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1. 5x M4x0 7 MOUNTING SCREWS 1 4 20 48 0 AND HEX KEY INCLUDED 4 PLACES EQL SPACED 9350 0 o o wo N I rmf T Y i CABLE EXIT THRU a S OR OUT THE BOTTOM 4X RECESSED BUMPER FEET 15 9 Sn Figure 4 2 Desktop Mount in mm 4 2 3 Using the Tripod Adapter A tripod adapter is provided with the camera The tripod adapter has a 3 8 mounting hole which requires an adapter to fit a standard tripod Revised 1 30 2013 fe R 26 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging 4 3 4 4 Point Grey Ladybug5 Technical Reference 4 Ladybug5 Physical Interface 4x 4 30 THRU ALL 106 0 8 16 UNC THRU ALL SECTION A A Figure 4 3 Tripod Adapter in mm Water and Dust Protection To protect against dust and water the LadybugScamera housing includes a sealed layer of glass with anti reflective coating on both sides over each of the six lenses Because the camera bottom contains outside interfaces the camera should be operated in rainy weather only when connected to the desktop mount or the tripod adapter The Ladybug5should not be submerged under water in any circumstances The Ladybug5 contains space to house a desiccant plug to reduce the risk of humidity damaging the camera See Ladybug5 Dimensions for the location on the bottom of the camera The desiccant plug should be replaced periodically Infrared Cut Off Filters Point Grey color camera
2. USB 3 0 m m M e m Interface Computer Storage Disk pgr stream files Display Decompression Stitching Further Processing dependent on resources e uu c C m cmn cme sem Gum cei em cun cmei gemi cun cmm l cun a Optional for verification of capture y m mum Figure 1 1 Ladybug5 capture workflow Image Flow Step Description Each of the six Sony ICX655 CCD sensors produces voltage signals in each pixel from the optical input Analog to Digital A D Converter Each sensor s A D Converter transforms pixel voltage into a 12 bit value adjusting for gain in the process Revised 1 30 2013 P R 1 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications Image Flow Step Description The camera firmware corrects any blemish pixels identified during Pixel Correction manufacturing quality assurance by applying the average value of neighboring pixels The amount of on camera processing performed is dependent on which pixel format was selected For 8 bit formats gain black level white balance and gamma are applied On Camera Processing For 12 and 16 bit formats exposure time and gain are optimized for highest bit depth Gamma white balance and other correction is performed during post capture This ensures maximum dynamic range and flexibility since post c
3. 2 22 2 cece e cee cece ccc ccc ceccecceceececcecceceececcecceceuccecesceceeces i 1 Ladybug5 Specifications 00 0000000 cece cece eee ec cee cee cece cece cece ceecceeceeeceeececceeeseeeceees 1 1 1 Image Processing Pipeline 2 2 22 2 cece cece cece cece cence cece cece c eee eeeeeceeceeeeeeeseeseeeees 1 1 1 1 Capture Workflow ssssssssssssslse Is s cee cece cece cece ee ceeeeceeceeceeceeeeseeseeees 1 1 1 2 Post Processing Workflow 02 cece cece cece cece cece cee ceccecceceeccuceccecceceecucceccesceseecenes 2 1 2 Ladybug5 Specifications 22 2 occ ee ccc cece cece cece cece cece ADDII Laana aooaa 5 1 3 Handling Precautions and Camera Care _ 2 22 02 cece cece ee ce ee cee cee cece cee cece cece ee eeeeeeeee 6 1 4 Analog to Digital Converter 2 22 2 2 occ ec ene eee cece cece eee e cece eee cee eeeeeeeeceeceeseseeseeees 7 2 Ladybug5 Installation _ 12 22 22 0 occ c ccc cc ccc cece ec cece cece cnc ce cee ceceeccecceceececcecceccececcesceceeeens 8 2 1 Before You Install 2 ese cu pem cee r eee Seow ce POS LS a ee hee eel 8 2 1 1 Will your system configuration support the camera _ 22 22 e eee eee cece cee cece cceececeeeecees 8 2 1 2 Do you have all the parts you need _ 2 2 e cee cece cence eee eceeceeseeeeseeseees 8 2 1 3 Do you have a downloads account 12 22 cece cece cece ccc cece cece ceccececceccecceccececcecceseucers 8 2 2 Installing Your
4. 2 22 22 22 coon cecceceec ee cece cece ec e cece eceeeeeceeeeseeeeecerseseesees 39 7 1 Capturing Stream Files 2 2 02 2 cece cece eee e cece ec eee e cece cece ceeeeeeeceeeeeeeeeereeeeees 39 7 2 Asynchronous Triggering 2 22 22 02 e eee cece e cece cece cece eee c cece ec eeceeseeseececeeceecteeeceeseeeees 40 7 2 1 Standard External Trigger Mode 0 2 02 cc cece cece ccc ceccccceccccceeccccecccccececececcceeceeeees 40 Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G R FY Innovation in Im aging Point Grey Ladybug5 Technical Reference 7 2 2 Bulb Shutter Trigger Mode 1 002 22 2 ec c cece cece cece cece DDADL DDL LDL Da anana 41 7 2 3 Skip Frames Trigger Mode 3 0 ccc cc ccc cece ec cee ccc ceeccecccceccecccncccucceucececcensencecaneees 41 7 2 4 Overlapped Exposure Readout Trigger Mode 14 _ 22 2 cece eee cee eee e cece cceeceecceeceeees 42 7 2 5 Multi Shot Trigger Mode 15 2 22 o eee cece e eee cece cece cece cee ceecceeceeeceeecceeceecceeseeees 43 7 3 External Trigger Timing 2 22 2 c ccc eee eee cece cence eee e cece ec eeceeceeceeeeceeceeseeeeseeseeeee 44 7 4 Camera Behavior Between Triggers 00 cccecee ccc ceccecccccccecceccecceccccecceccesceceececceseees 44 7 5 Changing Video Modes While Triggering 2 2 2202 22 ce eee cece cece ec cee cee cececceeceececeeceees 45 7 6 Asynchronous Software Triggering 2 22 2
5. 8 Destroy the context by calling LadybugDestroyGPSContext Generating Google Maps and Google Earth data The Ladybug library allows the user to retrieve GPS data from a stream file and automatically generate Google Maps or Google Earth data which can then be loaded in their respective applications Using LadybugCapPro From the GPS menu select Generate Google Map HTML or click the E button From the GPS menu select Generate Google Earth KML or click the button Using Ladybug API If a stream context has already been initialized for reading calling LadybugWriteGPSSummaryDataToFile with the relevant LadybugGPSFileType generates GPS data for the entire stream file Revised 1 30 2013 POINT GREY 50 Copyright 2013 Point Grey Research Inc Innovation in Imaging Point Grey Ladybug5 Technical Reference 8 Imaging Parameters Imaging Parameters Pixel Formats Frame Rates and Image Sizes The Ladybug captures images in Format 7 custom image mode The table below outlines the pixel formats that are supported The implementation of these formats and the frame rates that are possible are subject to change across firmware versions Changing the size of the image or the pixel encoding format requires an undetermined length of frame times including the stop start procedure tearing down reallocating image buffers write times to the camera etc Table 8 1 Ladybug5 Supported image formats Frame Rate Image Size Pixel Fo
6. Revised 1 30 2013 fe R 11 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 2 4 2 4 1 Point Grey Ladybug5 Technical Reference 2 Ladybug5 Installation Configuring Camera Setup After successful installation of your camera and interface card you can make changes to the setup Use the tools described below to change the driver for your interface card For information on updating your camera s firmware post installation see Camera Firmware on page 33 Configuring Camera Drivers Point Grey has created its own Extensible Host Controller Interface xHCI driver that is compatible with several USB 3 0 host controller chipsets The PGRXxHCI driver offers the best compatibility between the camera and host controller Point Grey recommends using this driver when using Point Grey USB 3 0 cameras Point Grey s PGRXxHCI driver does not support USB devices from other manufacturers Related Knowledge Base Articles Title Article Recommended USB 3 0 System Components Knowledge Base Article 368 How does my USB 3 0 camera appear in Device Manager Knowledge Base Article 370 To manage and update drivers use the DriverControlGUI utility provided in the SDK To open the DriverControlGUI Start Menu gt All Programs gt Point Grey Research gt PGR Ladybug gt Utilities gt DriverControlGUI Select the interface from the tabs in the top left Then select your interface card to see the current setup For more info
7. www 1394ta org For more information about camera registers refer to the Point Grey Digital Camera Register Reference 3 2 3 4 Trigger Strobe The GPIO Trigger dialog provides control over the general purpose input output GPIO capabilities of the camera including the ability to configure Specific pins for input and output External trigger mode m External trigger delay or shutter delay when not in trigger mode Strobe pulse polarity duration and delay Special output modes such as strobe signal pattern and PWM must be configured using the camera register Control Description Enable Disable l h p i When checked allows the camera to respond to external triggers or internal software triggers rig Specifies the mode for how the camera responds to an external trigger Not all modes are supported by all camera models Trigger Source Specifies which GPIO pin receives input from an external trigger device Parameter Certain trigger modes require a parameter to define the triggering cycle Revised 1 30 2013 P R 22 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Control Description Tri digi Specifies a low or high signal polarity When checked you can use the slider to specify the time delay in seconds from when an external trigger Trigger Delay event occurs to the start of integration when the shu
8. 10 Troubleshooting 2 2 22 2 222 cece cece cece eee cece cece eee e cence eee cece ee ceceeceeseeceeceseeseesees 79 TOTES UDO ea ee ee ie er se tet gS es Ass tee ET T 79 10 2 Status Indicator LED lt 2 iiec ecc IR lit utem o ne bee dee ddadeciece sees EE ESERE 80 10 3 Blemish Pixel Artifacts 2 253 eieuou iioi Rer Ip Rd pe dose cipis ibolqeez s c rox e ici aaa 80 10 3 1 Pixel Defect Correction sssuuuuussissuselllllssilsseseessse sss Re eee e rr llli illl 80 10 4 Vertical Smear Artifact _ 2 2220222022 ce ee eee eee eee eee teen eee e ns 80 10 4 1 Smear Reduction 2 2 2 eee ss e Ie eee ee ences anaran annann 81 Appendix A Ladybug API Examples _ 2 2 2 cc cece ec ce cece cece ccc ccececceccecceccececcesceccececcescecees 82 A 1 ladybug3dViewer __ 2 22 2 cece cece cee cece cee cee cece eee e cece ee ceceeeeeceeceeeeceeceeceeeesceseeses 83 A 2 ladybugAdvancedRenderEx 2 22 22 e eee eee cece cece ccc cece ee ceceeceeceeseececeeceeseeeereeseeeees 83 A 3 ladybugCaptureHDRImage _ 2 2 2 2 2 eee eee cece eee e cece ccc c cece ee ceceeeeeceecereeececcesetseseeseeees 83 A 4 ladybugCSharpEx 2 0 2 2 cece ccc cece ccc cece ec ceccecceceececcecceceececcesceceeceecescecceseecusceseesenes 84 A 5 ladybugEnvironmentalSensors _ 2 220222 2c eco eee cece cece cee cee eeceeceeceeeerceceeceeseeseseeceeeees 84 A 6 ladybugEnvMap sssssssslssllss sss e IlrlmlLrlmTILmLmeIreLrxmm
9. 4 io ere idertticadion Ground for power return MicB_SSTX SuperSpeed transmitter differential pair MicB_SSTX GND_DRAIN Ground for SuperSpeed signal return MicB_SSRX SuperSpeed receiver differential pair 10 MicB_SSRX The USB 3 0 Micro B receptacle accepts a USB 2 0 Micro B plug and therefore the camera is backward compatible with the USB 2 0 interface When the camera is connected to a USB 2 0 interface it runs at USB 2 0 speed and maximum frame rates are adjusted accordingly based on current imaging parameters Related Knowledge Base Articles Title Article USB 3 0 Frequently Asked Questions Knowledge Base Article 357 Interface Cables The USB 3 0 standard does not specify a maximum cable length The camera comes with a 5 meter USB 3 0 cable from Point Grey Revised 1 30 2013 P R 29 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 4 Ladybug5 Physical Interface 4 5 3 Interface Card The camera must connect to an interface card This is sometimes called a host adapter a bus controller or a network interface card NIC In order to achieve the maximum benefits of USB 3 0 the camera must connect to a USB 3 0 PCle 2 0 card The camera comes with a USB 3 0 PCle 2 0 card from Point Grey 4 5 4 General Purpose Input Output GPIO The camera has an 12 pin GPIO connector on the bottom of the case refer to the diagram below f
10. 5 4 Point Grey Ladybug5 Technical Reference 5 General Ladybug5 Operation Environmental Sensors The camera provides sensors to report on current internal conditions of the camera These environmental sensors are Temperature in degrees Celsius 2 C Humidity in percent of relative humidity 3 RH m Air Pressure in kilopascals 6kPa m Accelerometer in g force 50 mg Gyroscope not currently supported Compass in Tesla and degrees 3 uT or 10 degrees when the camera is stationary The environmental sensors provide general information only If precise measurements are required for your application external devices should be used Using LadybugCapPro From the Settings menu select Environmental Sensors Using Ladybug API Use the ladybugEnvironmentalSensors sample program Stream Files Ladybug images are written to a set of Ladybug stream files The size of each stream file is limited to 2 Gigabytes The stream files are named as Stream Base Name Stream Serial Number pgr The Stream Base Name is defined by the user or the application The Stream Serial Number is generated internally by the Ladybug library For example if Stream Base Name is given as myStream Ladybug stream writing API functions will name the stream files as follows myStream 000000 pgr myStream 000001 pgr myStream 000002 pgr m Etc The Stream Serial Number always begins with 000000 All stream files that have the s
11. A 18 A 19 A 20 A 21 Point Grey Ladybug5 Technical Reference Appendix A Ladybug API Examples d or D display dome view image m Esc q or Q exit the program When used in conjunction with a GPS device this example also shows how to record images when the GPS location changes after a specified distance in meters The distance parameter is specified in the ini file The accuracy of the result depends on the GPS device and the GPS data update rate This example must be run with freeglut dll and Ladybug SDK v 1 3 0 2 or later ladybugStitchFrom3DMesh This example shows how to stitch six raw images without using the Ladybug SDK Note that users still need the 3D mesh data produced by the program ladybugOutput3DMesh which requires the Ladybug SDK This program is useful for users who want to stitch images in an environment where the Ladybug SDK is not supported ladybugStreamCopy This program copies images from a Ladybug source stream to a destination stream If a calibration file is specified this program writes this calibration file to the destination file instead of using the calibration file in the source stream The last two arguments specify how many images to copy If they are not specified all the images are copied ladybugTranslate2dTo3d This example shows how to use the Ladybug API to translate a 2D point in the raw image to a 3D point in the Ladybug camera coordinate space and vice versa It
12. Innovation in Imaging 3 2 2 3 3 2 2 4 Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 The Live Camera Toolbar displays only if the camera is in live image grabbing mode Use this toolbar for the following functions Start or stop recording a stream wm Pause the grabbing of images from the camera m Access the Camera Control Dialog wm Change the data format of the images being outputted from the camera m Perform a one shot White Balance auto adjustment a Enable Disable Independent Auto Exposure wm Select a Shutter Range from Motion Indoor or Low Noise m Select an Auto Exposure ROI from Full Bottom or Top For more information see Capturing Stream Files Stream Navigation Toolbar The Stream Navigation toolbar displays only when a previously recorded stream file is opened Use this toolbar for navigating within a stream EIN 4 4 4 DDAL Toolbar Control Opens a dialog for navigating to a specific frame K 4 4 A series of buttons for navigating through the frames of the video stream Mouse over each button for an b 5 o N explanation Alternatively use the Jump to frame icon or the Seek slider at bottom Description Qa Click to play the stream file Click again to pause Specifies the first frame from which to begin outputting the stream Use the buttons at right or the Seek slider at bottom to navigate to the desired frame Then click If not specified the stream ou
13. The CLadybugPanoramicDoc class is used to initialize and start a Ladybug camera It creates a thread for grabbing and processing images The CLadybugPanoramicView class is used to display Ladybug images It initializes the window for OpenGL display To display a ladybug image CLadybugPanoramicView OnDraw calls the image drawing API functions ladybugPanoStitchExample This example shows how to extract an image set from a Ladybug camera stitch it together and write the final stitched image to disk Since Ladybug library version 1 3 alpha 01 this example is modified to use ladybugRenderOffScreenlmage which is hardware accelerated to render the stitched images Revised 1 30 2013 fe R 85 Copyright 2013 Point Grey Research Inc POI NT G E ovation in Imaging Innovatio Imaging A 11 A 12 A 13 Point Grey Ladybug5 Technical Reference Appendix A Ladybug AP Examples Typing ladybugPanoStitchExample or at the command prompt prints the usage information of this application ladybugPostProcessing This example shows how to use the post processing pipeline introduced in the Ladybug 1 7 API together with a 12 or 16 bit image from the Ladybug5 to produce a processed image The code shows how to modify the LadybugAdjustmentParameters structure to define the type of post processing to perform ladybugProcessStream This example shows how to process all or part of a stream file The program processes each frame and outpu
14. a Documentation To access the downloads resources you must have a downloads account 1 Goto the Point Grey downloads page 2 Under Register New Users complete the form then click Submit After you submit your registration you will receive an email with instructions on how to activate your account Revised 1 30 2013 P 8 Copyright 2013 Point Grey Research Inc POI NT G REY Innovation in Imaging Point Grey Ladybug5 Technical Reference 2 Ladybug5 Installation Installing Your Interface Card and Software 1 Install your Interface Card Ensure the card is installed per the manufacturer s instructions Alternatively use your PC s built in host controller if equipped Open the Windows Device Manager Ensure the card is properly installed under Universal Serial Bus Controllers An exclamation point next to the card indicates the driver has not yet been installed 2 Install the Ladybug Software For existing users who already have Ladybug software installed we recommend ensuring you have the latest version for optimal performance of your camera If you do not need to install Ladybug software use the DriverControlGUI to install and enable drivers for your card Ladybug5 requires Ladybug SDK v1 71 a Login to the Point Grey downloads page b From the Camera Family drop down select Ladybug5 c Click on the Software link to expand the results d Under Ladybug SDK click the 32 or 64 bit link to begin the downl
15. ppm and maps it onto the sphere using OpenGL functions This program does not handle video or pgr format stream files and does not require the Ladybug SDK API ladybugAdvancedRenderEx This example shows how to draw a Ladybug 3D spherical image in conjunction with other 3D objects To render 3D objects together with a Ladybug 3D spherical image ladybugDisplaylmage must be called prior to drawing any objects The size and position of the objects must be inside the Ladybug spherical image Otherwise the objects will not be seen Additionally the OpenGL depth test must be enabled This example must be run with glut32 dll This example must open the following ppm texture files m TextureCamO0 ppm m TextureCam1 ppm m TextureCam2 ppm a TextureCam3 ppm m TextureCam4 ppm m TextureCam5 ppm ladybugCaptureHDRImage This example code demonstrates how to capture a series of images closely spaced in time suitable for input into a high dynamic range image creation system The main function initializes the camera and calls the other subroutines The setupHDRRegisters subroutine sets all of the registers necessary to put the camera into HDR Mode capturelmages captures images directly from a Ladybug camera processimages computes the panoramic images The Ladybug has a bank of four gain and shutter registers in addition to its standard set When put into HDR Mode the camera cycles through the settings contained in these re
16. 1 30 2013 P R 103 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging
17. DUE P ae parallel processing Shows how to use a GPS device in conjunction with a Ladybug camera to ladybugSimpleGPS integrate GPS data with Ladybug images ladybugSimpleGrab Illustrates the basics of acquiring an image from a Ladybug camera the basics of acquiring an image from a Illustrates the basics of acquiring an image from a Ladybug camera camera ladubugsitplettabOlplay shows how to use the OpenGL DEM Toolkit GLUT to grab Ladybug images and display them in a simple window Shows how to record Ladybug images to pgr stream files When used in ladybugSimpleRecording conjunction with a GPS device also shows how to record images when the GPS location changes after a specified distance Revised 1 30 2013 P R 82 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging A 1 A 2 A 3 Point Grey Ladybug5 Technical Reference Appendix A Ladybug AP Examples Example Description ladybugStitchFrom3DMesh Shows how to stitch six raw images without using the Ladybug SDK ladybugStream Copy Copies images from a Ladybug source stream to a destination stream ladybugTranslate2dTo3d Shows how to translate a 2D point in the raw image to a 3D point ladybugTriggerEx Shows how to control trigger and strobe ladybug3dViewer This example shows how to display a spherical view in which the user can pan and tilt the image inside the sphere The program reads one rectangular panoramic image bmp or
18. Google Maps are saved as html files in the bin folder of the PGR Ladybug installation directory This control is not available in live image grabbing mode Creates a Google Earth file from the GPS data recorded with the stream file and allows you the option to load it The Google Earth application and an internet connection are required to view the file Google Earth files are stored as kml files in the bin folder of the PGR Ladybug installation directory This control is not available in image capture mode You can also export GPS NEMA data from a loaded stream file using the GPS menu For more information see Working with GPS Data 3 2 2 7 LadybugCapPro Main Menu In LadybugCapPro most tasks represented in the top menu bar can can also be performed using the LadybugCapPro toolbars Using the menu bar you can accomplish the following additional tasks Saving Images In both Live Camera and Stream File mode you can save the current image to panoramic JPEG or panoramic bitmap format or as six individual color processed images rectified or non rectified For more information see Saving Images Downloading the Configuration File You can download the file that calibrates the sphere radius for stitching panoramic images To download this file to your My Documents folder select File Save Configuration File By default images are stitched using a sphere radius of 20 meters To change the sphere radius see Adjusting Sphere Size f
