f HDR Smart Features 5 7 7 Extended Version Information A6 0lf HDR cameras include a register that contains version numbers for the camera s internal software This in
101. the image data stream The cycle time stamp feature will only work when the camera is set for video format 7 Control and Status Register for the Cycle Time Stamp Feature Name Cycle_Time_Stamp Address See Determining the Address of Smart Features CSRs on page 5 4 CSR GUID 5590D58E 1B84 11D8 8447 00105A5BAE55 Field Bit Description Presence_Inq 0 Presence of this feature Read only 0 Not Available 1 Available ER 1 30 Reserved Enable 31 Enable Disable this feature Read write 0 Disable 1 Enable Cycle Time Stamp Chunk Layout Position Name Description 0 Cycle Time Stamp Field Bit Description 4B 4 Bytes Second Count 0 6 Counts the seconds Wraps to zero after 127 seconds Cycle Count 7 19 Counts the 125 us isochronous bus cycles Wraps to zero after counting to 7999 Cycle Offset 20 31 Counts at 24 576 MHz and wraps to zero after counting to 3071 re sulting in a 125 us cycle 4 Chunk GUID 994DD430 1COF 11D8 8F6B 00105A5BAE55 16 Bytes 20 Chunk Length This chunk s total length in bytes 4 Bytes 24 Inverted Chunk Length The bitwise complement of the chunk length 4 Bytes BASLER A601f HDR Smart Features 5 7 4 DCAM Values The DCAM values feature adds a chunk to each image frame containing the current settings for some standard DCAM features The settings ar
102. ting The camera automatically recalculates the maximum frame rate any time a setting that effects one or more of these factors is changed For example the camera will recalculate the maximum frame rate if you change the exposure time the size of the area of interest or the packet size The camera will use the calculated maximum frame rate to generate a trigger ready TrigRdy signal The trigger ready signal indicates the earliest moment that each exposure can begin without exceeding the maximum frame rate for the current conditions The trigger ready signal will go low when each exposure is started and will go high when it is safe for the next exposure to begin see Figure 3 5 The TrigRdy signal is present on output 1 of the camera see Section 2 4 2 2 If you signal the camera to start an exposure when trigger ready is low the camera will delay the start of exposure until the next rise of the trigger ready signal This pre vents you from running the camera faster than the maximum rate and avoids drop ping frames If the camera is in continuous shot mode and external triggering is disabled the trig ger ready output signal will not be present Integrate Enabled Signal The Integrate Enabled IntEn signal goes high when exposure begins and goes low when exposure ends This signal can be used as a flash trigger and is also useful when you are operating a system where either the camera or the object being image
103. tions you can determine the maximum frame rate for your current HDR settings Compare the outcome of formula one the outcome of the calculations in formula two and the 60 fps absolute maximum rate for the A601f HDR The maximum frame rate for your current HDR settings is the lowest of these three values BASLER A601f HDR 6 11 Using the HDR Feature Example Assume that after making all camera settings you check the Packet_Per_Frame_Inq register in the control and status registers for Format 7 You find that the packets per frame with the current setting is 158 Assume that the AOI is set for the sensor s full 656 x 491 resolution Assume that the HDR settings are Quality Normal 2 Dynamic Bits 18 Starting Shutter 40 us Formula 1 1 Max Frames s 158 x125 ps Max Frames s 50 6 Formula 2 Calculation A Number of Exposures Needed to Create the HDR Image Number of Exposures a Number of Exposures 6 Calculation B Sensor Readout Time for Each Exposure Readout Time 491 3 x 15 28 us Readout Time 7548 32 us round to 7548 This readout time will be the same for all exposures 6 12 BASLER A601f HDR Using the HDR Feature Calculation C The Exposure Time for Each Exposure BASLER A601f HDR 0 Exposure Time for Exposure g 40 Us x 2 Exposure Time for Exposure 9 40 us 4 Exposure Time for Exposure 40 us x 27 Exposure Time for Exposure 160 us 2 Expos