19. Latency Mr x 3 Exposure Time 2 l 4 Sensor Readout i 5 Data Transfer Data transfer Ld Lu ere i 4 5 Figure 7 8 Software trigger timing The time from when the software trigger is written on the camera to when the start of integration occurs can only be approximated We then add the trigger latency time from the trigger pulse to the start of integration to this This timing is solely from the camera perspective It is virtually impossible to predict timing from the user perspective due to latencies in the processing of commands on the host PC Asynchronous Trigger Settings Using LadybugCapPro You can control the trigger in the Camera Settings 1 From the Settings menu select Camera Control or click the i7 button 2 Clickthe Trigger Strobe tab 3 Under Trigger Control wm Select Enable Disable trigger wm Select a trigger mode from the drop down list m Enter aparameter 4 Under Trigger Delay Select Enable Disable delay m Use the sliding scale or enter a value for the trigger delay The trigger delay controls the delay between the trigger event and the start of integration shutter open 5 To use a software trigger click the Fire Software Trigger button Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POI NT G R EY vation in Imaging Innovatio Imaging Point Grey Ladybug5 Technical Reference 7 Image Acquisition 7 8 Working with GPS Data You can use a GPS receiver i
20. NMEA sentences supported by the Ladybug library are a GPGGA GPGSA GPGSV a GPRMC a GPZDA a GPVTG GPGLL Detecting the GPS COM Port Using the GPS functionality requires the use of a GPS device The COM port that the GPS device is connected to must Revised 1 30 2013 P R 48 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 7 Image Acquisition be known To determine the port perform the following steps wm Right click on My Computer a Click on the Hardware tab and click the Device Manager button m Expand the Ports COM amp LPT node and note the COM port that the GPS device is mapped to Using the Ladybug API for GPS The following steps provide a brief overview of how to use the GPS functionality of the Ladybug library 1 6 Create a GPS context LadybugGPSContext by calling LadybugCreateGPSContext This may be done at the same time as the creation of the Ladybug camera context Register the GPS context with the Ladybug camera context by calling LadybugRegisterGPS A single GPS context can be registered with several Ladybug camera contexts Initialize the device by calling LadybugInitializeGPS Start the GPS device by calling LadybugStartGPS This may be called when ladybugStart is called It takes about 5 seconds for the GPS data to become available Once image grabbing is active there are several options for image gra
21. Shutter speed must be fast enough to produce clear images without motion blur Images produced outdoors during daylight hours should not be a concern In darker places you may need to set the shutter speed manually wm There must be patterns across images If entire images only contain simple textures such as clear sky or a white wall the algorithm will have difficuly finding patterns It is not necessary for all the cameras in the system to have patterns having patterns on some cameras may suffice Additionally patterns should be distant If they are too close to the camera there may be errors The frame rate should be fast enough so that the relative movement across frames is not large If the frame rate is low and the relative movement of images across frames is large the algorithm may be unable to find patterns The faster the movement the faster the frame rate should be Although you can enable image stabilization during both live camera and recorded video modes we recommend using it primarily when outputting stream files The stabilization algorithm is resource intensive When stabilization is enabled during live camera mode the system may be unable to perform the necessary computations while keeping up with all the incoming frames To enable Image Stabilization l a Dy n LadybugCapPro select Enable Stabilization from the Settings menu or click the Stabilization 54 icon on the Image Processing toolbar For more information
22. accelerometer sensor is available unsigned int Minimum value for sensor unsigned int Maximum value for sensor Whether gyroscope sensor is available unsigned int Minimum value for sensor unsigned int Maximum value for sensor Actual frame rate represented as a floating float point value Revised 1 30 2013 P R 90 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging B 3 B 4 B 5 Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Offset AEG Bytes Description unsigned Offset of image int M 1 K 0x0BE4 Image index 2 a unsigned int Offset of image 2 K OxOBE8 Image index 1 a unsignedint Offset of image K OxOBEC Image index 0 Offset of image O The image index table between 0x03F0 and OxOBFO is used to locate the keyframes of the stream Using this table can speed up image searching The value of K offset 0x0090 means that the index table contains the offset values for every Kt image The offset values are relative to the beginning of the stream file For example if K 50 the value of Image index 5 is the offset of image 250 K 5 250 Itis the location of image 250 relative to the first byte of the stream file Image index M 1 Configuration Data The configuration data begins immediately after stream header structure The data is in ASCII text format It is extracted from the Ladybug camera head for image calibration The size of this d
23. also shows how to use ladybugGet3dMap provided by the Ladybug API to perform the translation This example is a companion to TAN2012009 Geometric Vision using Ladybug Cameras found in Knowledge Base Article 399 ladybugTriggerEx This example shows how to use the Ladybug API to control the trigger and strobe functionality of the camera The example sets the camera into trigger mode O Standard and then uses software triggering to trigger when an image is captured Revised 1 30 2013 fe R 88 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation B 1 B 2 Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Appendix B Stream File Format File Signature Every Ladybug stream file starts with a signature This signature uniquely identifies the file as a Ladybug stream file Offset Name Bytes Type Value Description 0x0000 PGRLADYBUGSTREAM Ladybug Stream file identifier Stream Header Structure The stream header structure begins immediately after the file header at offset 16 from the beginning of the file It contains the information defined by LadybugSt reamHeadInfo in ladybug h The byte order of this data block is little endian Offset Type Description Ladybug stream version no unsigned int Stream version number unsigned int The frames recorded per second unsigned int Ladybug base unit serial number unsigned int Ladybug head unit serial number unsigned int Reserv
24. if you want all the sensors on the side of the camera to be used in this calculation but not the top sensor check boxes 0 through 4 and leave box 5 blank Leaving all sensors unchecked is equivalent to checking all To set exposure in auto mode use the Camera Settings dialog Camera 0 is etched onto the camera housing Camera 5 is the top sensor Revised 1 30 2013 fe R 24 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio Imaging Point Grey Ladybug5 Technical Reference 4 Ladybug5 Physical Interface 4 Ladybug5 Physical Interface 4 1 Ladybug5 Dimensions GPIO POWER CONNECTOR DESICCANT PLUG 2x 1 16 NPT 2x 1 16 AIR CONNECTION USB3 CONNECTOR Figure 4 1 Ladybug5 Dimensional Diagram To obtain 3D models contact support ptgrey com 4 2 Mounting 4 2 1 Using the Case The case is equipped with five M4 X 0 7 mounting holes on the bottom of the case that can be used to attach the camera directly to the desktop mount tripod adapter or a custom mount Revised 1 30 2013 fe R 25 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 4 Ladybug5 Physical Interface 4 2 2 Using the Desktop Mount A desktop mount is provided with the camera Related Knowledge Base Articles Title Article Using the Ladybug in a mobile setting Knowledge Base Article 302
25. ladybugAdvancedRenderEx j yare P E f objects Demonstrates how to capture a series of images closely spaced in time ladybugCaptureHDRImage suitable for input into a high dynamic range image creation system ladybugCSharpEx Shows how to create a C program that uses the Ladybug API ladybugEnvironmentalSensors Shows how to access the information from the environmental sensors ladybugEnvMap Shows how to apply cube mapping on spherical images to construct a skybox Shows how to access Ladybug images directly on the graphics card as an ladybugOGLTextureEx OpenGL texture map Demonstrates how to produce a 3D mesh out of calibration data from the ladybugOutput3DMesh connected camera Shows how to use a document view application to grab Ladybug images and ladybugPanoramic l pp g ybug imag display them in a window Shows how to extract an image set from a Ladybug camera stitch it together ladybugPanoStitchExample and write the final stitched image to disk ladybugPostProcessing ladybugPostProcessing Shows how to perform post processing on 12 or 16 bitimages how to Shows how to perform post processing on 12 or 16 bit images post processing on 12 or 16 bit images Shows how to process all or part of a stream file Also available as a C ladybugProcessStream example ladybugProcessStream_CSharp Shows how to process a Ladybug image stream using multiple Ladybug context ladybugProcessStreamParallel P
26. makes a total of seven 3D coordinate systems on every Ladybug camera As well there is a 2D pixel grid coordinate system for each sensor Lens 3D coordinate system Each of the six lenses has its own 3D coordinate system Origin is the optical center of the lens wm Z axis points out of the sensor towards the scene i e it is the optical axis a The X and Y axes are relative to the pixel grid of the image sensor associated with that lens wm The Y axis points along the image columns The positive Y direction is in the direction of ascending row number This points down from the point of view of a normally oriented image wm The X axis points along the image rows The positive X direction is in the direction of ascending column number This points to the right in a normally oriented image wm This coordinate system is used to represent 3D space from the point of view of each lens sensor pair Its units are meters not pixels xo Revised 1 30 2013 fe R 96 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation Point Grey Ladybug5 Technical Reference Appendix C Calibration and Coordinate System C 1 2 Sensor 2D coordinate system Each sensor has its own 2D coordinate system wm The u and v axes are the image based 2D image coordinate system for the rectified image space and are measured in pixels The origin of the coordinate system is at the intersection of the optical axis and the rectified image pla
27. models are equipped with an additional infrared IR cut off filter This filter can reduce sensitivity in the near infrared spectrum and help prevent smearing The properties of this filter are illustrated in the results below Revised 1 30 2013 fe R 27 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 4 Ladybug5 Physical Interface 100 9D 80 70 60 50 4p 20 20 10 O r 420 520 G20 720 820 Wavelength nm Transmission 26 Figure 4 4 IR filter transmittance graph The following are the properties of the IR filter protective glass Physical Filter Size 15 5 mm x 18 mm Glass Thickness 1 0 mm 0 07 mm Dimensional Tolerance For more information see Water and Dust Protection Revised 1 30 2013 fe R 28 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 4 5 4 5 1 4 5 2 Point Grey Ladybug5 Technical Reference 4 Ladybug5 Physical Interface Camera Interface and Connectors USB 3 0 Connector The camera is equipped with a USB 3 0 Micro B connector that is used for data transmission camera control and power For more detailed information consult the USB 3 0 specification available from http www usb org developers docs all eae 12345 678910 Figure 4 5 USB 3 0 Micro B Connector Table 4 1 USB 3 0 Micro B Connector Pin Assignments Pin Signal Name Description 2 jo USB 2 0 differential pair
28. more consult Knowledge Base Article 200 for information on buffering an output signal using an optocoupler The Ver pins Pins 7 8 and 9 allow the camera to be powered externally The voltage limit is 12 24 V and current is limited to 1 5 A The 3 3V pin Pin 5 is limited to 150 mA by a fuse External devices connected to Pin 5 should not attempt to draw higher current To avoid damage connect the OPTO GND pin first before applying voltage to the GPIO line Revised 1 30 2013 fe R 38 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 7 Image Acquisition 7 Image Acquisition 7 1 Capturing Stream Files Stream files are saved in the bin folder of the PGR Ladybug installation path When capturing stream files there must be at least 2 GB of free space on the hard drive before writing to disk Using LadybugCapPro You can record stream files when you start a camera in Live Camera mode using the controls in the Live Camera Toolbar w 1 From the Settings menu select Camera Control or click the a button a Use the Camera Control dialog to select your pixel format trigger mode and other imaging parameters such as brightness shutter gain auto exposure range and others Your selection of pixel format affects both resolution and frame rate On Ladybug5 for 12 and 16 bit images some parameters are deferred to post processing 2 Use the Live Came
29. of all the currently connected Ladybug cameras across all buses and select one to control and view images from The dialog also lists basic information for each camera such as the serial number and the current firmware version To begin grabbing images select a camera and click OK The LadybugCapPro Main Window opens in live image grabbing mode To access the Camera Control Dialog prior to grabbing images select a camera and click Configure Selected After configuring the camera close the Camera Control dialog and click OK to begin grabbing images Revised 1 30 2013 P R 14 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Load Stream File If you choose to load a stream file the Windows file explorer opens allowing you to browse for a pgr stream file to open After selecting a stream file the LadybugCapPro Main Window opens in recorded stream mode 3 2 2 Working in the LadybugCapPro Main Window The Main Window is where you do most of your work in LadybugCapPro After starting a camera or loading a stream file in the Welcome Dialog the Main Window opens and displays either a live video stream from the current camera or a previously recorded video stream To magnify the display of toolbar icons for improved accessibility click Settings Options on the menu In the LadybugCapPro Options dialog at bottom click Use large icons Th
30. pixel format is in use 8 bit images have more control during the image capture phase while 12 and 16 bit images have more control during post processing To open the Camera Settings dialog From the Settings menu select Camera Control and click the Camera Settings tab Custom Video Modes Shows information about the current video mode and pixel format of the camera and allows you to configure packet size Revised 1 30 2013 POINT GREY 21 Copyright 2013 Point Grey Research Inc vation in Imaging Innovatio imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 You must click Apply for these settings to take effect Control Description The video mode and pixel format in which the camera is Mode Pixel Format running You can also configure this with the Live Camera Toolbar Format 7 Packet Size Allows you to control the size of the packets sent by the camera A higher packet size allows for a higher frame rate and larger image buffer size Related Knowledge Base Articles Title Article Why is the frame rate displayed in the demo program different from the required frame rate Knowledge Base Article 182 Ladybug JPEG image quality and buffer size settings Knowledge Base Article 288 3 2 3 3 Camera Registers This dialog provides direct access to camera registers and is therefore recommended for advanced users only The camera register space conforms to IIDC specifications see http
31. quality of the image produced by the device a To clean the lenses use a standard camera lens cleaning kit or a clean dry cotton cloth Do not apply excessive force wm Avoid excessive shaking dropping or any kind of mishandling of the device To replace the protective glass the camera must be returned to Point Grey for servicing Contact Support for more details Related Knowledge Base Articles Title Article Solving problems with static electricity Knowledge Base Article 42 Cleaning the imaging surface of your camera Knowledge Base Article 66 Revised 1 30 2013 P R 6 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications Analog to Digital Converter The camera sensor incorporates an A D converter to digitize the images produced by the CCD The Ladybug5 s ADC which digitizes the images is configured to a fixed bit output 12 bit If the pixel format selected has fewer bits per pixel than the ADC output the least significant bits are dropped If the pixel format selected has greater bits per pixel than the ADC output the least significant bits are padded with zeros The 12 bit conversion produces 4 096 possible digital image values between 0 and 65 520 left aligned across a 2 byte data format The four unused bits are padded with zeros The following table illustrates the most important aspects of the ADC Resolution 12 bit 50 M
32. scene Independent Sensor Control provides independent control of exposure related features only This feature does not encompass other camera control settings such as gamma or white balance Revised 1 30 2013 POINT GREY 59 Copyright 2013 Point Grey Research Inc ovation in Imaging Innovatio imaging 8 9 8 10 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters Global control applies the same setting automatic or manual and value to all six cameras Independent control allows separate settings automatic or manual and values to each camera m f global shutter is off shutter can be independently controlled wm If global gain is off gain can be independently controlled f either global shutter or global gain is off exposure can be independently controlled To control shutter gain and exposure During Capture i From the Settings menu select Camera Control or click the i7 button a Global control of shutter gain and exposure is set on the Camera Settings tab Independent control of shutter gain and exposure is set on the Ladybug Settings tab Gamma The camera supports gamma functionality Sensor manufacturers strive to make the transfer characteristics of sensors inherently linear which means that as the number of photons hitting the imaging sensor increases the resulting image intensity increases are linear Gamma can be used to apply a non linear mapping of the images produced by the c
33. see Working with Images w Using the Ladybug API invoke the ladybugEnablelmageStabilization function For more information refer to the LadybugProcessStream example available from the Windows Start menu gt Point Grey Research gt PGR Ladybug gt Examples Once enabled the panoramic spherical and dome view outputs become stabilized Additionally stream files that are output to JPEG bmp or avi files are stabilized Revised 1 30 2013 P R 68 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 9 2 5 Point Grey Ladybug5 Technical Reference 9 Post Processing Control To set Stabilization Parameters Depending on your requirements you can adjust the following image stabilization parameters Decay Rate Specifies the degree of correction across images that the stabilization algorithm uses The default setting is 0 9 A setting of 1 0 maximum instructs the algorithm to apply correction across all positional difference A decay rate of 1 0 may result in an undesired drift effect as the camera s original position may shift slowly over a long period of time Other unwanted effects may result For example when capturing images from a car as it turns at intersections the algorithm will attempt to recover the image pattern produced before the turn By setting this value alittle lower than 1 0 the display slowly re adjusts cancelling the drift effect Maximum Search Range The stabilization algorithm search
34. signaling event rate at which the GPS receiver communicates with the PC This rate is limited by what the GPS unit supports The NMEA 0183 standard supports the default value of 4800 Data Update The time interval at which positional data is updated from the GPS to the PC This rate can be set up to Interval the maximum supported by the GPS unit The default value is 1000 ms Start GPS when starting LadybugCapPro Google Map Height Specifies the dimensions of the Google Maps that are generated These dimensions affect the amount Google Map Width of area covered in the maps rather than their resolution When checked specifies that the GPS unit should transmit positional data as soon as the LadybugCapPro application starts in live camera mode using the existing settings Revised 1 30 2013 P R 47 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 7 Image Acquisition Using the GPS Toolbar Bae Once you have configured your GPS receiver you are ready to use the GPS toolbar to record GPS data and generate Google Map or Google Earth files Description Instructs LadybugCapPro to begin receiving positional data from the GPS unit When used in conjunction with Capturing Stream Files GPS data is saved with the stream file For more information see Stream File Format This control is not available in recorded stream mode Click again to stop GPS recording Cre
35. the camera s GPIO pins to output a strobe pulse see Programmable Strobe Output on page 37 and connecting an oscilliscope up to the input trigger pin and the output strobe pin The camera will strobe each time an image acquisition is triggered the start of the strobe pulse represents the start of exposure Camera Behavior Between Triggers When operating in external trigger mode the camera clears charges from the sensor at the horizontal pixel clock rate determined by the current frame rate For example if the camera is set to 10 FPS charges are cleared off the sensor at a horizontal pixel clock rate of 15 KHz This action takes place following shutter integration until the next trigger is received At that point the horizontal clearing operation is aborted and a final clearing of the entire sensor is performed prior to shutter integration and transmission Revised 1 30 2013 fe R 44 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging Point Grey Ladybug5 Technical Reference 7 Image Acquisition Changing Video Modes While Triggering You can change the video format and mode of the camera while operating in trigger mode Whether the new mode that is requested takes effect in the next triggered image depends on the timing of the request and the trigger mode in effect The diagram below illustrates the relationship between triggering and changing video modes Trigger Sensor exposure x E Exposure
36. viewer may prevent you from viewing the Google Map associated with the file To address this issue you may need to upload the web files to a web server then access spherical viewer map html through an HTTP request You may also need to obtain a unique Google Maps API key and embed it in spherical viewer map html To obtain a Google Maps API key visit http code google com apis maps signup html frame info xml Produced only if positional data was recorded with the stream file and is used for integrating the Google Map display with the viewer pgrflv swf The Flash Player panoramic viewer sphericalViewer swf The Flash Player spherical viewer SkinOverPlaySeekStop swf The Flash Player viewer skin AC RunActiveContent js A javascript file to check the installation of Flash Player 6 If Produce web files is checked specify a subfolder within the specified Output Directory in which to output the web publis 7 Click Convert Revised 1 30 2013 Copyright 2013 Point Grey Research Inc hing files POINT GREY vation in Imaging Innovatio Imaging 10 10 1 Point Grey Ladybug5 Technical Reference 10 Troubleshooting Troubleshooting Support Point Grey Research endeavors to provide the highest level of technical support possible to our customers Most support resources can be accessed through the Point Grey Product Support page Creating a Customer Login Account The first step in accessing our technical supp
37. 02 ce cece e cece cece cece cece eee cceccecceceeseececceeeeceees 46 7 7 Asynchronous Trigger Settings _ 2 2 2222 c ccc eee e eee cece ee cece eee e cece ee cee eee ceceeeeeceececeeeeeeees 46 7 8 Working with GPS Data _ 2 2 2 ool cece cece cee cnc cece cece cece ccececceccecceceececcecceseecescesceseecans 47 7 8 1 Using GPS with the Ladybug API _ 22 22 2222 2 occ cece cence cece cence ec eeceeceeeesceseesees 48 7 8 2 Generating Google Maps and Google Earth data 0 2 0 02 o eee cece eee cee cee eee e cece eee 50 8 Imaging Parameters 2 2 22 oe eee cece ee ce ence cece cece ec ee ee ceeceeceeeesceceeeeeeeseeseeees 51 8 1 Pixel Formats Frame Rates and Image Sizes 12 22 c ccc cece ec ce cece ec cecceccececceccecceceececceceecs 51 LUAM Inr mM 52 S21 RAW 6 3 53 DPE Gace c 53 8 2 3 JPEG Compression and JPEG Buffer Usage 1 0 cece cece ccc eee cee ccecccecceeccecccceccucccecceecees 53 8 3 Shutter Type ccc deri noo Dd bote e Rob icd lige don a aadd aaie femi c 55 8 3 1 Global Sli tter sopore eiiiai eea OIN EDIDI Rec eed 55 SB A Brishtn ss 60 2cs 00 dc eeGue Dco eno opelbce rip Ue EU EESDeleDIxd RU a ebrei ir need QNID Sb a ees 56 8 S Shutter TIME eee WP 56 8 5 1 Extended ShutterTimes _ 2 222 222 2222 s s ee e Rss eee eee eee 57 8 5 2 Shutter Range _ 222 econ eee c
38. By dividing the entire sphere into 6 images the distortion in each image is limited To reconstruct the panoramic image the 6 cube suface images must be displayed using 3D computer graphics Thus this mapping is suitable for video game applications The projection equation is as follows This projection is equivalent to the view captured by a lens that has no distortion pin hole lens Each surface of the cube can be obtained by rendering the spherical image while setting the appropriate camera rotation and field of view to exactly 90 degrees This is achievable by calling ladybugSetSphericalViewParams To use LadybugCapPro select Output Type 6 Cube map Revised 1 30 2013 fe R 101 Copyright 2013 Point Grey Research Inc POI NT G EY ovation in Imaging Innovatio imaging Point Grey Ladybug5 Technical Reference Appendix C Calibration and Coordinate System Example cubic projection images Revised 1 30 2013 R 102 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Revision History Revision History Revision Date Notes January 21 2013 Initial release support for model LD5 51S5C 44R B Updated Stream File Format 1 1 January 25 2013 NN Clarified mounting instructions Clarified 16 bit pixel format and 12 bit ADC 1 2 January 30 2013 Minor edits to clarify user interface controls Added information on desiccant plug Revised
39. Hz Black Level Clamp O LSB to 255 75 LSB 0 25 LSB steps Pixel Gain Amplifier 3 dB to 6 dB 3 dB steps Variable Gain Amplifier 6 dB to 42 dB 10 bit Revised 1 30 2013 fe R 7 Copyright 2013 Point Grey Research Inc POI NT G EY n Im aging Innovation in 2 1 2 1 1 2 1 2 2 1 3 Point Grey Ladybug5 Technical Reference 2 Ladybug5 Installation Ladybug5 Installation Before You Install Will your system configuration support the camera Recommended System Configuration Operating System CPU RAM Video Ports Software 3GHz Windows 7 or Dual Quad 8GB NVIDIA USB Microsoft Visual Studio 2005 SP1 and SP1 Update for Vista to Windows 8 64 bit Ee 512 MB 3 0 compile and run example code using Ladybug SDK Do you have all the parts you need To install your camera you will need the following components included with the Ladybug5 wm USB 3 0 cable on page 29 m 12 pin GPIO 6 meter power cable and wiring harness wm Tripod adapter and desktop mount optional page 26 wm Interface card on page 30 Cables provided in the development kit are not high flex cables Handle carefully during installation to avoid damaging the wires Do you have a downloads account The Point Grey downloads page has many resources to help you operate your camera effectively including Software including Drivers required for installation wm Firmware updates and release notes Dimensional drawings and CAD models
40. Interface Card and Software _ 2 02222 c cece eee cece eee eee cece eee cece cece eeeeeeee 9 2 3 Installing Your Camera 2 2 22 eee cece eee e ccc s cece ec ee cee ceceeseeceeceececeeseeseeseseeseeeees 10 2 4 Configuring Camera Setup _ 2222 2 o eee eee ce eee cc cee cee cece cece ceeceeeceeccecececececccecsceeceereees 12 2 4 1 Configuring Camera Drivers 2 cece cece ccc c cece cece cee ceececceccececceccecceccececcesceseecees 12 3 Tools to Control the Ladybug5 _ 22 2 2 ccc cece cece cece cece ee ceceeceeseeseecereeserees 13 3 1 Using Ladybug SDK 222 2222 occ cece eee cece cece eee e cece eee e cee ceececeeseeceeeeeceseeeeees 13 3 1 1 Custom Applications Built with the Ladybug API 0 00 00200 o eee cece eee eee cece eee 13 3 2 Using the LadybugCapPro Application 0 elec eee cece eee cece eee ceecccecceeceecccecceecececseecers 14 3 2 1 Welcome Dialog cecinere RrecO vedo I er sececeedchetodeeedesaae beveacecdawee seks 14 3 2 2 Working in the LadybugCapPro Main Window sssssssssss sss Imre rlLlll 15 3 2 2 1 Main Toolbar eroe eode rb entier uocceunlortitetemec d cosededereis cien ReTaS 15 3 2 2 2 I ive Camera Toolbar 1 eost Rr Ier atur p E Aii N aT ceccsc rU ede olz 15 3 2 2 3 Stream Navigation Toolbar _ 2 22 22 cece cece cece cece cece cee cecceceeceeeeeseseeseeseee 16 3 2 2 4 Stream Processing Toolbar 2 22 22 e cece ee cece cece eee ce
41. JPEG image data and are located at the offset value of GPS_Offset If there is no GPS data GPS Offset andGPS Size are set to zero The byte order of this data block is big endian Offset Name VELU Bytes Type Description 0x0000 Timestamp unsigned int The cycle time seconds cycle time count and cycle offset of this image 0x0008 Data size unsigned int The total data size of the this frame including the padding block 0x0014 Version unsigned int Version number Number 0x0018 Time seconds Pf a unsigned int Timestamp in seconds UNIX time epoch 0x001C Time unsigned int Microsecond fraction of above second microseconds um eee pm mmm ower reenter onsen ron NNNM m um menm mne ue mene e pmemR Dmm mee por pm mmm 000 Revised 1 30 2013 R 92 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Offset Name Value Bytes Type Description 0x0048 unsigned int Same as register 0x1040 0x0054 Head Serial unsigned int Serial number of Ladybug Head Number 0x0338 GPS data offset GPS_Offset 0x033C GPS data size GPS_Size unsigned int The size of GPS data unsigned int Cam 0 Bayer Channel 0 0x0340 JPEG data Offset_0_0 offset JPEG data size Size 0 0 unsigned int Cam 0 Bayer Channel 0 JPEG data Offset O 1 unsigned int Cam 0 Bayer Channel 1 offset JPEG data size Size 0 1 4 unsignedint Cam 0 Bay
42. Minimizes sampling errors especially in low resolution images From the Settings menu select Enable Anti Aliasing POINT GREY i Innovation in Imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Control Description Histogram Displays a histogram of the values represented in the pixels of the current image Max Percent allows you adjust the graphical display to view a subset of percentage representation For example to view only the first 5 of the representation of values in the graph enter 5 in the Max Percent field All Camera specifies that the values are compiled from all six cameras on the Ladybug system To see values from only one camera at a time select a camera For camera orientation see Rotation Angle above 3 2 2 6 GPS Toolbar B z The GPS Toolbar is used for starting or stopping a GPS device as well as generating Google Map and Google Earth data when a stream file is loaded Description Instructs LadybugCapPro to begin receiving positional data from the GPS unit When used in conjunction with Capturing Stream Files GPS data is saved with the stream file For more information see Stream File Format This control is not available in recorded stream mode Click again to stop GPS recording Creates a Google Map file from the GPS data that was previously recorded with the stream file and allows you the option to load it An internet connection is required to view the file
43. POINT GREY Innovation in Imaging Ladybug5 USB 3 0 Spherical Camera Technical Reference Version 1 2 Revised 1 30 2013 USB 3 0 Point Grey Research Inc 12051 Riverside Way Richmond BC e Canada V6W 1K7 e T 604 242 9937 e www ptgrey com Copyright 2013 Point Grey Research Inc All Rights Reserved FCC Compliance This device complies with Part 15 of the FCC rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesirable operation Hardware Warranty Point Grey Research Inc Point Grey warrants to the Original Purchaser that the Camera Module provided with this package is guaranteed to be free from material and manufacturing defects for a period of 2 Years Should a unit fail during this period Point Grey will at its option repair or replace the damaged unit Repaired or replaced units will be covered for the remainder of the original equipment warranty period This warranty does not apply to units that after being examined by Point Grey have been found to have failed due to customer abuse mishandling alteration improper installation or negligence If the original camera module is housed within a case removing the case for any purpose other than to remove the protective glass or filter over the sensor voids this warranty This warranty does not apply t
44. age as a panoramic projection This is the default display Use Mapping Type to specify either a radial or cylindrical projection Spherical 3D Renders the image as a 3 dimensional spherical projection Dome m Renders the image as a dome projection Projection All Camera Six images from each camera are rendered separately unstitched Single Camera Image data from a selected camera is displayed Raw Single Camera Rectified Image data from a selected camera is displayed and rectified to account for lens distortion Rectification is the process of generating an image that fits a pin hole camera model 2 Forthe Rotation Angle from the Imaging Processing toolbar click the E button then select from the drop down list The rotation angle specifies the orientation of the camera unit s six cameras to the projection The default orientation is camera 0 projects to the front of the sphere and camera 5 to the upward pole or top of the sphere 3 For the Mapping Type from the Imaging Processing toolbar click the Lj button then select radial or cylindrical from the drop down list The mapping projection dictates how the six individual pictures from each camera are stitched into a panoramic display Using the Mouse You can click and drag inside the image display to control the way images render on the screen These controls do not affect how images are recorded or how the streams are output to other formats Not all contr
45. age processing plus additional GPU memory allocations that are necessary such as image display More than three threads may cause an error The overall processing speed depends on several factors disk I O speed number of CPUs and performance of the graphics card For fast stream processing we recommend the following a Multi core processor machine Graphics card with 512 Mbytes memory or more m Fast hard disk drive configuration such as RAIDO Reading the stream from one drive and writing the rendered images to another drive This example reads the processing parameter options from the command line Use or h to display the usage help Revised 1 30 2013 fe R 86 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation A 14 A 15 A 16 A 17 Point Grey Ladybug5 Technical Reference Appendix A Ladybug AP Examples ladybugSimpleGPS This example shows how to use a GPS device in conjunction with aLadybug camera to integrate GPS data with Ladybug images Before running this example you need to know the COM port to which the GPS device is mapped even if the device uses a USB interface Right click on My Computer from the Windows Start menu Under the Hardware tab click Device Manager Expand the Ports COM amp LPT node and note the COM port to which the GPS device is mapped ladybugSimpleGrab This example illustrates the basics of acquiring an image from a Ladybug camera The program per
46. ame Stream Base Name are considered as subsets of the same Ladybug stream When opening a Ladybug stream with a Stream Base Name the Ladybug API opens all the stream files that have the same Stream Base Name beginning with 000000 The total number of images of a Ladybug stream is the sum of all the number of images in each stream file that has the same Stream Base Name Revised 1 30 2013 fe R 32 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging 5 5 5 5 1 Point Grey Ladybug5 Technical Reference 5 General Ladybug5 Operation The data in a stream file is written in the following sequence Name Description Ladybug Stream file signature Stream Header Information about the stream file Structure Calibration Data Camera calibration file Image N 1 Last Ladybug image GPS Summary Data GPS summary data for the images in this stream file For more information see Stream File Format Camera Firmware Firmware is programming that is inserted into the programmable read only memory programmable ROM of most Point Grey cameras Firmware is created and tested like software When ready it can be distributed like other software and installed in the programmable read only memory by the user The latest firmware versions often include significant bug fixes and feature enhancements To determine the changes made in a specific firmware version consult the Release Notes Firmware is i
47. amera Gamma is applied after analog to digital conversion and is available in all pixel formats Gamma values between 0 5 and 1 result in decreased brightness effect while values between 1 and 4 produce an increased brightness effect By default Gamma is enabled and has a value of 1 25 To obtain a linear response disable gamma For 8 bit gamma is applied as OUT 255 IN 255 1 gamma Related Knowledge Base Articles Title Article How is gamma calculated and applied Knowledge Base Article 391 To adjust gamma During Capture From the Settings menu select Camera Control and click the Camera Settings tab During Post Processing From the Settings menu select Image Processing Select Gamma to adjust with the slider See Adjusting 12 and 16 bit Images High Dynamic Range HDR Imaging Generally speaking digital camera systems are not capable of accurately capturing many of the high dynamic range scenes that they are exposed to in real world settings That is they may not be able to capture features in both the Copyright 2013 Point Grey Research Inc Revised 1 30 2013 POINT GREY 60 Innovation in Imaging 8 11 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters darkest and brightest areas of an image simultaneously darker portions of the image are too dark or brighter portions of the image are too bright High Dynamic Range HDR mode helps to overcome this problem by capturing images with varyin
48. an also be controlled Setting a strobe duration value of zero produces a strobe pulse with duration equal to the exposure shutter time Multiple GPIO pins configured as outputs can strobe simultaneously Connecting two strobe pins directly together is not supported Instead place a diode on each strobe pin The camera can also be configured to output a variable strobe pulse pattern The strobe pattern functionality allows users to define the frames for which the camera will output a strobe For example this is useful in situations where a strobe should only fire m Every Nth frame e g odd frames from one camera and even frames from another or m N frames in a row out of T e g the last 3 frames in a set of 6 or m Specific frames within a defined period e g frames 1 5 and 7 in a set of 8 Related Knowledge Base Articles Title Article Buffering a GPIO pin strobe output signal using an optocoupler to drive external devices Knowledge Base Article 200 GPIO strobe signal continues after isochronous image transfer stops Knowledge Base Article 212 Setting a GPIO pin to output a strobe signal pulse pattern Knowledge Base Article 207 Debouncer By default Point Grey cameras will rejecta trigger signal that has a pulse width of less than 16 ticks of the pixel clock With the debouncer the user can define a debounce value Once the debouncer is enabled and defined the camera will reject a trigger signal with a pulse width less than
49. apture can be reapplied indefinitely Image data accumulates in an on camera frame buffer to perform JPEG JPEG Compression compression Following compression image data is output in 8 or 12 bit format via the USB 3 0 interface Storage Disk The image data is stored on the PC as stream files pgr format For the purpose of display minor processing such as decompression and stitching Display is performed to allow for verification of the capture Further processing may be performed depending on the available resources of the PC 1 1 2 Post Processing Workflow After capturing images you can use the Ladybug API to perform the remaining tasks on the PC The diagram below depicts the flow of data on the Ladybug5 during post processing The table that follows describes the steps in more detail SS SS m 2 2 2 SS SS SS Se ee ee ee ee ee Stitching Storage Fall Off Correction Disk Decompression Bayer Sharpening pgr 1 stream files E Computer Output Disk Standard format files eer eee uum 2222222222272 UU WR el ee A m v9 d ee eee ee 4 Figure 1 2 Ladybug5 post processing workflow Revised 1 30 2013 fe R 2 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications Image Flow Step Description Storage Disk Image data from the capture workflow is stored on PC as str
50. arch Inc vation in Imaging Innovatio Imaging 6 1 Point Grey Ladybug5 Technical Reference 6 Input Output Control Input Output Control General Purpose Input Output GPIO The camera has an 12 pin GPIO connector on the bottom of the case refer to the diagram below for wire color coding The GPIO is a Hirose waterproof 12 pin female connector Mfg P N LF10WBP 12SD The camera comes with a 6 meter power cable and wiring harness with a Hirose 12 pin male connector Mfg P N LF10WBP 12P Table 6 1 GPIO pin assignments as shown looking at rear of camera Diagram Pin Function Description OPTO_GND Ground for opto isolated IO pins Ground tor omoisomea opns EN l o i oenen NNI o 6 ob Ground for bi directional IO Ving 3 3 V pins 08 eee tows te camere toe powered exeray s Mae Mome aera tobe poweedenealy Ground for bi directional IO V 3 3 V pins Power must be provided through the GPIO interface The required input voltage is 12 24 V DC For more information on camera power see Powering the Camera Revised 1 30 2013 P R 35 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 6 2 6 2 1 6 2 2 6 2 3 6 2 4 Point Grey Ladybug5 Technical Reference 6 Input Output Control GPIO Modes GPIO Mode 0 Input When a GPIO pin is put into GPIO Mode 0 it is configured to accept external trigger signals GPIO Mode 1 Output When a GPIO pin is put into GPIO Mode 1 i
51. artitions to write the video stream to a different drive 4 After specifying all applicable settings click Convert to create the output file s Revised 1 30 2013 P R 76 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control 9 4 1 Outputting Flash Video With LadybugCapPro you can output a stream file to Flash video FLV which is a convenient format for publishing on the web LadybugCapPro produces all the necessary files for publishing in a single folder including both a panoramic viewer and a spherical viewer with Google Map display To output Flash Video 1 Open astream file and specify the frames to output using the Stream Navigation toolbar Make any necessary image adjustments using the Image Processing toolbar 2 Onthe Stream Processing toolbar specify an Output Size In the Output Type drop down list specify Panoramic or Dome FLV Then click S The Confirm Settings dialog opens 3 Under Output Directory specify a directory to hold the output file s 4 Specify a Bit Rate The bit rate affects the compression quality and file size of the output When specifying a bit rate keep in mind the following Depending on the Output Size specified above larger sizes generally require larger bit rates for compressing images to an acceptable quality a A higher bit rate results in larger files and longer download time but high
52. ata block is the value of Configuration Data Size as defined in the Stream Header Structure Frame Header Since v7 of the frame header there is a frame header at the start of each image The size of the frame header can be found in the stream header Frame headers are present regardless of whether the image data format is JPEG or uncompressed The information in the frame header can be found in the LadybugImageHeader structure JPEG Compressed Image Data Structure If the image format specified for recording is JPEG each image for the six camera sensors is JPEG compressed in four separate Bayer channels Therefore a frame of ladybug image has 24 JPEG data blocks The first frame of JPEG images begins immediately after the configuration data The second frame follows the first frame the third frame follows the second and so on The offset value of the first JPEG image relative to the beginning of the file is the value of Stream Data Offset as defined in the Stream Header Structure The general layout of a JPEG compressed Ladybuglmage is as follows Image Header 0x000 0x400 Cam 0 Bayer 0 Cam 0 Bayer 1 Cam 0 Bayer 2 Revised 1 30 2013 P R 91 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Cam 0 Bayer 3 Cam 1 Bayer 0 Cam 4 Bayer 3 For each compressed Ladybug image the GPS NMEA sentences are written at the end of each
53. ates a Google Map file from the GPS data that was previously recorded with the stream file and allows you the option to load it An internet connection is required to view the file Google Maps are saved as html files in the bin folder of the PGR Ladybug installation directory This control is not available in live image grabbing mode Creates a Google Earth file from the GPS data recorded with the stream file and allows you the option to load it The Google Earth application and an internet connection are required to view the file Google Earth files are stored as kml files in the bin folder of the PGR Ladybug installation directory This control is not available in image capture mode Generating a GPS data file You can download the data file containing the GPS data for each frame of a recorded stream file From the GPS menu item select Generate GPS frame information After the file is generated a dialog box informs you of the location of the file 7 8 1 Using GPS with the Ladybug API For a code example please see the ladybugSimpleGPS example Examples can be accessed from Start Menu gt Point Grey Research gt PGR Ladybug gt Examples The Ladybug library has the ability to interface with a GPS device and insert NMEA sentence data into Ladybug images The data can then be extracted at a later time and be used to generate HTML data which can be displayed as a Google Map or KML data which can be loaded into Google Earth The