104. ues used to stretch the dynamic range in the images from these cameras results in a high noise level Due to the multiple exposure technique employed in A6d0If HDR cameras high dy namic range images of moving objects may contain image artifacts BASLER A6 01f HDR 6 3 Using the HDR Feature Using the HDR Feature 6 3 1 Enabling and Parameterizing the HDR Feature The HDR feature can only work when the camera is set for video format 7 mode 2 Make sure that the camera is set for this format and mode before enabling HDR see pages 3 19 and 4 11 The HDR feature on A601f HDR cameras is part of the smart features framework described in Chapter 5 If you have not already done so you should read the material in this chapter to familiarize yourself with smart features The HDR feature is enabled and its parameters are set in the same fashion as the other smart features The layout of the control and status register CSR for the HDR feature is shown in the table starting on page 6 6 be enabled even when the extended image data feature see Section 5 7 1 is dis abled The HDR feature will only work when the camera is set for video format 7 mode 2 The HDR smart feature does not add information to the image data stream and it can The main parameters associated with the HDR feature are Quality The quality parameter setting determines the number of exposures that will be captured and combined to f
105. unnatural Gamma Filtered Tonemap Filtered Laplace Filtered Figure 6 3 Filtered Images of an Outdoor Scene 6 16 BASLER A6 01f HDR Using the HDR Feature 6 3 5 Manually Adjusting the HDR Settings with Basler s SFF Viewer This section describes a technique for manually adjusting the HDR settings while capturing and viewing images with the Basler SFF Viewer see Section 5 4 Doing the manual adjustment procedure serves two purposes It familiarizes you with the HDR settings and gives you a feel for how the settings affect the HDR images transmitted from the camera It gives you the opportunity to establish some base HDR settings that you can use when operating the camera in your actual application To perform the manual adjustment you must use the SFF Software Tool to change the HDR settings and to view the captured images The Configurator window in the software tool is used to change the camera s HDR settings The Configurator window is also used to select a conversion method that will be used convert the HDR images to an 8 bit format that is viewable on your monitor The Viewer window in the software tool is used to view the captured images See the online help included with the software tool for more information about using each window To adjust the HDR settings 1 Set up your lighting and your field of view so that they represent your normal operating conditions 2 Use the Configurator wind
106. up to 22 bits the camera behaves as though it is capturing a single image In other words for each complete HDR image only one trigger ready signal is generated only one trigger sig nal is needed to start image capture the frame counter increments only once etc Internally the camera captures several images to create one HDR image Externally The three images below show what can be done with the A601f HDR when capturing an image outside in daylight The left image was captured in standard single exposure fashion with a low exposure time As you can see the bright areas of the image are visible but the dark areas have no detail The center image was captured in standard single exposure fashion with a longer exposure time The dark areas now show detail but the bright areas are overexposed The right image was captured using the A601f HDR high dynamic range feature As you can see the image shows good detail in both the dark areas and the light areas You should know that a filter was used to reduce the right hand image to 8 bits so that it could be viewed and printed on conventional devices Figure 6 1 Conventional vs A601f HDR Images One major advantage of the multiple exposure technique employed in A601f HDR cameras is that the high dynamic range images produced have a low noise level There are cameras available on the market that can produce high dynamic range images from a single exposure but the techniq
107. ure Time for Exposure 5 40 us x 27 Exposure Time for Exposure gt 640 us 3 Exposure Time for Exposure 40 Us x 2 Exposure Time for Exposure 3 2560 us 4 Exposure Time for Exposure 40 us x 27 Exposure Time for Exposure 4 10240 us 5 Exposure Time for Exposure 40 Us x 27 Exposure Time for Exposure 5 40960 us Using the HDR Feature Calculation D Readout Time 60 us Exp Time 90 us Higher Value Exposure 0 7548 60 7608 us 40 90 130 us 7608 us Exposure 1 7548 60 7608 us 160 90 150 us 7608 us Exposure 2 7548 60 7608 us 640 90 730 us 7608 us Exposure 3 7548 60 7608 us 2560 90 2650 us 7608 us Exposure 4 7548 60 7608 us 10240 90 10330 us 10330 us Exposure 5 7548 60 7608 us 40960 90 41050 us 41050 us Calculation D Sum the high values from calculation 4 to get the total HDR exposure time Sum 7608 us 7608 us 7608 us 7608 us 10330 us 41050 us Sum 81812 us Calculation E The maximum frame rate with the current HDR settings 1 Max Frames s 81812 us Max Frames s 12 2 Among the three values 60 fps maximum frame rate for the A601 HDR 50 6 fps from formula 1 12 2 fps from formula 2 the lowest value is 12 2 So the maximum frame rate with the current HDR settings is 12 2 frames per second 6 14 BASLER A6 01f HDR Using the HDR Feature 6 3 4 Viewing HDR Images with Basler s SFF Viewer Most common compu