54. bbing The options with further explanations below are a Getting NMEA data from a GPS device or Ladybuglmage The functions LadybugGetGPSNMEAData or ladybugGetGPSNMEADataFromImage can be used to get a single NMEA sentence from a GPS device or LadybugImage This is usually sufficient if only a small set of values are needed for example only latitude and longitude If all the sentences are required calling LadybugGetAl1GPSNMEAData or ladybugGetAllGPSNMEADataFromImage will populate a LadybugNMEAGPSData structure with all the supported NMEA sentences if available Each NMEA structure has a boolean value called bValidData This value is true only if the data contained in that structure is valid Getting GPS data from a LadybugImagelnfo structure When grabbing images in JPEG mode a filled LadybugImageInfo structure is available in each LadybugImage When the GPS functionality is active the following values are populated a dGPSAltitude a dGPSLatitude dGPSLongitude If any of these values are equal to LADYBUG INVALID GPS DATA then they should be considered invalid Once image grabbing has been completed call ladybugStopGPS to stop data acquisition from the GPS device Revised 1 30 2013 fe R 49 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 7 8 2 Point Grey Ladybug5 Technical Reference 7 Image Acquisition 7 Unregister the GPS context by calling LadybugUnregisterGPS
55. bee a 32 DA Stream El8S sic cee lo et a dete ede Ui deduce qU SUE ete quc eee cass eke toss tees 32 5 95 Camera FIR MWALC 8 coe 33 5 5 1 Determining Firmware Version _ 2 02 0 cece eee cece cece cece cece ceceeceeseeceecececseeseeeees 33 5 5 2 Upgrading Camera Firmware _ 22 2 0 eco e cece cece cece cece ccc cececceeeecceceeceececseeeeeeees 34 6 Input Output Control _ 22 2 2 cee cee cece eee c cence cceeeecceeeeeceeeseceeeseceerseeeeeseees 35 6 1 General Purpose Input Output GPIO 2 2 ee cece cece eee ccceecceeccececeeececeecececeeecececeeseeeees 35 62 GPIO MOSS Sq eck ee ee ee ee ee de 36 6 2 GPIO Mode 0 Irip t 22 elec bsietl S ten lb a e r be pecs sededscn dads aaa a dees saida 36 6 2 2 GPIO Mode 1 Output 2 2 2 2 ec cece cee ec eee cence eee cee cee eee ceceeceeceeceseeseees 36 6 2 3 GPIO Mode 2 Asynchronous External Trigger 0 2 cece cee ceccceecceccceccccccecccecccecceneeees 36 6 2 4 GPIO Mode 3 Sthobe i osea ceed hate ey OR SE E TO DE Pase deeded bebe dix da 36 6 3 Programmable Strobe Output ouuuuuuusussusssssllsslssl sss ssl ec e cee ceceeseeceeeereeseees 37 6 4 Debouncer ec lielllillie acce ceklieielilzenll cciiq stili ilidesicle i ilf il ore f tig gcc lee gel 37 6 5 12 Pin GPIO Electrical Characteristics 2 00 0 0 c ccc cece cee eee cece eee e Ree eren 38 7 Image Acquisition _
56. bration and Coordinate System is computed in the same manner as in the radial projection can go to infinity as the 3D point nears the pole which is why the field of view of the cylindrical projection must be limited When rendered using LadybugCapPro only the field of view between 45 degrees and 45 degrees is displayed Thus this projection is useful when only the images from the side cameras are needed 6 9 can be obtained by referring to the fCylAngle and fCylHeight members of the LadybugPoint3d struct which is obtained by invoking ladybugGet3dMapy Example cylindrical projection image Dome Projection This is a projection that maps the sphere to a dome like shape In LadybugCapPro select Output Type Dome The projection equation is as follows R VX 47742 p ACOS R X T id PR Y Fap PR U V are coordinates of the dome projected image With this projection the north pole of the sphere is drawn in the center and the south pole is drawn as the outer rim of the dome You can limit the range of the image to be rendered by calling the function ladybugChangeDomeViewAngle Revised 1 30 2013 fe R 100 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix C Calibration and Coordinate System Example dome projection image Cubic Skybox Projection This projection requires 6 images where each image is the surface of a cube
57. bugCapPro application provides an easy to use interface for controlling many functions of your Ladybug camera LadybugCapPro consists of two primary interfaces the Main Window and the Camera Control Dialog Interface Functions Control image processing settings including color processing algorithm falloff correction blending width projection stabilization and vertical tilt adjustment View a live video stream from the camera and record stream files Output stream files into other formats Save individual panoramic images Record positional data from a GPS device into a stream and generate Google Maps or Google Earth files Control settings such as brightness gain shutter white balance and others Configure video mode and pixel format Adjust JPEG Compression Operate the camera in High Dynamic Range mode Configure the GPIO for trigger strobe control Access camera registers Control each sensor independently for shutter gain and auto exposure Access advanced settings Camera Control Dialog To start LadybugCapPro To run LadybugCapPro from the Start menu select Program Files Point Grey Research Inc PGR Ladybug LadybugCapPro exe 3 2 1 Welcome Dialog When LadybugCapPro starts the Welcome dialog opens You have a choice of starting a camera or loading a previously recorded stream file Start Camera If you choose to start a camera the Select Camera dialog opens This dialog allows you to view a list
58. c eee ceecceeceecceeescecececceeceeees 25 4 1 Ladybug5 Dimensions _ 22 02 22 e cece cece eee cence ccc cece nce c cece ececceceeseeceeeeeeeseeseeseees 25 2 2 MOUNTING AEE ech eat ee ees eee ce eas ee hee eee a eae Une iEn euet iE ES D 25 42 1 UsiDg the Casei ou ate Sat es hrs erret tO rae Se e n MEE AE EE 25 4 2 2 Using the Desktop Mount 22 22 2222 cee cece cece s cece cece eee eeceeceeeeececeeceeeeeeeseeees 26 4 2 3 Using the Tripod Adapter 222 0202 elec cece cece ee ss s RR ceceeececeeceeceeeeseeseeeees 26 4 3 Water and Dust Protection 2 0 0 c cece cece cece eee cece eese e e ee ceeeeneeeeececeeeeeeeteeeeeeaes 27 4 4 Infrared Cut Off Filters 222 2222 ee eee cece ee rrr 27 4 5 Camera Interface and Connectors 2 22 2 eee eee eee 29 45 1 USB3 0 COMMECIOM Rm 29 45 2 Interface Cables 0 D 29 4 5 3 Interface Card _ 2 2 2 eee eee eee ee ence ence eeeeeeeeeeees 30 4 5 4 General Purpose Input Output GPIO _ 22 2 2 eee cee eee cece cece cece cceeeeseeecseeeeees 30 5 General Ladybug5 Operation __ 2 2 2 2 02 coc cece cece eee e cece eee e cee ceceeceeseeceeeeseeseeees 31 5 1 Powering the Camera 22 02 cece ccc cece ccc c cece ec ce cee cecceccecceceececcecceseucecceccesceceececceseusees 31 5 2 User Sets Memory Channels 22 2 2 2 eee ee cee cece cece cece ceccecccecceeececececccecscecsceeceeeeees 31 5 3 Environmental Sensors 22 2201 sc2 25 205 226 Ree Medd vdeo geht det eed Le Med
59. cal tilt either during image capture or stream file playback The following images show the effect of adjusting for vertical tilt The image on top shows vertical lines curved This curvature is corrected in the bottom image Figure 9 1 Scene with Tilt Effect Revised 1 30 2013 POINT GREY 70 Copyright 2013 Point Grey Research Inc Innovation in Imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control Figure 9 2 Tilt Adjusted Scene When you select Set Z Axis from the Settings Menu LadybugCapPro prompts you to Shift click on four points in the image The first two clicks specify points on a line in the image that should be adjusted vertically and the second two clicks specify another line in the image that should be adjusted vertically By doing this LadybugCapPro can orient the selected lines with the center of the sphere and re adjust the Z vertical axis of the radial projection After the fourth Click all the images being captured or replayed are adjusted vertically For example in the first figure above you might select the following four points to adjust Figure 9 3 Suggested Clicking Points to Specify Vertical Line Adjustment Revised 1 30 2013 R 71 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio Imaging 9 2 7 Point Grey Ladybug5 Technical Reference 9 Post Processing Control When selecting vertical line clicking points keep in mind the follo
60. ce cece ee ceceeceeceesereeseesees 16 3 2 2 5 Image Processing Toolbar _ 22 2 2 coc cee cece ence cee c cece ec ee cee eeceeeeeceeeeseeseeseees 17 3 2 2 6 GPS Toolbak 2 iif lebe vr plor is sieireikr mk E c EE I ee D A E Pub 19 3 2 2 7 LadybugCapPro Main Menu 2222 22 2 e cece eee c cece nec ecccceceecceceeceececsereeeeesees 19 3 2 2 8 LadybugCapPro Status Bar 22 22 22 o eee ee cece cece cence cece ee ceececeeceeseeseeeeeeeeees 20 3 2 3 Using the Camera Control Dialog 22 22 22 cece cece cence eee cece cece cee ceeeeceeseeseeeees 21 32 3 1 Camera Settings 5e L Rus elle eid dire cbor osecciv za dois idee soc irTzer geb 21 3 2 3 2 Custom Video Modes sssuuuuulllllllllllllllllsssss sls s er er rre rrr rrr ll 21 3 2 3 3 Camera Registers 2 2 22 2 c cece cece nec e cece cece cee eee eeceeeeececeeseeceesereeseesees 22 Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G R FY Innovation in Im aging Point Grey Ladybug5 Technical Reference 3 2 3 4 Trigger Strobe l a oaaao aaan aoaaa c eee c cece cece ce cccecececeeecceeecsseeeesccceeceecerseseeeees 22 3 2 3 5 Advanced Camera Settings 2 02 2 ccc ccc cece cece cece cece cee ccececcecceccececcecceccececceccecees 23 3 2 3 6 Ladybug Settings 2 22 22 o cece cece ce cee ce cee cece cence eee e cee ceececeeseeseecereeeeeeees 23 4 Ladybug5 Physical Interface _ 22 222 002 ooo cece cece cee cece cc eee cee
61. corrects the barrel distortion caused by the Ladybug lenses Projecti Image textures are mapped to a single 2 or 3 dimensional coordinate system depending rojection J on the projection that is specified Blendi Pixel values in each image that overlap with the fields of adjacent images are adjusted to endin 5 minimize the effect of pronounced borders The result is a single stitched image Color intensities can be adjusted manually to achieve more correct balance White Balance White Balance i is ON by default If not ON no white balance correction occurs comme Gamma can be manually adjusted By default gamma adjustment is OFF and no correction occurs Revised 1 30 2013 P R 3 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications Figure 1 3 12 bit raw image Figure 1 4 12 bit image corrected during post processing For details see Revised 1 30 2013 l R 4 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging 1 2 Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications Ladybug5 Specifications LD5 U3 51S5C 44R LD5 U3 51S5C 44B A D Converter Video Data Output Image Data Formats Partial Image Modes Image Processing White Balance High Dynamic Range Digital Interface Transfer Rates External Trigger Modes Memory Channels Case Power Consumption Machine Visi
62. ction image appropriate scaling is needed based on these value ranges 6 0 can be obtained by referring to the fTheta and fPhi members of the LadybugPoint3d struct which is obtained by invoking ladybugGet3dMap The benefit of this projection is that all the points in the original spherical coordinate system can be mapped on a single image Additionally the correspondence of the original point and the projected point is simple in that the horizontal axis corresponds to longitude and the vertical axis corresponds to latitude of a globe However this projection suffers from the disadvantage of pixels becoming increasingly stretched out as one approaches the poles of the sphere top and bottom of the projected image Example radial projection image Cylindrical Projection This projection is similar to the radial projection but with a limited field of view as areas close to the poles are not able to be rendered In LadybugCapPro you can output video to this projection by using the Stream Processing Toolbar and selecting Output Type Panoramic Then using the Image Processing Toolbar specify Mapping Type Cylindrical The projection equation is as follows X Y a 8 ATAN2 Y X ES ZR R z 6 0 are the coordinates of the projected image Revised 1 30 2013 fe R 99 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix C Cali
63. dentified by a version number a build date and a description Related Knowledge Base Articles Title Article PGR software and firmware version numbering scheme standards Knowledge Base Article 96 Determining the firmware version used by a PGR camera Knowledge Base Article 94 Should upgrade my camera firmware or software Knowledge Base Article 225 Determining Firmware Version To determine the firmware version number of your camera In LadybugCapPro open the Camera Control dialog and click on the Camera Information tab Revised 1 30 2013 P R 33 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging 5 5 2 Point Grey Ladybug5 Technical Reference 5 General Ladybug5 Operation Upgrading Camera Firmware Camera firmware can be upgraded or downgraded to later or earlier versions using the UpdatorGUI program that is bundled with the Ladybug SDK available from the Point Grey downloads site Before upgrading firmware wm Install the SDK downloadable from the Point Grey downloads site Download the firmware file from the Point Grey downloads site To open the UpdatorGUI Start Menu gt All Programs gt Point Grey Research gt PGR Ladybug gt Utilities gt UpdatorGUI Select the camera from the list at the top Click Open to select the firmware file Then click Update Do not disconnect the camera during the update process Revised 1 30 2013 POINT GREY 34 Copyright 2013 Point Grey Rese
64. duration is SHUTTER register value EY data Trigger is armed Begin data readout integration Previous image End of readout complete Ls Video mode change is configured within this period Sensor readout Figure 7 7 Relationship Between External Triggering and Video Mode Change Request When operating in trigger mode 0 page 40 or trigger mode 1 page 41 video mode change requests made before point A on the diagram are honored in the next triggered image The camera will attempt to honor a request made after point A in the next triggered image but this attempt may or may not succeed in which case the request is honored one triggered image later In trigger mode 14 page 42 point B occurs before point A The result is that in most cases there is a delay of one triggered image for a video mode request made before the configuration period to take effect In trigger mode 15 page 43 change requests made after point A for any given image readout are honored only after a delay of one image Revised 1 30 2013 fe R 45 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 7 6 7 7 Point Grey Ladybug5 Technical Reference 7 Image Acquisition Asynchronous Software Triggering Shutter integration can be initiated by a software trigger The time from a software trigger initiation to the start of shutter is shown below Software trigger ey a 1 Software Trigger Exposure time 2 4d sLl 2 Trigger
65. e above determines which formats are supported If AVI or H 264 is selected and total output is greater than 2 GB separate files are created for each sequential 2 GB section of the output E A drop down list of resolutions for outputting the stream To specify a custom resolution select Custom Click to start conversion The Confirm Settings dialog opens for specifying an output directory for the output file After specifying all applicable settings click Convert to create the output file s Click to temporarily stop converting Click again to resume If you want to cancel conversion after clicking click Any images created before clicking are saved to the directory you specify including those created during AVI conversion Click to permanently stop converting Any images created before clicking are saved to the directory you specify For more information see Viewing and Outputting Stream Files 3 2 2 5 Image Processing Toolbar 03 The Image Processing Toolbar contains settings that are common to both the live camera and stream file modes The controls on this toolbar are used to change the way images are processed and rendered You can use this toolbar to change the color processing algorithm panoramic viewing angle panoramic mapping type falloff correction blending width stabilization sphere size and color correction Additionally you can view a histogram of RGB values represented in the current image Revi
66. e algorithm if enabled running This ensures that when a user starts requesting images the first image received is properly exposed When operating in free running mode changes to the shutter value take effect with the next captured image or the one after next Changes to shutter in asynchronous trigger mode generally take effect on the next trigger To adjust shutter During Capture From the Settings menu select Camera Control and click the Camera Settings tab Revised 1 30 2013 fe R 56 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging 8 5 1 8 5 2 8 6 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters Extended ShutterTimes The maximum shutter time can be extended beyond the normal range by disabling the frame rate Once the frame rate is disabled you should see the maximum value of the shutter time increase To enable extended shutter During Capture From the Settings menu select Camera Control and click the Camera Settings tab Deselect Frame Rate On Off to disable the frame rate Shutter Range The camera offers three preset shutter range modes to set the maximum shutter value Motion maximum shutter is set to as short as possible to prevent motion blur Best used outdoors or images may be too dark This is the default m Indoor maximum shutter is slightly longer than the motion mode for use in indoor applications Low Noise maximum shut
67. e amount of memory to be allocated is Image Size in MB Number of cameras x W x H x BPP 1000000 Bytes per pixel BPP is related to pixel format m 8 bit 1 BPP m 12 bit 1 5 BPP wm 16 bit 2 BPP For example the memory size allocation required for a JPEG8 image after conversion is Image Size Number of cameras x W x H x BPP 1000000 Image Size 6 x 2448 x 2048 x 1 1000000 Image Size 30081024 1000000 Image Size 30 MB Determining Bandwidth To calculate your bandwidth requirements use your required resolution frame rate and pixel format as follows Bandwidth in MB s Number of Cameras x W x H x FPS x BPP 1000000 For example a Raw8 full size image at maximum frame rate would use the following bandwidth Bandwidth Number of Cameras x W x H x FPS x BPP 1000000 Bandwidth 6 x 2448 x 2048 x 8 x 1 1000000 Bandwidth 240648192 1000000 Bandwidth 241 MB s Determining Frame Rate The theoretical frame rate FPS that can be achieved can be calculated as follows Frame Rate in FPS Bandwidth W x Hx BPP Number of Cameras For example assuming a Raw8 full size image using 240 MB s bandwidth the calculation would be as follows Frame Rate Bandwidth W x H x BPP Number of Cameras Frame Rate 240000000 2448 x 2048 x 1 6 Frame Rate 7 98 FPS Pixel Formats Pixel formats are an encoding scheme by which color or monochrome images are produced from raw image data Most
68. e camera m The final right most status pane shows the rate by which image data is being transferred from the camera to the PC over the bus For more information see Capturing Stream Files Stream File mode m The first left most status pane contains information about the status of stream conversion m The second status pane contains GPS positional information m The third status pane shows the rate at which image conversion is processed m The fourth status pane shows the index number of the current image being displayed out of the total number of images in the stream wm The fifth status pane shows the current values of the left and right keyframes m The final right most status pane shows the shutter gain and gamma settings under which the stream file was recorded For more information see Viewing and Outputting Stream Files Revised 1 30 2013 POINT GREY 20 Copyright 2013 Point Grey Research Inc vation in Imaging Innovatio Imaging 3 2 3 3 2 3 1 3 2 3 2 Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Using the Camera Control Dialog The Camera Control dialog allows you to control most Ladybug camera functions To include this dialog within a custom software application link to pgrflycapturegui lib and create a new CameraGUIContext within your application Refer to the LadybugCap demo source code for an example of how to do this The following settings can be viewed or set usi
69. e degree of adjustment to apply 4 Click OK Blending Width Blending is the process of adjusting pixel values in each image that overlap with the fields of adjacent images to minimize the effect of pronounced borders The default width of 100 pixels is suitable for the 20 meter sphere radius to which Ladybug cameras are pre calibrated To change the sphere radius see Adjusting Sphere Size for Stitching The blending width control allows you to adjust the pixel width along the sides of each of the six images within which blending takes place prior to stitching To modify the blending width 1 From the Imaging Processing toolbar click the 4 button or from the Settings menu select Blending Width 2 Specify a blending width with the slider or textbox 3 Click OK Rendering the Image for Display These controls affect video display only To specify how images are rendered when outputting to video specify an Output Type using the Stream Processing Toolbar You can change the way images are rendered for display See Projection Types for detailed information Revised 1 30 2013 fe R 66 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control To modify the image display 1 From the Imaging Processing toolbar click the Hi button then select an image type from the drop down list Display Description Panoramic Renders the im
70. e pixels There are four parameters that affect Auto Exposure Auto Exposure Range Allows the user to specify the range of allowed exposure values to be used by the automatic exposure controller when in auto mode Auto Shutter Range Allows the user to specify the range of shutter values to be used by the automatic exposure controller which is generally some subset of the entire shutter range Auto Gain Range Allows the user to specify the range of gain values to be used by the automatic exposure controller which is generally some subset of the entire gain range Auto Exposure ROI Allows the user to specify a region of interest within the full image to be used for both auto exposure and white balance The ROI position and size are relative to the transmitted image If the request ROI is of zero width or height the entire image is used Auto exposure can be controlled on each of the six sensors independently For more information see Independent Sensor Control of Shutter Gain and Auto Exposure on next page Revised 1 30 2013 P R 58 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 8 7 1 8 8 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters To control auto exposure a During Capture From the Settings menu select Camera Control and click the Camera Settings tab During Post Processing From the Settings menu select Image Processing Select Exposure and then select Automatic fro
71. eam files pgr Images are decoded back into raw image format for further processing By default the stitching process assumes that all points in the field of view are 20 meters from the camera This measure produces optimal results for most types of outdoor use Falloff Correction adjusts the intensity of light in images to compensate for a vignetting effect Sharpening Image textures are sharpened This effect may be most noticeable along texture edges Song varon The dynamic range of images is converted from high HDR to low LDR to resemble more PPE closely the dynamic range of the human eye The amount of post processing performed is dependent on which pixel format was selected Fall Off Correction For 8 bit formats only the above processing is performed stitching fall off correction Post Processin E sharpening and tone mapping For 12 and 16 bit formats in addition to the above Bayer decoding gain black level white balance gamma and EV compensation are available Display You can change the way images are rendered for display Output Final image files can be output in standard formats Raw versus Processed Images The raw Bayer tiled images are interpolated to create a full RGB images For more Color Processing information see Bayer Color Processing Following color processing images are loaded onto the graphics card of the PC for rectification projection and blending Rectification Rectification
72. ecceetereeeees 1 Figure 1 2 Ladybug5 post processing workflow 2 2 0 22 22 e cece eee cee cece cecceccecceceeseceeeeeceeseees 2 Figure 1 3 12 bit raw image _ 2 2 2 2 e cece ce eee eee cece eee ee ee cee eeeeeceeceeseceeseeeeeeees 4 Figure 1 4 12 bit image corrected during post processing 2 2 2 2 e eee e cece cece ee cecceceeceeceeseees 4 Figure 4 1 Ladybug5 Dimensional Diagram _ 0 02 cece cece cece cece ccc ceccecceccecccceccecceccececceccereecs 25 Figure 4 2 Desktop Mount in mm oaaao 2 2 2 2 oe e cece eee ec eee cee cece cece ceeceeeceeeceecceccceeceeereeeees 26 Figure 4 3 Tripod Adapter in mm _ 2 2 o eee eee eee cee cece lI ceeccceceeececececccecetecseeeseeeeees 27 Figure 4 4 IR filter transmittance graph _ 222 2222 o eee eee cee cece cece cece ceeccecccecteeceecceeeceeees 28 Figure 4 5 USB 3 0 Micro B Connector 0 1 c cece ccc c ccc cece cece cecccaccceccencccecceeceueccucceucteucececeaues 29 Figure 6 1 Debouncer Filtering Invalid Signals 2 02 02 2 202 cece cece eee eee c cece ec ceceeceececeeeeeeeees 38 Figure 7 1 Trigger Mode O Standard External Trigger Mode 2222 22 eee eee eee cece cece ceecceeeceeeees 40 Figure 7 2 Trigger Mode 1 Bulb Shutter Mode _ 22 2 2 oe eee cece ee cee cece cece ceeecececeeceececeeseeecees 41 Figure 7 3 Trigger Mode 3 Skip Frames Mode 2 20 cece cece cece ec cceccceccecccecccecccecceecececcu
73. ece cee cece eee e cece cece ec ec cece eeeeeseeseeceesereeseeeees 57 8 6 GaN perst sorg el Lis iscooel a eco Lh a ooo ll 2 LSC cSU cts ie R2 Rl a so gs giles eco bb es tlt eso 57 8 7 Auto Exposure oo eee ccc cece cece else n e cece ccecceceececeecceceececcescecceceecesceccescucescercenens 58 8 7 1 Auto Exposure ROI 2 2 2 2 ec ccc eee sls cc ec e cece cence eee e cece eee eeceeceeceectreeeeees 59 8 8 Independent Sensor Control of Shutter Gain and Auto Exposure 2 2 22 2 eee eee cee cece eceeceeee 59 8 9 GaMMa 2222 2 deen to aden eld eaea r aa aae dled sts phoebe cides tele s penal aiden casi 60 8 10 High Dynamic Range HDR Imaging 2 2 00 c ccc ec cece cece ccceecccceeccccececccecececececeeeeeeeeees 60 8 11 Embedded Image Information _ 2 02 22 2 cece cece cece ec nec e cee cece cee ceeeeceeceeseeeeceeseeeees 61 8 12 WhiteBalance c 62 8 13 Bayer Color Processing sssuusussssssllslssslss cece cece ec ee ceceeceeceeseececeeeeeceecereeseees 63 9 Post Processing Control _ 2 22 2 02 cece cece cece cece cece cece ccc ceeccececcecceccuceececcuscecceceeceseesees 65 9 1 Reading Stream Files 22 22 20 o icc cence cece cece ls cence cece cee ceececcesceseeceeeeseeseees 65 9 2 Working with Images _ 2 222 2222 c cece eee ce eee ce cence cece cece cece cece e eee ceececeeceeeeeseseeseeeees 66 9 2 1 Falloff Cor
74. eceees 41 Figure 7 4 Trigger Mode 14 Overlapped Exposure Readout Mode 2 222 e cece eee cceececceeeceeeees 42 Figure 7 5 Trigger Mode 15 Multi Shot Trigger Mode 2 22 2 e eee eee cece ccc eeccecceecceeceeeceeeceeeees 43 Figure 7 6 External trigger timing characteristics 2 02 22 2 cece eee ee eee eee ce cece cece eececeeseeseeeee 44 Figure 7 7 Relationship Between External Triggering and Video Mode Change Request L Luuu 45 Figure 7 8 Software trigger timing 2222 22 cee cee cee cece cece cece cece cece ceeceeeccectecccceceeceeeeceetees 46 Figure 8 1 Example Bayer Tile Pattern 2 222 22 2 oo cece eee ene cece cece cece cece cee eeceeceeceseeseeseeeees 63 Figure 9 1 Scene with Tilt Effect 2 002222 o oll ccc eee eee e ccc ccc ccc ecceecceecceececececcceeeeeereeeees 70 Figure 9 2 Tilt Adjusted Scene 2 0 22 elec cece cece cece ccc ec acc ecceccecceceececcecceceececcescesceceececceseess 71 Figure 9 3 Suggested Clicking Points to Specify Vertical Line Adjustment 00 00 0000002000 222 e eee eee 71 Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G R FY Innovation in Imaging Point Grey Ladybug5 Technical Reference Contacting Point Grey Research Contacting Point Grey Research For any questions concerns or comments please contact us via the following methods General questions about Point Grey Research Technical support exist
75. ed space unsigned int Image data format defined in ladybug h unsigned int Image resolution defined in ladybug h 0x0080 Stippled format 4 Configuration data 0x0084 size N Number of 0x0088 images 0x008C M Number of index 0x0094 Stream data offset 4 unsigned int Image Bayer pattern unsigned int Number of bytes of the configuration data unsigned int Number of images in this stream file unsigned int Number of entries used in the index table unsigned int Interval value for Indexing the images unsigned int Offset of the first image data Revised 1 30 2013 P R 89 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Offset Type Description GPS summary data 0x0098 offset GPS summary data 0x009C size Air pressure 0x00B0 WESS availability Air pressure 0x00B4 D minimum Air pressure 0x00B8 maximum OxOOBC Compass availability Accelerometer O0x00C8 NS availability Accelerometer Ox00CC MM minimum Accelerometer Ox00D0 maximum 0x00D4 Gyroscope availability unsigned int Offset of GPS summary data block unsigned int Size of GPS summary data block Whether air pressure sensor is available unsigned int Minimum value for sensor unsigned int Maximum value for sensor Whether compass sensor is available unsigned int Minimum value for sensor unsigned int Maximum value for sensor Whether
76. effect at the end of shutter integration Each piece of information takes up 32 bits 4 bytes of the image When the camera is using an 8 bit pixel format this is 4 pixels worth of data The following frame specific information can be provided Timestamp Gain m Shutter a Brightness a White Balance Frame counter m Strobe Pattern counter GPIO pin state ROI position Revised 1 30 2013 P R 61 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 8 12 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters The Ladybuglmagelnfo structure in ladybug h contains the format of the embedded information This information is always provided at the start of the image If only Shutter embedding were enabled then the first 4 bytes of the image would contain Shutter information for that image Similarly if only Brightness embedding were enabled the first 4 bytes would contain Brightness information To access embedded information During Capture From the Settings menu select Camera Control and click the Advanced Camera Settings tab Interpreting Timestamp information The Timestamp format is as follows some cameras replace the bottom 4 bits of the cycle offset with a 4 bit version of the Frame Counter 1s 125 us intervals intervals Second count Cycle count Cycle offset 7 bits 13 bits 12 bits Cycle count increments from 0 to 7999 which equals one second Second count incremen
77. en click OK In Stream File mode the title bar of the main window contains the file path name serial number pixel format and frame rate for the loaded stream file Functions in LadybugCapPro can be accessed via menus or toolbars 3 2 2 1 Main Toolbar amp 9 p Use the Main Toolbar for connecting to a new camera or stream or changing LadybugCapPro application settings Icon Description Ej Starts a new camera or loads a pgr stream file For more information see Welcome Dialog Allows you to set the following Options for communicating with your GPS receiver See Working with GPS Data JPEG Compression Quality Controls the quality of images that are saved from a stream file in JPEG format See Saving Images We recommend the default setting of 85 The increased file size and processing resources at higher settings may not be worth the minimal increase in quality Options for Google Map See Generating Google Maps and Google Earth data Stabilization Adjusts Parameters for working with image stabilization See Stabilizing Image Display Dynamic Stitch properties used for auto and one shot dynamic stitch See Adjusting Sphere Size for Stitching Use large icons Check to magnify the display of toolbar icons 3 2 2 2 Live Camera Toolbar sg Data Format Uncompressed 8 bit M A dg Shutter range Indoor v AEROI Bottom 50 B Revised 1 30 2013 P R 15 Copyright 2013 Point Grey Research Inc POINT G EY
78. ended Related Knowledge Base Articles Title Article Ladybug JPEG image quality and buffer size settings Knowledge Base Article 288 Revised 1 30 2013 P 54 Copyright 2013 Point Grey Research Inc POINT G REY Innovation in Imaging 8 3 8 3 1 Point Grey Ladybug5 Technical Reference Shutter Type Global Shutter 8 Imaging Parameters For cameras with a global shutter sensor for each frame all of the lines start and stop exposure at the same time The exposure time for each line is the same Following exposure data readout begins The readout time for each line is the same but the start and end times are staggered Readout Time Exposure Time gt K Line 1 Line 2 um Line 3 e Line 4 a am Line 5 Line 6 em Line 7 M Line 8 Line 9 Line 10 E LJ v gt EN HB Line n 2 Line n 1 Linen Readout Que Exposure E Readout Some advantages of global shutter are more uniform brightness and minimal motion blur Revised 1 30 2013 Copyright 2013 Point Grey Research Inc POINT GREY Innovation in Imaging 55 8 4 8 5 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters Brightness Brightness also known as offset or black level controls the level of black in an image The camera supports brightness control To adjust brightness During Capture From the Settings menu select Camera Control and click the Camera Settings tab During Post Pr
79. er Channel 1 JPEG data Offset 0 2 unsigned int Cam 0 Bayer Channel 2 offset JPEG data size Size 0 2 4 unsigned int Cam 0 Bayer Channel 2 JPEG data Offset_0_3 unsigned int Cam 0 Bayer Channel 3 offset JPEG data size Size 0 3 4 unsigned int Cam 0 Bayer Channel 3 JPEG data Offset_1_0 unsigned int Cam 1 Bayer Channel 0 offset JPEG data size Size_1_0 a unsigned int Cam 1 Bayer Channel 0 JPEG data Offset 5 2 unsigned int Cam 5 Bayer Channel 2 offset iiis uii Sizes a unsigned did 2 iiid iab N A N A N A EE Ka EE EE EN EM Revised 1 30 2013 P R 93 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Offset Name Value Bytes Type Description JPEG data Offset 5 3 offset JPEG data size 0x0400 JPEG data s JPEG data ize_i_ i Beginning from offset 0x0400 are the 24 JPEG j data blocks for Camera i Bayer Channel j where i 0 1 2 3 4 5 6 andj 0 1 2 3 GPS NMEA data ASCII text GPS NMEA sentences a Size The four bytes of timestamp data at offset 0x0000 are the cycle time seconds cycle time count and cycle offset when the image is captured Description Cycle Time seconds Cycle Time ms Cycle Offset 0 127 0 7999 0 3071 For more information about Ladybug time stamp see the definition of LadybugTimestamp struct in ladybug h The data between offset 0x0010 and 0x008F conta
80. er quality output a There is no recommended value You may need to try different values before satisfying your requirements 5 Tooutput web publishing files associated with the FLV file check Produce web files When checked LadybugCapPro produces the following files in addition to the FLV file panoramic viewer html Presents the video as a panoramic display wm spherical viewer html Presents the video as a spherical display To pan and tilt the display click and drag the mouse or use the navigational arrows To zoom in and out use the controls This file is not produced if Dome view is specified in Step 2 Currently spherical viewer html is unable to play videos whose Output Size width or height is greater than 2800 wm spherical viewer map html This file is produced only if positional data was recorded with the stream file For more information see Working with GPS Data This file is identical to spherical viewer html but also includes a synchronized Google Map display To synchronize the map with the video click and drag on the video or use the viewer controls To synchronize the video with the map double click on the map Revised 1 30 2013 fe R 77 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio Imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control When spherical viewer map html is installed on a local file system security restrictions native to the Flash
81. era s images Knowledge Base Article 89 Writing color processing software and color interpolation algorithms Knowledge Base Article 37 Revised 1 30 2013 R 64 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control Post Processing Control The options available for post processing control are dependent on the pixel format chosen during image capture 12 and 16 bit formats have more post processing options than 8 bit formats Certain parameters can be adjusted after image capture during post processing including m Stabilization wm Vertical tilt m Stitching Image parameters such as black level exposure gamma tone mapping white balance For 8 bit formats see Adjusting 8 bit Images For 12 and 16 bit formats see Adjusting 12 and 16 bit Images Reading Stream Files Using LadybugCapPro Gy From the File menu select New or click the button Click Load Stream File Select your file and click Open When LadybugCapPro is launched it prompts you to start a camera or load a stream file Using Ladybug API The following steps provide a brief overview of how to use the stream functionality of the Ladybug library to read a stream from disk 1 Create a stream context LadybugStreamContext by calling LadybugCreateStreamContext 2 Initialize the stream context for reading by calling LadybugInitializeStreamForReading 3 Att
82. es for patterns within a series of templates in each frame This value specifies the size in pixels of each template If the frame rate is low or movement is fast try using a larger value for better results However keep in mind that a larger value requires more computation p To Set stabilization parameters select Options from the Settings menu or click the Options laa icon on the Main toolbar Adjusting Sphere Size for Stitching Using the sphere size control By M on the Image Processing toolbar you can minimize parallax by changing the sphere radius to which images are calibrated for stitching panoramas The following options are available Fixed Size By default the sphere radius is calibrated at 20 m which is well suited for most outdoor scenes However if most subjects in the scene are closer than 20 m you may get better stitching results by choosing a smaller radius A larger sphere radius of 100 m is also available for scenes that are more distant One Shot Dynamic Stitch One shot dynamic stitch calculates an optimal sphere radius for the entire scene Successive frames are stitched to the same radius until another adjustment is made Auto Dynamic Stitch Auto dynamic stitch calculates optimal stitching distances for different areas of the image so that these distances vary across the entire image Stitching distances are re calculated for each frame Auto dynamic stitch is best used when distances in the same ima
83. es place prior to stitching Blending is the process of adjusting pixel values in each image that overlap with the fields of adjacent images to minimize the effect of pronounced borders The default width of 100 pixels is suitable for the 20 meter sphere radius to which Ladybug cameras are pre calibrated To change the sphere radius calibration see below Changes the way images are rendered See Projection Types These controls affect video display only To specify how images are rendered when outputting to video specify an Output Type using the Stream Processing Toolbar D Specifies the orientation of the camera unit s six cameras to the projection The default orientation is camera 0 projects to the front of the sphere and camera 5 to the upward pole or top of the sphere Specifies the mapping projection that dictates how the six individual pictures from each camera are stitched into a panoramic display either Radial or Cylindrical See Projection Types Adjusts image display to compensate for the effect of unwanted movement across frames when the camera records on an unstable surface See Stabilizing Image Display Allows you to change the sphere radius in meters to which images are calibrated for stitching panoramas See Adjusting Sphere Size for Stitching Opens a dialog for performing color correction sharpening texture intensity adjustment and tone mapping See Adjusting 8 bit Images and Adjusting 12 and 16 bit Images
84. essing Toolbar Dome Outputs the stream in dome view Output formats are the same as Panoramic above Stream file Saves the stream file as another pgr stream file This option is useful for creating a stream file out of a subset of frames from the original 6 Processed Saves each individual image from each of the camera system s six cameras that comprises the specified output as separate BMP or TIFF files Images are not rectified to correct lens distortion Revised 1 30 2013 P R 75 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control Output Type Description Similar to 6 Processed except each image is rectified to correct lens distortion Supports JPG BMP 6 Rectified PNG TIFF and HDR formats 6 Cube map _ Saves six individual images that can be used to construct a cube covering the entire field of view Supported formats are JPG BMP PNG TIFF and HDR Cube mapping is an environment mapping method that is useful for creating video game skyboxes and other computer graphics applications Cube mapping produces an image that is less distorted than panoramic cylindrical or dome views Images are named ladybug cube XXXXXX Y where XXXXXX is the frame number and Y indicates the cube face 0 5 Cube face is numbered as follows O front 1 right 2 back 3 left 4 top 5 bottom To convert Stream Files 1 Click the 99 button t
85. f percentage representation For example to view only the first 596 of the representation of values in the graph enter 5 in the Max Percent field All Cameras specifies that the values are compiled from all six cameras on the Ladybug system To see values from only one camera at a time select a camera For camera orientation see Rendering the Image for Display Saving Images In both Live Camera and Stream File mode you can save the current image to panoramic JPEG or panoramic bitmap format or as six individual color processed bitmap images rectified or non rectified Images are saved to the My Documents folder To save images From the Image menu select one of the following Revised 1 30 2013 POINT GREY 74 Copyright 2013 Point Grey Research Inc vation in Imaging Innovatio imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control Save Panoramic JPG Save Panoramic BMP or Save Panoramic HDR You can select a pre defined resolution or a custom resolution When Custom Size is selected for the first time enter your desired dimensions To change your custom dimensions select Change Custom Size To set the quality of JPEG compression see Main Toolbar in LadybugCapPro Main Window m Saved Images are rendered only in Panoramic display format regardless of display setting wm Save 6 Color Processed Images BMP or Save 6 Rectified Images BMP These options allow you save separate color processed
86. forms the following tasks Creates a context Initializes a camera Starts the transmission of images Grabs an image Processes the grabbed image using a color processing algorithm Saves the 6 raw images as BMP files Destroys the context Soy Ur e aom pt ladybugSimpleGrabDisplay This example shows how to use OpenGL Utility Toolkit GLUT to grab Ladybug images and display them in a simple window This example starts the first Labybug camera on the bus The camera is started in JPEG mode and the images are processed with the LADYBUG DOWNSAMPLEAZ color processing method Right click the mouse in the client area to display a menu and select various Ladybug image types This example must be run with glut32 dll ladybugSimpleRecording This example shows how to record Ladybug images to pgr stream files The example starts the first Ladybug camera on the bus with the parameters in the ini file defined by INI FILENAME This example displays the grabbed images only when the grabbing function returns LADYBUG TIMEOUT This means that saving images is the highest priority Right click the mouse in the client area to popup a menu and select various options or use the following hot keys r or R start recording press again to stop recording a p or P display panoramic image a a or A display all camera image Revised 1 30 2013 fe R 87 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation in
87. g Innovatio imaging 9 2 9 9 3 Point Grey Ladybug5 Technical Reference 9 Post Processing Control lighting conditions Adjusting white balance by modifying the relative gain of R G and B in an image enables white areas to look whiter Taking some subset of the target image and looking at the relative red to green and blue to green response the objective is to scale the red and blue channels so that the response is 1 1 1 The user can adjust the red and blue values Both values specify relative gain with a value that is half the maximum value being a relative gain of zero Miscellaneous Smear Correction When enabled smear is corrected for either unsaturated or full correction See Vertical Smear Artifact Noise reduction When enabled noise present in the image is reduced Sharpening When enabled image textures are sharpened This effect may be most noticeable along texture edges False color removal When enabled removes rainbow sparkles in the image caused by small points of light Histogram Displays a histogram of the values represented in the pixels of the current image To display a histogram 1 From the Imaging Processing toolbar click the Ed button or from the Settings menu select Histogram 2 From Image Information select the channels to view Red Green and Blue are all selected by default 3 From the Options select a Max Percent allows you adjust the graphical display to view a subset o