108. wise the Value field holds the current raw value setting 2 4 reserved One_Push 5 If 1 aone push operation was in progress ON_OFF 6 0 The feature was disabled ignore the value 1 The feature was enabled A_M_Mode 7 0 The feature was in manual control mode 1 The feature was in auto control mode 8 19 Reserved Value 20 31 Value of the feature 4 Gain Absolute Value Field Bit Description CSR 4 Bytes Abs Value 0 31 Floating point value with IEEE real 4 format Unit dB 8 Shutter CSR Content of the DCAM Shutter CSR 4 bytes Same layout as the GAIN CSR 12 Shutter Absolute Value Field Bit Description CSR 4 Bytes Abs Value 0 31 Floating point value with IEEE real 4 format Unit seconds 16 Gamma CSR Content of the DCAM Gamma CSR 4 bytes Same layout as the Gain CSR 20 Gamma Absolute Value Field Bit Description CSR 4 Bytes Abs Value 0 31 Floating point value with IEEE real 4 format Unit dB 5 14 BASLER A601f HDR Smart Features 24 White Balance CSR Content ofthe DCAM White Balance CSR 4 Bytes i F ER Field Bit Description Presence_Inq 0 Presence of this feature If 0 the DCAM feature is not avail able and all of its values should be ignored Abs_Control 1 Absolute control mode If 1 the DCAM feature is in absolute control mode and the current value can be read from the Absolute Value C
109. with firmware ID 19 DA00065902 22 March 2004 Expanded the description of the Gain and Brightness functions in Section 3 5 BASLER A600f HDR Revision History ii BASLER A600f HDR Feedback Feedback Your feedback will help us improve our documentation Please click the link below to access an online feedback form Your input is greatly appreciated http www baslerweb com umfrage survey html BASLER A600f HDR Feedback iv BASLER A600f HDR Index A advanced features registers 4 13 4 15 area of interest 2n nee 3 14 B bit depth ame ae ea 3 16 block reads andwrites 22222222220 4 2 brightness 2 42 4420 ee 3 11 C cables maximum length 1 2 2 4 other requirements 22 22222220 2 4 camera models eransi wee Shee 1 3 camera power meoir sionin oA aaa 2 4 cleaning the camera and sensor 1 4 connections general description 2 1 connector types 0 00000 2 3 continuous shot operation 3 5 3 8 CRC checksum smart feature 5 16 customized smart features 5 28 cycle time stamp smart feature 5 12 D DCAM values smart feature 5 13 dimensions sees pee ee ce 2 ste be as 7 2 E environmental requirements 1 4 exposure start controlling via the 1394 interface 3 4 controlling with an ExTrig signal 3 6 recommended metho
110. zing Smart Features The camera provides a control and status register CSR for each smart feature see Sect 5 7 for details of each feature and its CSR To enable and parameterize a smart feature the following steps must be performed 1 Check to see if the camera supports smart features 2 Ask the camera for the address of the CSR for the desired smart feature 3 Enable and parameterize the desired smart features The next two sections describe steps 1 and 2 The layout of the registers used to enable and parameterize the smart features is described in section 5 7 5 5 1 Checking to see if the Camera Supports Smart Features Smart features are vendor unique Such features are referred to in the 1394 Trade Association DCAM standard as advanced features The DCAM standard specifies how vendors should implement advanced features According to the standard advanced features must be unlocked that is enabled by writing an advanced features set identifier Feature ID and a time out value to the Advanced Features Access Control Register From the point of view of the DCAM standard smart features are a set of advanced DCAM features The Feature ID associated with Basler smart features is 0x0030 533B 73C3 For Basler cameras unlocking advanced features is not strictly necessary because any implemented smart features are always available However the unlock mechanism is also used to check to see if a camera supports vendor unique features such

A601f HDR User`s Manual V2

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