88. g this value may result in an increase in the JPEG Quality setting When JPEG Quality Auto is not selected the percentage of the image buffer that is used cannot be controlled A Buffer Usage setting between 80 and 95 is recommended Independent Sensor Control This interface provides customized control of exposure for each of the six sensors independently for greater dynamic range Independent Sensor Control is activated by any one of the following ways wm Selecting the Shutter or Gain On Off control the On Off control for each sensor controls all sensors Deselecting the Shutter or Gain On Off control on the Camera Settings pane i Clicking the ex icon on the Live Camera Toolbar When shutter or gain is selected in the Independent Sensor Control interface the following options are available a When either shutter or gain is selected auto exposure can be controlled manually or automatically for each sensor OR a When gain is selected gain can be controlled manually or automatically for each sensor When shutter is selected shutter can be controlled manually or automatically for each sensor For best results apply texture intensity adjustment and tone mapping during image processing For more information see Adjusting Images Sensors Used for Auto Exposure Statistics When operating in auto exposure mode you can control which camera sensors are used for calculating the settings of the auto exposure algorithm For example
89. g exposure settings HDR is best suited for stationary applications The camera can be set into an HDR mode in which it cycles between 4 user defined shutter and gain settings applying one gain and shutter value pair per frame This allows images representing a wide range of shutter and gain settings to be collected in a short time to be combined into a final HDR image later The camera does not create the final HDR image this must be done by the user The HDR interface contains gain and shutter controls for 4 consecutive frames When Enable high dynamic range is checked the camera cycles between settings 1 4 one set of settings per consecutive frame To enable HDR During Capture From the Settings menu select Camera Control and click the High Dynamic Range tab a Ladybug SDK sample program ladybugCapture HDRImage Related Knowledge Base Articles Title Article Capturing HDR Images with Ladybug and Ladybug2 Knowledge Base Article 116 Embedded Image Information This setting controls the frame specific information that is embedded into the first several pixels of the image The first byte of embedded image data starts at pixel 0 0 column 0 row 0 and continues in the first row of the image data 1 0 2 0 and so forth Users using color cameras that perform Bayer color processing on the computer must extract the value from the non color processed image in order for the data to be valid Embedded image values are those in
90. ge coordinates vary greatly across successive frames and prominent stitching errors cannot be fixed using another stitching calculation technique listed above Although you can enable auto dynamic stitch during both live camera and recorded video modes we recommend using it primarily when outputting stream files The dynamic stitch algorithm is resource intensive When enabled during live camera mode the system may be unable to perform the necessary computations while keeping up with all the incoming frames Revised 1 30 2013 P R 69 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging 9 2 6 Point Grey Ladybug5 Technical Reference 9 Post Processing Control You can modify the Minimum distance Maximum distance and Default distance used for dynamic stitching From the Settings menu select Options to open the LadybugCapPro Options dialog Adjusting Vertical Tilt Panoramic images produced by the Ladybug camera system are sensitive to the position of the camera during image capture Due to the nature of the panoramic mapping if the camera is at a slight tilt vertical lines in the scene will appear curved in the image Since it is not always possible to ensure that the camera is perfectly aligned with the vertical axis in the scene the Ladybug SDK allows you to correct vertical tilt in images This is done by selecting Set Z Axis in the Settings menu in the LadybugCapPro Main Window You can adjust verti
91. ge is still being read out of the sensor the start of exposure will be delayed until the next opportunity to clear the imaging area without injecting noise into the output image The end of exposure cannot occur before the end of the previous image readout Therefore exposure start may be delayed to ensure this which means priority is given to maintaining the proper exposure time instead of to the trigger start Trigger Sensor exposure Sensor readout data transfer overlapped with next exposure Figure 7 4 Trigger Mode 14 Overlapped Exposure Readout Mode Revised 1 30 2013 fe R 42 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 7 2 5 Point Grey Ladybug5 Technical Reference 7 Image Acquisition Multi Shot Trigger Mode 15 Trigger Mode 15 is a vendor unique trigger mode that allows the user to fire a single hardware or software trigger and have the camera acquire and stream a predetermined number of images at the current frame rate The number of images to be acquired is determined by the parameter specified with the trigger mode This allows up to 255 images to be acquired from a single trigger Setting the parameter to O results in an infinite number of images to be acquired essentially allowing users to trigger the camera into a free running mode Once the trigger is fired the camera will acquire N images with an exposure time equal to the value defined by the shutter and stream the i
92. gger Mode 14 Multi Shot Trigger Mode 15 Standard External Trigger Mode 0 Trigger Mode 0 is best described as the standard external trigger mode When the camera is put into Trigger Mode O the camera starts integration of the incoming light from external trigger input falling rising edge The describes integration time No parameter is required The camera can be triggered in this mode by using the GPIO pins as external trigger or by using a software trigger It is not possible to trigger the camera at full frame rate using Trigger Mode 0 however this is possible using Overlapped Exposure Readout Trigger Mode 14 Trigger Sensor exposure Sensor readout Y An c data Figure 7 1 Trigger Mode 0 Standard External Trigger Mode Revised 1 30 2013 P R 40 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 7 Image Acquisition 7 2 2 Bulb Shutter Trigger Mode 1 Also known as Bulb Shutter mode the camera starts integration of the incoming light from external trigger input Integration time is equal to low state time of the external trigger input Trigger Sensor exposure Exposure duration is trigger width x Sensor readout 7 data Figure 7 2 Trigger Mode 1 Bulb Shutter Mode 7 2 8 Skip Frames Trigger Mode 3 Trigger Mode 3 allows the user to put the camera into a mode where the camera only transmits
93. gisters on an image by image basis This allows users to Revised 1 30 2013 P R 83 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging A 4 A 5 A 6 Point Grey Ladybug5 Technical Reference Appendix A Ladybug API Examples capture a set of four images with widely varying exposure settings The four images can be captured within 4 30 of a second if the data format is set to LADYBUG_DATAFORMAT_COLOR_SEP_SEQUENTIAL_JPEG The shutter and gain values are read from an INI file defined by INI FILE NAME If you find the shutter and gain settings are not appropriate change the data in this file Once these images have been captured the program processes the images and outputs a configuration file containing exposure data suitable for input into a program such as pfstools and pfscalibration Having captured the images the user should then run the pfsinhdrgen program in the image directory with a command line similar to the following pfsinhdrgen HDRDescription hdrgen pfshdrcalibrate v pfsout outotie nokiz Where HDRDescription hdrgen is the name of the configuration file output by this program and output hdr is the name of the output image Then the output file can be viewed using pfsview or pfsv Oisy qGbnc Siblis meke You can also make an HDR image out of four output images using Adobe Photoshop CS3 easyHDR etc In this case you don t need to provide additional exposure data pfstools i
94. he file is the value of GPS Summary Data Offset as defined in the Stream Header Structure The data structure of the GPS summary data is defined by GPS3DPoint in ladybugstream h No other groups are defined in version 1 2 Beta 19 or earlier The byte order of this data block is big endian Offset Name WELT Bytes Type Description s ene ie e ND CRAS RN RN s an esce roter s eee urere fe face Dumas s enne nesrien wa Revised 1 30 2013 P R 95 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging C 1 C 1 1 Point Grey Ladybug5 Technical Reference Appendix C Calibration and Coordinate System Appendix C Calibration and Coordinate System Effective warping and stitching of the images produced by the camera system s six sensors is achieved through accurate calibration of the physical location and orientation of the sensors and the distortion model of the lens This section discusses the representation used to describe the physical orientation of all of the sensors with respect to one another The Ladybug software manages the camera coordinate system by breaking it down into seven right handed coordinate frames of one of two types six independent image sensor coordinate frames and a camera coordinate frame Coordinate Systems on Ladybug Cameras Each lens has its own right handed 3D coordinate system As well there is a Ladybug 3D Coordinate system that is associated with the camera as a whole This
95. his point additional information about the stream can be obtained by calling ladybugGetStreamHeader and ladybugGetStreamNumOfImages 4 Ifa specific image is required calling LadybugGoToImage will move the stream to the specified image Otherwise ladybugReadImageFromStream will retrieve the image from the current reading pointer 5 When reading is complete call LadybugStopStream to stop reading 6 Destroy the context by calling LadybugDestroyStreamContext when suitable such as program termination Revised 1 30 2013 fe R 65 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio Imaging 9 2 9 2 1 9 2 2 9 2 3 Point Grey Ladybug5 Technical Reference 9 Post Processing Control Working with Images In both live camera and recorded video modes you can use the Image Processing Toolbar to change the way the camera processes and renders images You can also click and drag inside the image display to render image rotation and magnification in different ways Falloff Correction Falloff Correction adjusts the intensity of light in images to compensate for a vignetting effect This control is disabled by default To enable fall off correction 1 From the Imaging Processing toolbar click the o button or from the Settings menu select Falloff Correction 2 Select Enable falloff correction 3 Specify an attenuation value with the slider or textbox The attenuation value regulates th
96. images from each of the six cameras on the system If the second option is chosen images are rectified to correct lens distortion 9 4 Viewing and Outputting Stream Files When you load a previously recorded stream file you can use the the Stream Toolbar to navigate the frames of the stream file and output the file to a variety of different video or image formats including JPG BMP PNG TIFF8 TIFF16 HDR AVI FLV WMV and H 264 If outputting to FLV LadybugCapPro can produce both a panoramic viewer and a spherical viewer with Google Map display Use the Stream Navigation Toolbar to navigate to specific frames for the output EIN 444 p gt D gt DpH Og Use the Stream Processing Toolbar to set the output type format and size and to convert the file for output W M Type Display only Format N A Output Sie 1024x512 Sj u B Selecting an Output Type A drop down list of formats for outputting the stream For more information about these formats see Projection Types Output Type Description Display only Displays the frames successively This option does not create a new file Panoramic Outputs the stream in panoramic view All output formats are supported If JPG BMP PNG TIFF or HDR are chosen separate files are created for each stitched frame For more information about flv output see Outputting Flash Video To specify a radial or cylindrical mapping projection select a Mapping Type using the Image Proc
97. in Imaging Point Grey Ladybug5 Technical Reference 10 Troubleshooting 10 4 1 Smear Reduction Smear may be minimized using one or more of the following techniques a Reduce the bright light source wm Increase the shutter time lower the frame rate This increases the amount of time light is collected in the photosensors relative to the time in the vertical transfer register wm Turn the light source off before and after exposure by using a mechanical or LCD shutter Use a pulsed or flashed light source A pulsed light of 1 10 000 duration is sufficient in most cases to allow an extremely short 100 ns exposure without smear wm Enable smear correction during post processing See Adjusting 12 and 16 bit Images Revised 1 30 2013 fe R 81 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio Imaging Point Grey Ladybug5 Technical Reference Appendix A Ladybug AP Examples Appendix A Ladybug API Examples The following examples are included in the Ladybug SDK Examples are accessible from Start Menu gt All Programs gt Point Grey Research gt PGR Ladybug gt Examples With the exception of ladybugCSharpEx and ladybugProcessStream_CSharp all examples are Visual C Example Description Shows how to display a spherical view in which the user can pan and tilt the ladybug3dViewer n image inside the sphere Shows how to draw a Ladybug 3D spherical image in conjunction with other 3D
98. ing customers only Knowledge Base Find answers to commonly asked questions in our Knowledge Base Download the latest documents and software Tel 1 604 242 9937 Point Grey Research Inc Toll Free 1 866 765 0827 12051 Riverside Way North America only Richmond BC Canada V6W 1K7 Fax 1 604 242 9938 Email sales ptgrey com Tel 1 866 765 0827 Email na sales ptgrey com Point Grey Research GmbH Schwieberdinger Tel 49 7141 488817 0 Strasse 60 Europe and Israel Fax 49 7141 488817 99 71636 Ludwigsburg Email eu sales ptgrey com Germany ViewPLUS Inc www viewplus co jp Cylod Co Ltd www cylod com China LUSTER LightVision Tech Co Ltd www lusterlighttech com Singapore Malaysia amp Voltrium Systems Pte Ltd www voltrium com sg Thailand ee Taiwan Apo Star Co Ltd WWVW apostar com tw United Kingdom ClearView Imaging Ltd www clearviewimaging co uk Distributors Revised 1 30 2013 P R i Copyright 2013 Point Grey Research Inc POI NT G EY n Imaging Innovation Point Grey Ladybug5 Technical Reference Contacting Point Grey Research About This Manual This manual provides the user with a detailed specification of the Ladybug5 camera system The user should be aware that the camera system is complex and dynamic if any errors or omissions are found during experimentation please contact us See Contacting Point Grey Research on previous page This document is subject to change
99. ins the information of the LadybugImageInfo structure defined in 1adybug h Uncompressed Image Data Structure If the image format is uncompressed the image data is the raw binary data from the camera The first frame begins immediately after the configuration data The number of bytes for each of the six images is determined by image resolution and data format as defined in the Stream Header Structure The Bayer pattern of the image is defined by Stippled Format as defined in the Stream Header Structure For uncompressed Ladybug images the GPS NMEA sentences are written to the last 1024 bytes of the image data of camera 5 This means that the last 1024 bytes of image data will be overwritten by GPS data if the GPS device is available The following table lists the data structure of each uncompressed image assuming a resolution of LADYBUG_ RESOLUTION 1632x1232 Revised 1 30 2013 R 94 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging B 7 Point Grey Ladybug5 Technical Reference Appendix B Stream File Format Offset Name Type Description 0x00000000 Cam 0 Bayer pattern image data 0x001EAE00 Cam 1 Bayer pattern image data 0x003D5C00 Cam 2 Bayer pattern image data 0x00B81400 1024 bytes space for GPS NMEA sentences GPS Summary Data Format The GPS summary data begins immediately after the image data discussed in JPEG Compressed or Uncompressed Image The offset value relative to the beginning of t
100. lmlTreImlLmvmxIlmlTlelll 84 A 7 ladybugOGLTextureEx 2 2 2 o eee ce cece cece cence cece cece ec eeeeceeceeceeeerceceeceeeeeeeseeees 85 A 8 ladybugOutput3DMesh _ 0 2 eee cece cece cece ence cee ceccecceccececceccecceccececceccecceseecescenes 85 A 9 ladybugPanoramic 222 2222 cece eee ee cece sss ss cece cece eee eeceeseeceeeeeceseeceesereeseeees 85 A 10 ladybugPanoStitchExample 2 2 22 22 o cece cece eee cece cee cece ec cece ecee see eeceeceeseeeeseeseeseees 85 A 11 ladybugPostProcessing 2 2 22 22 cee cece eee ec eee cence eee c cece ec eeeeceeceececseeeeseeceeseeeeseeees 86 A 12 ladybugProcessStream 2 2 22 cee cece ccc e cece ec ccc ccc cececcecceccecceccececcecceceecuscecceccesenceseeees 86 A 13 ladybugProcessStreamParallel 2 2 02 2 eee cece cece cece ee cee cece ec eee eececeeeeeceeceeseeeeseeees 86 A 14 ladybugSimpleGPS _ _ 2 2 22 o cece eee ec e ec e s cee cece eee cece eee e cee eeeeeceeceeceeeeseeseeceees 87 A 15 ladybugSimpleGrab 202 2222 eee eee e cence ec eee nec e cece cece ececceeeeseeseeeeeeeseeseeseees 87 A 16 ladybugSimpleGrabDisplay 2 e lee eee cee eee cee cece eee ceecceeccecccecccecccecceeceeeceeetenes 87 A 17 ladybugSimpleRecording 2 2 22 22 e eee eee eee eee cece cece cece eee e cee ceceecceceseesesseseeses 87 A 18 ladybugStitchFrom3DMesh 2 2 2 2 oe eee cee eee ec eee ec ee cece eee e cee ceeeeceeceeceeeeeeeseeseees 88 A 19 ladybugS
101. m the drop down to adjust with the slider Select an ROI from the drop down See Adjusting 12 and 16 bit Images Auto Exposure ROI There are three preset modes for the auto exposure algorithm wm Bottom 50 uses only the bottom 50 of the five side cameras and excludes the top camera from its calculations a Top 5096 uses only top 50 of the five side cameras and includes the top camera in its calculations This is the upside down version of the first mode used when the camera is mounted upside down for example on a helicopter Full Image uses the entire image of all six cameras for its calculations This is the default For 8 bit pixel formats the auto exposure modes are set for image capture For 12 and 16 bit pixel formats the auto exposure modes are set both for image capture and post processing on the PC To select an auto exposure ROI During Capture From the Live Camera Toolbar make a selection from the AE ROI drop down During Post Processing 1 From the Settings menu select Image Processing 2 Select Exposure and then select Automatic from the drop down to adjust with the slider 3 Select an ROI from the drop down Independent Sensor Control of Shutter Gain and Auto Exposure The Independent Sensor Control feature provides customized control of exposure for each of the six cameras on the camera system independently This feature allows users to acquire images with greater dynamic range of the overall
102. mages to the host system at the current frame rate Once this is complete the camera can be triggered again to repeat the sequence Any changes to the trigger control cause the current sequence to stop During the capture of N images the camera is still in an asynchronous trigger mode essentially Trigger Mode 14 rather than continuous free running mode The result of this is that the frame rate is turned OFF and the camera put into extended shutter mode Users should therefore ensure that the maximum shutter time is limited to 1 frame rate to get the N images captured at the current frame rate Trigger N frames at current frame rate Sensor exposure Exposure duration is SHUTTER register value Sensor readout Figure 7 5 Trigger Mode 15 Multi Shot Trigger Mode Revised 1 30 2013 fe R 43 Copyright 2013 Point Grey Research Inc POI NT G EY ovation in Imaging Innovatio imaging 7 3 7 4 Point Grey Ladybug5 Technical Reference 7 Image Acquisition External Trigger Timing The time from the external trigger firing to the start of shutter is shown below Trigger Pulse Propagation Delay Exposure Time Sensor Readout Data Transfer Extemal trigger i Exposure time HgL o Data transfer LR OAM LLL prs M ES Figure 7 6 External trigger timing characteristics It is possible for users to measure this themselves by configuring one of
103. n conjunction with a Ladybug camera to record GPS data with stream files generate Google Map or Google Earth files and download a GPS data file You can record images to stream files when the GPS location changes after a specified distance This feature is available using the Ladybug API For more information see the ladybugSimpleRecording example When using a GPS receiver with your Ladybug keep in mind the following Your GPS receiver should have a serial or USB interface for connecting with your laptop and be able to stream NMEA 0183 data in real time To provide reliable data your GPS device should show a connection with at least 3 satellites It may take some time between when you first connect the GPS device to your PC and when it is recognized and configured for use with LadybugCapPro a The following GPS NMEA data structures are supported GPGGA GPGSA GPGSV GPRMC GPZDA GPVTG and GPGLL For information about how GPS data is incorporated into stream files see Stream File Format Configuring the GPS receiver Before capturing GPS data use the LadybugCapPro Options button a on the Main Toolbar to specify some basic settings for communicating with your GPS receiver Control Description The port to which the GPS receiver is connected To determine the port expand the Ports node in the Windows Device Manager Port Number LadybugCapPro does not automatically detect this setting upon startup Baud Rate The
104. ndividual images The adjustment process converts integer pixel values to floating point values to achieve higher dynamic range HDR For best results use texture intensity adjustment in combination with one of the following techniques Tone mapping below Output to HDR format and process with other software See Viewing and Outputting Stream Files Tone Mapping When enabled the dynamic range of images is converted from high HDR to low LDR to resemble more closely the Revised 1 30 2013 POINT GREY 72 Copyright 2013 Point Grey Research Inc vation in Imaging Innovatio Imaging 9 2 8 Point Grey Ladybug5 Technical Reference 9 Post Processing Control dynamic range of the human eye The following controls are available a Compression Gammac style adjustment re maps image values A higher value yields greater compression in bright areas of the image Local area Determines the size of the area around each pixel that is used to calculate new values as part of the overall compression process Adjusting 12 and 16 bit Images Use the Image Processing control ai on the Image Processing Toolbar to make the following adjustments to 12 and 16 bit images Luminance Black Level Adjustments to the image Black Level can be enabled and set Auto Exposure Adjustments to the image auto exposure settings include selecting an ROI Full Image Top camera only Bottom only As well manual exposure and gain se
105. ne and differs for each sensor wm The u axis points along the rows of the image sensor in the direction of ascending column number i e to the right wm The v axis points along the columns in the direction of ascending row number i e down C 1 3 Ladybug Camera Coordinate System The Ladybug Camera coordinate system is centered within the Ladybug case and is determined by the position of the 6 lens coordinate systems Origin is the center of the five horizontal camera origins wm Z axis is parallel to the optical axis of the top lens lens 5 m X axis is parallel to the optical axis of lens O wm Y axis is consistent with a right handed coordinate system based on the X and Z axes There may be some variations from LD2 LD3 LD5 wm Note due to assembly tolerances the optical axes of lens 5 and lens O will typically not be perfectly perpendicular The X axis of the Ladybug Camera coordinate system is adjusted slightly to ensure that they are perpendicular Revised 1 30 2013 fe R 97 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation Point Grey Ladybug5 Technical Reference Appendix C Calibration and Coordinate System 4 Z_ladybug gt Y_ladybug X_ladybug For more detailed information on the representation used to describe the physical orientation of all of the sensors with respect to one another and provides instructions for transforming 2D local points to 3D global point
106. nformation that is distinct from the main body of text For example drawing attention to a difference between models or a reminder of a limitation Revised 1 30 2013 P R ii Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Contacting Point Grey Research A note that contains a warning to proceed with caution and care or to indicate that the information is meant for an advanced user For example indicating that an action may void the camera s warranty If further information can be found in our Knowledge Base a list of articles is provided Related Knowledge Base Articles Title Article Title of the Article Link to the article on the Point Grey website If there are further resources available a link is provided either to an external website or to the SDK Related Resources Title Link Title of the resource Link to the resource Revised 1 30 2013 P R iii Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications 1 Ladybug5 Specifications 1 1 Image Processing Pipeline 1 1 1 Capture Workflow The diagram below depicts the flow of data on the Ladybug5 during image capture The table that follows describes the steps in more detail eee er n ee ee ee oe y tnum unum um um m eee een m m 4 A U ee ee ee eee u
107. ng this dialog Camera Settings For controlling settings such as Brightness Exposure Shutter Gain and others m Custom Video Modes For specifying video mode pixel format and packet size a Camera Information Provides information about the camera hardware and firmware a Camera Registers Provides direct access to camera registers Trigger Strobe For configuring the general purpose input output GPIO capabilities of the camera ma Advanced Camera Settings For controlling memory channels embedded image information and auto exposure range a High Dynamic Range Enables high dynamic range exposure wm Data Flash Provides access to the camera s flash memory wm System Information Provides information about the host system to which the camera is connected Bus Topology Displays the network topology Help Support Information about downloading software and firmware updates accessing the knowledge base and opening a support ticket wm Ladybug Settings For controlling JPEG compression and independent sensor control of exposure settings and auto exposure statistics Some camera controls and formats may be greyed out If a camera control is greyed out this means that the camera does not support the function Camera Settings The Camera Settings dialog allows the user to control settings such as Brightness Exposure Shutter Gain and others For Ladybug5 users access to parameters may be limited by which
108. o damage to any part of the optical path resulting from removal or replacement of the protective glass or filter over the camera such as scratched glass or sensor damage Point Grey Research Inc expressly disclaims and excludes all other warranties express implied and statutory including but without limitation warranty of merchantability and fitness for a particular application or purpose In no event shall Point Grey Research Inc be liable to the Original Purchaser or any third party for direct indirect incidental consequential special or accidental damages including without limitation damages for business interruption loss of profits revenue data or bodily injury or death WEEE The symbol indicates that this product may not be treated as household waste Please ensure this product is properly disposed as inappropriate waste handling of this product may cause potential hazards to the environment and human health For more detailed information about recycling of this product please contact Point Grey Research porum Trademarks Point Grey Research PGR the Point Grey Research Inc logo Blackfly Bumblebee Chameleon Digiclops Dragonfly Dragonfly Express Firefly Flea FlyCapture Gazelle Grasshopper Ladybug Triclops and Zebra are trademarks or registered trademarks of Point Grey Research Inc in Canada and other countries Point Grey Ladybug5 Technical Reference Table of Contents Contacting Point Grey Research _
109. o start conversion The Confirm Settings dialog opens for specifying an output directory for the output file 2 If outputting to AVI format you can specify a video encoding codec compressor The compressors that are listed depend on the compression software currently installed on your system Compressors that have been tested by Point Grey Research and are known to work correctly are shaded a different color For more information about recommended codecs see Knowledge Base Article 348 wm f outputting to FLV format see Outputting Flash Video for information about specifying a bit rate and outputting web publishing files wm If outputting to WMV format you can specify a Bit Rate The bit rate affects the compression quality and file size of the output Depending on the Output Size specified above larger sizes generally require larger bit rates for compressing images to an acceptable quality A higher bit rate results in larger files and longer download time but higher quality output There is no recommended value You may need to try different values before satisfying your requirements 3 Parallel processing When selected instructs LadybugCapPro to create multiple threads to speed up image processing This consumes additional system resources For best performance we recommend the following system configuration a Multi core CPU 4 GB RAM or more Optimized hard disk drive configuration such as RAID O Multiple hard drives or p
110. oad and installation After the download is complete the Ladybug setup wizard begins If the wizard does not start automatically double click the exe file to open it Follow the steps in each setup dialog 3 Enable the Drivers for the card During the installation you are prompted to select your interface driver In the Interface Driver Selection dialog select the will use USB cameras This selection ensures the Point Grey pgrxhci UsbPro and pgrusbcam drivers are installed For optimal performance after setup we recommend configuring the pgrxhci UsbPro driver on the host controller to operate directly with the camera To uninstall or reconfigure the driver at any time after setup is complete use the DriverControlGUI page 12 Revised 1 30 2013 fe R 9 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging Point Grey Ladybug5 Technical Reference 2 Ladybug5 Installation 2 3 Installing Your Camera 1 Install a Mounting Bracket optional a Install a Tripod Adapter The tripod adapter attaches to the bottom of the camera The camera is also compatible with the Ladybug3 tripod adapter Part no ACC 01 0013 Note the tripod adapter uses a 3 8 mounting hole which requires an adapter to fit a standard tripod The tripod adapter is not used if using a desktop mount b Install a Desktop Mount Thread the cables through the desktop mount and out the cable exit slot befo
111. ocessing From the Settings menu select Image Processing and select Black Level to make an adjustment with the slider See Adjusting 12 and 16 bit Images Shutter Time The Ladybug5 supports Automatic Manual and One Push control of the image sensor shutter time Shutter times are scaled by the divider of the basic frame rate For example dividing the frame rate by two e g 15 FPS to 7 5 FPS causes the maximum shutter time to double e g 66 ms to 133 ms The supported shutter time range is 0 02 ms to 2 seconds extended shutter son The terms integration exposure and shutter are interchangeable The time between the end of shutter for consecutive frames is always constant However if the shutter time is continually changing e g being controlled by Auto Exposure the time between the beginning of consecutive integrations will change If the shutter time is constant the time between integrations will also be constant The camera continually exposes and reads image data off of the sensor under the following conditions 1 The camera is powered up and 2 The camerais in free running not asynchronous trigger mode When in trigger mode the camera simply clears the sensor and does not read the data off the sensor The camera continues to expose images even when data transfer is disabled and images are not being streamed to the computer The camera continues exposing images in order to keep things such as the auto exposur
112. ols work in all display renderings panoramic spherical dome Mouse Control Description Left click dra Rotates the yaw view in the direction of the drag In spherical view the rotation is sustained at a ee rate proportional to the speed of the drag Click again to stop rotation Right click drag X Rotates the image pitch For best results magnify the image horizontally xia BE d Right click dra 8 E Rotates the image roll For best results magnify the image vertically Scroll wheel Magnifies the image display Revised 1 30 2013 P R 67 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 9 Post Processing Control Mouse Control Description Right click drag horizontally Shift Rotates the yaw view horizontally when image is magnified button Changing window size Images stretch to fit the current size of the display window 9 2 4 Stabilizing Image Display You can adjust the display of images to compensate for the effect of unwanted movement across frames when the camera records on an unstable surface Image stabilization can be enabled in both live camera and recorded video modes Image stabilization is purely image based It does not use external sensors to detect motion Instead it compares image patterns across successive frames Therefore in order for image stabilization to produce good results the following requirements should be met
113. om the Settings menu select Camera Control and click the Camera Settings tab During Post Processing From the Settings menu select Image Processing Select White Balance to make custom adjustments with the sliders or select presets from the drop down list See Adjusting 12 and 16 bit Images 8 13 Bayer Color Processing A Bayer tile pattern color filter array captures the intensity red green or blue in each pixel on the sensor The image below is an example of a Bayer tile pattern Figure 8 1 Example Bayer Tile Pattern In order to produce color e g RGB YUV and greyscale e g Y8 Y16 images color models perform on board processing of the Bayer tile pattern output produced by the sensor Conversion from RGB to YUV uses the following formula Revised 1 30 2013 P R 63 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 8 Imaging Parameters m 16 65 738 129 057 25 064 Rass 128 TN 37 945 74 494 112 439 Gss Ce 256 e 128 112439 94154 18285 g 255 To convert the Bayer tile pattern to greyscale the camera adds the value for each of the RGB components in the color processed pixel to produce a single greyscale Y value for that pixel as follows Y R A G 2 B 4 To control Bayer color processing During Post Processing Click the v button to select the algorithm used to convert raw Bayer tiled image data to 24 bit RGB images Lowe
114. on Standard Camera Control Camera Updates Field of View Spherical Distance Focus Distance VERSION MP IMAGING SENSOR wm Sony ICX655 CCD x 6 2 3 3 45 um a Global shutter m 2048 x 2448 at 10 FPS Red 30 MP 5 MP x 6 sensors All Ladybug5 Models Shutter gain white balance gamma and JPEG compression are programmable via software Global shutter Automatic manual one push extended shutter modes 0 02 ms to 2 seconds extended shutter Automatic manual one push modes for 8 bit formats manual mode for 12 bit formats 0 18 dB 200 en bees have an aeren ernesto EO en o n 200 cm Objects have an acceptable sharpness from 60 cm to infinity Revised 1 30 2013 Copyright 2013 Point Grey Research Inc POINT GREY Innovation in Imaging Point Grey Ladybug5 Technical Reference 1 Ladybug5 Specifications All Ladybug5 Models Environmental Sensors Temperature Barometer Humidity Accelerometer Compass Gyroscope Temperature Operating 0 to 45 C Storage 30 to 60 C 1 3 Handling Precautions and Camera Care Do not open the camera housing Doing so voids the Hardware Warranty described at the beginning of this manual Your Point Grey digital camera is a precisely manufactured and calibrated device and should be handled with care Here are some tips on how to care for the device Avoid electrostatic charging m When handling the camera unit avoid touching the lenses Fingerprints will affect the
115. one out of N specified images This is an internal trigger mode that requires no external interaction Where N is the parameter set in the Trigger Mode the camera will issue a trigger internally at a cycle time that is N times greater than the current frame rate As with Trigger Mode O the Shutter value describes integration time N frames at current frame rate Trigger Sensor exposure Exposure duration is SHUTTER register value Sensor readout data data Figure 7 3 Trigger Mode 3 Skip Frames Mode Revised 1 30 2013 fe R 41 Copyright 2013 Point Grey Research Inc POI NT G EY ovation in Imaging Innovatio imaging 7 2 4 Point Grey Ladybug5 Technical Reference 7 Image Acquisition Overlapped Exposure Readout Trigger Mode 14 Trigger Mode 14 is a vendor unique trigger mode that is very similar to Trigger Mode 0 but allows for triggering at faster frame rates This mode works well for users who want to drive exposure start with an external event However users who need a precise exposure start should use Trigger Mode O In the figure below the trigger may be overlapped with the readout of the image similar to continuous shot free running mode If the trigger arrives after readout is complete it will start as quickly as the imaging area can be cleared If the trigger arrives before the end of shutter integration that is before the trigger is armed itis dropped If the trigger arrives while the ima
116. or Stitching For more information about sitching calibration see Knowledge Base Article 250 Revised 1 30 2013 R 19 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging 3 2 2 8 Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Downloading the Alpha Mask File You can download the alpha mask files that dictate pixel opaqueness during the blending stage of the stitching process To download select File gt Save Alphamask File For more information about alpha mask files see Knowledge Base Article 250 Getting Help You can get the following information from the Help menu The SDK Help file LadybugCapPro copyright and version Information about the video card on the system that is being used with LadybugCapPro to render images LadybugCapPro Status Bar The status bar at the bottom of the window displays different information depending on which mode the application is in Live Camera mode m The first left most status pane displays the status of the connection between LadybugCapPro and the camera unit A red light here indicates a loss of image Click on the red light to display event statistics with details m The second status pane contains GPS positional information m The third status pane shows the display rate which is the rate at which images are being drawn to screen wm The third status pane shows the actual rate at which the images are being grabbed from th
117. or wire color coding The GPIO is a Hirose waterproof 12 pin female connector Mfg P N LFLOWBP 12SD The camera comes with a 6 meter power cable and wiring harness with a Hirose 12 pin male connector Mfg P N LF10WBP 12P Diagram Pin Function Description a Oe emittere vem For more information on camera power see Powering the Camera For more information on configuring input output with GPIO see Input Output Control Revised 1 30 2013 P R 30 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 5 1 5 2 Point Grey Ladybug5 Technical Reference 5 General Ladybug5 Operation General Ladybug5 Operation Powering the Camera The power consumption specification is 12 24 V 13 W via GPIO Power must be provided through the GPIO interface For more information see Input Output Control The required input voltage is 12 24 V DC The camera does not transmit images for the first 100 ms after power up The auto exposure and auto white balance algorithms do not run while the camera is powered down It may therefore take several n images to get a satisfactory image where n is undefined When the camera is power cycled power disengaged then re engaged the camera reverts to its default factory settings or if applicable the last saved memory channel For more information see User Sets Memory Channels User Sets Memory Channels The camera can save and restore settings and imaging parame
118. ort resources is to obtain a Customer Login Account This requires a valid name and e mail address To apply for a Customer Login Account go to the Product Downloads page Knowledge Base Our Knowledge Base contains answers to some of the most common support questions It is constantly updated expanded and refined to ensure that our customers have access to the latest information Product Downloads Customers with a Customer Login Account can access the latest software and firmware for their cameras from our Product Downloads page We encourage our customers to keep their software and firmware up to date by downloading and installing the latest versions Contacting Technical Support Before contacting Technical Support have you 1 Read the product documentation and user manual 2 Searched the Knowledge Base 3 Downloaded and installed the latest version of software and or firmware If you have done all the above and still can t find an answer to your question contact our Technical Support team Revised 1 30 2013 fe R 79 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation Point Grey Ladybug5 Technical Reference 10 Troubleshooting 10 2 Status Indicator LED LED Status Description 10 3 Blemish Pixel Artifacts Cosmic radiation may cause random pixels to generate a permanently high charge resulting in a permanently lit or glowing appearance Point Grey tests for and programs white blemish
119. pixel correction into the camera firmware In very rare cases one or more pixels in the sensor array may stop responding and appear black dead or white hot stuck 10 3 1 Pixel Defect Correction Point Grey tests for blemish pixels on each camera The mechanism to correct blemish pixels is hard coded into the camera firmware Pixel correction is on by default The correction algorithm involves applying the average color or grayscale values of neighboring pixels to the blemish pixel Related Knowledge Base Articles Title Article How Point Grey tests for white blemish pixels Knowledge Base Article 314 10 4 Vertical Smear Artifact When a strong light source is shone on the camera a faint bright line may be seen extending vertically through an image from a light saturated spot Vertical smear is a byproduct of the interline transfer system that extracts data from the CCD Smear is caused by scattered photons leaking into the shielded vertical shift register When the pixel cells are full some charges may spill out in to the vertical shift register As the charge shifts in out of the light sensitive sensor area and travels down the vertical shift register it picks up the extra photons and causes a bright line in the image Smear above the bright spot is collected during read out while smear below the bright spot is collected during read in Revised 1 30 2013 P R 80 Copyright 2013 Point Grey Research Inc POINT G EY Innovation
120. pixel formats are numbered 8 12 or 16 to represent the number of bits per pixel Revised 1 30 2013 fe R 52 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio imaging 8 2 1 8 2 2 8 2 3 Point Grey Ladybug5 Technical Reference 8 Imaging Parameters The Ladybug5 s Analog to Digital Converter which digitizes the images is configured to a fixed bit output 12 bit If the pixel format selected has fewer bits per pixel than the ADC output the least significant bits are dropped If the pixel format selected has greater bits per pixel than the ADC output the least significant bits are padded with zeros Pixel Format Bits per Pixel Raw 8 JPEG 8 Raw 12 JPEG 12 Raw 16 Raw Raw is a pixel format where image data is Bayer RAW untouched by any on board processing Selecting a Raw format bypasses the FPGA color core which disables image processing such as gamma LUT and color encoding JPEG JPEG is a pixel format which supports 16 7 million colors and follows a standard for compression by disposing of redundant pixels The degree of compression can be adjusted allowing for a balance between image size and image quality JPEG Compression and JPEG Buffer Usage When the camera operates in a JPEG compressed imaging mode the compressor unit processes image data based on a specified compression rate Although specifying a higher JPEG quality value produces higher quality images more data must accum
121. posure range the auto shutter range and the auto gain range Auto Exposure allows the user to control the camera system s automatic exposure algorithm It has three useful states Description Control of the exposure is achieved via setting both Shutter and Gain This mode is achieved by setting Auto Exposure to Off or by setting Shutter and Gain to Manual The camera automatically modifies Shutter and Gain to try to match the average image intensity Manual Exposure Control to the Auto Exposure value This mode is achieved by setting Auto Exposure to Manual and either both of Shutter and Gain to Automatic The camera automatically modifies the value in order to produce an image that is visually Auto Exposure Control pleasing This mode is achieved by setting the all three of Auto Exposure Shutter and Gain to Automatic In this mode the value reflects the average image intensity Auto Exposure can only control the exposure when Shutter and or Gain are set to Automatic If only one of the settings is in auto mode then the auto exposure controller attempts to control the image intensity using just that one setting If both of these settings are in auto mode the auto exposure controller uses a shutter before gain heuristic to try and maximize the signal to noise ratio by favoring a longer shutter time over a larger gain value The auto exposure algorithm is only applied to the active region of interest and not the entire array of activ
122. r quality algorithms can increase the LadybugCapPro display rate and higher quality algorithms can decrease the display rate Two additional algorithms are High Quality Linear on GPU Same output as High Quality Linear but better performance on graphics cards with NVidia CUDA support Directional Filter Highest quality output but significantly better performance than Rigorous Accessing Raw Bayer Data The actual physical arrangement of the red green and blue pixels for a given camera is determined by the arrangement of the color filter array on the imaging sensor itself The format or order in which this raw color data is streamed out however depends on the specific camera model and firmware version Raw image data can be accessed programmatically via the pData pointer in the Ladybuglmage structure e g Ladybuglmage pData In Raw8 modes the first byte represents the pixel at row 0 column 0 the second byte at row 0 column 1 etc In the case of a camera that is streaming Raw8 image data in RGGB format if we access the image data via the pData pointer we have the following pData 0 Row 0 Column 0 red pixel R pData 1 Row 0 Column 1 green pixel G pData 1616 Row 1 Column 0 green pixel G pData 1617 Row 1 Column 1 blue pixel B Related Knowledge Base Articles Title Article Different color processing algorithms Knowledge Base Article 33 How is color processing performed on my cam
123. ra Toolbar to e start 5 stop and E pause recording Using Ladybug API Example writing to disk using the Ladybug API 1 Create a stream context LadybugStreamContext by calling ladybugCreateStreamContext 2 Initialize the stream context for writing by calling LadybugInitializeStreamForWriting 3 To write an image to disk simply grab an image and pass it to ladybugWriteImageToStream 4 When all the writing is complete call LadybugStopStream to stop writing to disk 5 Destroy the context by calling LadybugDestroyStreamContext when suitable such as program termination When used in conjunction with a GPS device you can record images to stream files when the GPS location changes after a specified distance This feature is available using the Ladybug API For more information see the ladybugSimpleRecording example Revised 1 30 2013 fe R 39 Copyright 2013 Point Grey Research Inc POI NT G EY vation in Imaging Innovatio Imaging 7 2 7 2 1 Point Grey Ladybug5 Technical Reference 7 Image Acquisition Asynchronous Triggering The camera supports asynchronous triggering which allows the start of exposure shutter to be initiated by an external electrical source or hardware trigger or from an internal software mechanism software trigger Ladybug5 Supported Trigger Modes Mode Standard External Trigger Mode 0 Bulb Shutter Trigger Mode 1 Skip Frames Trigger Mode 3 Overlapped Exposure Readout Tri
124. re attaching the mount to the camera The desktop mount is not used if using a tripod adapter 2 Connect the interface Cable to the Camera my Plug the USB 3 0 cable into the camera and secure WA gt with the cable jack screws ET aig cuales 3 Connect the Camera to the interface Card Plug the USB 3 0 cable into the host controller or hub Always connect the USB 3 0 cable to the camera before connecting to the host controller 4 Plug in the GPIO connector GPIO is used for power trigger and strobe The wiring harness must be compatible with a Hirose 12 pin female GPIO connector 5 Confirm Successful Installation From the Start menu select All Programs gt Point Grey Research gt PGR Ladybug gt LadybugCapPro exe a The Welcome dialog opens and it will display a choice of starting a camera or loading a previously recorded stream file Select Start Camera b The Select Camera dialog opens This dialog allows you to view a list of all the currently connected Ladybug cameras and select one to control Revised 1 30 2013 fe R 10 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 2 Ladybug5 Installation c Ensure the camera is identified as USB 3 0 If the camera is identified as USB 2 0 it could indicate a bad cable connection or incorrect driver and the camera will not function properly d To begin grabbing images select a camera and click OK
125. rection 22 20 0000 000 coco cece eee eee eee llllllll 66 9 2 2 Blending Width _ 12 22 0 o ce ccc ccc ce ccc cece ec ccc cece cence ecceceecesceccecceccececcecceceecececeees 66 Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G R FY Innovation in Imaging Point Grey Ladybug5 Technical Reference 9 2 3 Rendering the Image for Display _ 2 22 22 eee eee ee cece cece cece cece eecceeccecceeeceeeteeeceeeeees 66 9 2 4 Stabilizing Image Display 0 o lee e cece ce eee cee cee cece cece cece cececeucccecceecceecceecceeeeeeees 68 9 2 5 Adjusting Sphere Size for Stitching 2 0 02 2 cece cece cece cece cece ese ececeeceeseeseeeees 69 9 2 6 Adjusting Vertical Tilt 2 222 202 ccc eee eee eee cece cece cece cece eeceeceececeeseeeeeeees 70 9 2 7 Adjusting 8 bit Images 2 2 02 2 cece cece cece s c cece cece ec ee cee ceceeceeceeseceeseeseceees 72 9 2 8 Adjusting 12 and 16 bit Images 0 oo cle e cece ee cee eee ccc es cece ceeeceecceecceucceecceeseecees 73 D2 SuIStOSN ANN ic suce ise ue cated Acme obs ns Seach Secale ddsios debe a Beevaeuid dacs e ae ba ce c ev den rots 74 9 Saving Im dB S act oo sn tte oes ctl etc oe Seo ea e aaa ai ate P E DUE MT 74 9 4 Viewing and Outputting Stream Files 2 202 22 2 2 eo cece ce cee cece cece eee c eee cecceceeeteeeseeeeees 75 9 4 1 Outputting Flash Video 2 12 lee c eee ccc ccc ccc cece cece cnc ceceececceccecceceececcesceceecesceseess 77
126. rmat Full Half Full Half 2448 x 2048 2448 x 1024 2448 x 2048 2448 x 1024 Raw8 JPEG8 Compressed E JPEG8 Uncompressed 008 15 MB JPEG12 Compressed Variable Due to the 12 bit ADC a 16 bit format is 12 bits padded with zeros JPEG12 Uncompressed To maximize post processing and frame rate benefits JPEG12 is the recommended format Ladybug sensors are arranged in portrait orientation to increase the vertical field of view As a result height measurements appear as width in the Ladybug SDK and width measurements appear as height The image size accounts for six separate images captured by each of the camera s six sensors prior to blending and stitching Image size for JPEG compressed images is dependent on variables such as image composition and compression rate For more information see JPEG Compression and JPEG Buffer Usage Related Knowledge Base Articles Title Article Overview of multithreading optimizations in Ladybug library Knowledge Base Article 264 Ladybug s JPEG image quality and buffer usage settings Knowledge Base Article 288 Determining Image Size For Ladybug5 the maximum size of a single camera image after image conversion is 2448 x 2048 Revised 1 30 2013 R 51 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 8 Imaging Parameters If your software allocates its own memory for image conversion and texture updating th
127. rmation about using the DriverControlGUI see the online help provided in the tool Revised 1 30 2013 P R 12 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging 3 1 3 1 1 Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Tools to Control the Ladybug5 The Ladybug5 s features can be accessed using various controls including a Ladybug SDK including API examples and a LadybugCapPro application Examples of the controls are provided throughout this document Additional information can be found in the appendices Using Ladybug SDK The user can monitor or control features of the camera through Ladybug API examples provided in the Ladybug SDK or through the LadybugCap Program Custom Applications Built with the Ladybug API The Ladybug SDK includes a full Application Programming Interface that allows you to create custom applications to control Point Grey Spherical Products Included with the SDK are a number of source code examples to help programmers get started Ladybug API examples are in C language and are also provided in a precompiled state Two examples are provided in C as well as C For more information see Ladybug API Examples Revised 1 30 2013 fe R 13 Copyright 2013 Point Grey Research Inc POI NT G E ovation in Imaging Innovatio Imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 3 2 Using the LadybugCapPro Application The Lady
128. s and vice versa see Knowledge Base Article 399 Projection Types Once a three dimensional spherical coordinate system is obtained the image on the sphere can be projected to a mapping based on different projection methods The projected image is usually two dimensional so that it can easily be displayed on a monitor or printed on paper Each projection type has its own benefits and shortcomings Radial Equirectangular Projection This is one of the most popular projections and the output image is easy to use In LadybugCapPro you can output video to this projection by using the Stream Processing Toolbar and selecting Output Type Panoramic Then using the Image Processing Toolbar specify Mapping Type Radial The projected image has two coordinates theta for horizontal and phi for vertical The projection equation from the spherical coordinate system is as follows a 2 8 ATAN2Y X Z p ACOSC Where X Y Z are points on the spherical coordinate system and ATAN2 and ACOS are functions provided by the standard C library 6 0 are coordinates of the projected image The range of values of is Pi to Pi Revised 1 30 2013 fe R 98 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Appendix C Calibration and Coordinate System The range of values of is O to Pi In order to convert to the actual pixel position on the radial proje
129. s available at http pfstools sourceforge net pfscalibration is available at http www mpi inf mpg de resources hdr calibration pfs html ladybugCSharpEx This example shows how to create a C program that uses the Ladybug API The program can display stitched panoramic images either from the camera or from a stream file If a stream file contains GPS information it is also displayed The program requires LadybugAPl cs and LadybugAPI GPS cs which define the interface of the Ladybug API for the C language ladybugEnvironmentalSensors This example shows how to use the Ladybug API to obtain data from the environmental sensors on the Ladybug5 In addition to reading the raw information from the camera the example shows how to calculate the camera s heading from the raw compass values ladybugEnvMap This example illustrates how to apply cube mapping on Ladybug s spherical images to construct a skybox In computer graphics cube mapping is a type of environment mapping used to simulate surfaces that reflect the scene at a distant location Here Ladybug images are used as the environment and are updated in real time For each scene six surfaces of a cube are rendered This is done by rendering Ladybug s spherical view 6 times setting the field of view to 90 degrees and positioning the virtual camera to specific surface directions These rendering results are then used as textures for Revised 1 30 2013 fe R 84 Copyright 2013 Point Gre
130. sed 1 30 2013 P R 17 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference Control Color Processing Falloff Correction Blending Width 3 Image Type HH Rotation Angle S Mapping Type aj Image Stabilization Sphere Size Image Adjustment Aliasing Revised 1 30 2013 Copyright 2013 Point Grey Research Inc 3 Tools to Control the Ladybug5 Description Specifies the algorithm that LadybugCapPro uses to convert raw Bayer tiled image data to 24 bit RGB images Lower quality algorithms can increase the LadybugCapPro display rate and higher quality algorithms can decrease the display rate Two additional algorithms are High Quality Linear on GPU Same output as High Quality Linear but better performance on graphics cards with NVidia CUDA support a Directional Filter Highest quality output but significantly better performance than Rigorous Enables or disables falloff correction which adjusts the intensity of light in images to compensate for a vignetting effect This control is off by default To enable check Enable Falloff Correction Then specify an attenuation value either by using the slider or entering a value in the textbox The attenuation value regulates the degree of adjustment you want to apply Then click OK Allows you to adjust the pixel width along the sides of each of the six images within which blending tak
131. sss esser 96 C 1 Coordinate Systems on Ladybug Cameras susssusssssssssssllssls ss ceccecceceeeeeceseeseees 96 C 1 1 Lens 3D coordinate system siuuuuuuuussssslssslslsss sss e cece cece eeeeeseeseeceesereeseesees 96 C 1 2 Sensor 2D coordinate system suuueusuussslsslsllsslss sss s ceeceeeeseeceeeeeeeseeseees 97 C 1 3 Ladybug Camera Coordinate System i cece cece cece cence ec ceccececceccecceccececcecceseecaes 97 C 2 Projection Types 2 2 2 cece cece cece eee cece eee e cece eee e cence cee eee cece eeeceseeseeseesereeseeeees 98 Revision FISCOR Yoo se ee ee a Be es cot eee yates Su t eem AUD ase ese M Le E 103 Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G REY Innovation in imaging Point Grey Ladybug5 Technical Reference List of Tables Table 4 1 USB 3 0 Micro B Connector Pin Assignments 2 cccce cee cecceccccccceccecceccececcecceceees Table 6 1 GPIO pin assignments as shown looking at rear of camera 222 22 2220 ce eee eee eee eee eee eeee Table 8 1 Ladybug5 Supported image formats _ 2 022 02 eee cece cece cece cece eee cece ceccceecccceeeceeeceeeces Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G REY Innovation in imaging Point Grey Ladybug5 Technical Reference List of Figures Figure 1 1 Ladybug5 capture workflow cccecccceeccccecccccecccececccececccececececececet
132. t is configured to send output signals Do not connect power to a pin configured as an output effectively connecting two outputs to each other Doing so can cause damage to camera electronics GPIO Mode 2 Asynchronous External Trigger When a GPIO pin is put into GPIO Mode 2 and an external trigger mode is enabled which disables isochronous data transmission the camera can be asynchronously triggered to grab an image by sending a voltage transition to the pin See Asynchronous Triggering on page 40 GPIO Mode 3 Strobe A GPIO pin in GPIO Mode 3 outputs a voltage pulse of fixed delay either relative to the start of integration default or relative to the time of an asynchronous trigger A GPIO pin in this mode can be configured to output a variable strobe pattern See Programmable Strobe Output on next page Revised 1 30 2013 fe R 36 Copyright 2013 Point Grey Research Inc POI NT G EY ovation in Imaging Innovatio imaging 6 3 6 4 Point Grey Ladybug5 Technical Reference 6 Input Output Control Programmable Strobe Output The camera is capable of outputting a strobe pulse off select GPIO pins that are configured as outputs The start of the strobe can be offset from either the start of exposure free running mode or time of incoming trigger external trigger mode By default a pin that is configured as a strobe output will output a pulse each time the camera begins integration of an image The duration of the strobe c
133. ter is not restricted To set the shutter range During Capture From the Live Camera Toolbar make a selection from the Shutter range drop down Gain Gain is the amount of amplification that is applied to a pixel by the A D converter An increase in gain can result in a brighter image but also an increase in noise The Ladybug5 supports Automatic and One Push gain modes The A D converter provides a PxGA gain stage white balance preamp and VGA gain stage The main VGA gain stage is available to the user and is variable from O 18 dB Increasing gain also increases image noise which can affect image quality To increase image intensity try adjusting the lens aperture iris and Shutter Time time first To adjust gain During Capture From the Settings menu select Camera Control and click the Camera Settings tab During Post Processing From the Settings menu select Image Processing Select Exposure and then select Manual from the drop down to adjust the Gain with the slider Revised 1 30 2013 POINT GREY 57 Copyright 2013 Point Grey Research Inc vation in Imaging Innovatio Imaging Point Grey Ladybug5 Technical Reference 8 Imaging Parameters Auto Exposure Auto exposure allows the camera to automatically control shutter and or gain in order to achieve a specific average image intensity Additionally users can specify the range of allowed values used by the auto exposure algorithm by setting the auto ex
134. ters via on board user configuration sets also known as memory channels This is useful for saving default power up settings such as gain shutter video format and frame rate and others that are different from the factory defaults User Set 0 or Memory channel 0 stores the factory default settings that can always be restored Two additional user sets are provided for custom default settings The camera initializes itself at power up or when explicitly reinitialized using the contents of the last saved user set Attempting to save user settings to the read only factory default user set causes the camera to switch back to using the factory defaults during initialization The following camera settings are saved in user sets Acquisition Frame Rate and Current Frame Rate Image Data Format Position and Size Current Video Format Camera power a Frame information a Trigger Mode and Trigger Delay Imaging Parameters such as Brightness Auto Exposure Shutter Gain White Balance and Gamma Input output controls such as GPIO pin modes GPIO strobe modes Color Coding ID Pixel Coding To access user sets During Capture From the Settings menu select Camera Control and click the Advanced Camera Settings tab Saving to or restoring from a memory channel should not be done while the camera is streaming Revised 1 30 2013 fe R 31 Copyright 2013 Point Grey Research Inc POI NT G EY n im aging Innovation in 5 3
135. the defined debounce value It is recommended to set the debounce value slightly higher than longest expected duration of an invalid signal to compensate for the quality of the input clock signal The debouncer is available on GPIO input pins For the debouncer to take effect the associated GPIO pin must be in Input mode GPIO Mode 0 The debouncer works in all trigger modes except trigger mode 3 Skip Frames Each GPIO has its own input delay time The debouncer time adds additional delay to the signal on the pin Revised 1 30 2013 P R 37 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 6 Input Output Control Arriving Signal Debouncer Value e pup EXE E Transferred Signal Figure 6 1 Debouncer Filtering Invalid Signals 12 Pin GPIO Electrical Characteristics Opto isolated input pins require an external pull up resistor to allow triggering of the camera by shorting the pin to the corresponding opto ground OPTO GND Non opto isolated input pins are internally pulled high using weak pull up resistors to allow triggering by shorting the pin to GND Inputs can also be directly driven from a 3 3 V or 5 V logic output The inputs are protected from over voltage Non isolated inputs are protected from both over voltage over current and polarity When configured as outputs each line can sink 25 mA of current To drive external devices that require
136. tputs from the beginning frame Specifies the frame on which to stop the output Use the buttons at right or the Seek slider at bottom to navigate to the desired frame Then click If not specified the stream output ends at the final frame For more information see Viewing and Outputting Stream Files Stream Processing Toolbar The Stream Processing toolbar display only when a previously recorded stream file is opened Use this toolbar for outputting the stream in a different format and resolution GO M Type Display only Format N A Output Sie 1024x512 S 0 9 B Revised 1 30 2013 R 16 Copyright 2013 Point Grey Research Inc POI NT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Toolbar Description Control Sets the left keyframe from which to begin outputting the stream Use the buttons or the Seek slider at bottom to navigate to the desired frame Then click Mark left keyframe If not specified the stream outputs from the beginning frame Sets the right keyframe on which to stop the output Use the buttons or the Seek slider at bottom to navigate to the desired frame Then click Mark right keyframe If not specified the stream output ends at the final frame Output A drop down list of formats for outputting the stream For more information about these formats see Projection Type Types The video or image format of the output Output Type se
137. treamCopy _ 2 2 22 o ee eee cece cence cece cece cence cece cee ceeeeceeseeceeeeeceseeceeeereereeees 88 A 20 ladybugTranslate2dTo3d 12 22 ec e cece cee cece cece ce cece ce ceeceececcecceceecescecceccecuececeseeeees 88 Revised 1 30 2013 fe Copyright 2013 Point Grey Research Inc POINT G R FY Innovation in Imaging Point Grey Ladybug5 Technical Reference A21 ladybugTrigSerEX 2224 222262 sosece nce seve a kei ed Bien teh add eee ale bake BS hobs eats deve Sece bee 88 Appendix B Stream File Format 2 0 02 c cece cece cece ccc ecceccecccccececcecceceececcecceseucerceseusees 89 B 1 File Signature _ 22 22 22 cece cece cence cence eee e cece cece cece ee cee eee ceseeeeeseeceseeseeseeees 89 B 2 Stream Header Structure _ 2222222222 eee eee eee ee eee 89 B 3 Configuration Data 2 22 oe eee eee eee ec eee cece cece cece eee ceeeceescecececececceeeseeeceeeeeeseees 91 BAErame Header e dan remasecet bel dvaaseeecaiedegsetdtebesGnehondgetedeiee etka i ecec tet EE aE 91 B 5 JPEG Compressed Image Data Structure _ 22 2 2 2 cece eee eee cece cece cece cece ee ceeteeceseeseeseeees 91 B 6 Uncompressed Image Data Structure _ 222 22 cece cece eee cee cece cece ee ceceeceeceeeeeeeseeseeees 94 B 7 GPS Summary Data Format 22 222 eee cee cee cece cee cece cece eee c cece cece ceceeceeceeeeeeeeeeeeeees 95 Appendix C Calibration and Coordinate System uuuuuuuuuulellellllsssse
138. ts an image file sequentially If the stream file contains GPS information the program outputs the information to a separate text file By editing this source code users can change image size image type output file format color processing algorithm and blending width Users can also change options for falloff correction software rendering and stabilization This example is also available in C as ladybugProcessStream CSharp ladybugProcessStreamParallel This example shows how to process a Ladybug image stream using multiple Ladybug context parallel processing This program creates a stream reading thread and one or more image processing threads The stream reading thread reads images from a stream and puts them into a buffer queue Each processing thread gets images from the buffer queue and processes the images concurrently with other threads The number of processing threads you can create depends on many factors such as image resolution color processing method the size of the rendered image and the size of the graphics card memory If the required resources are beyond the ability of the graphics card the program may report a run time error For example one full resolution frame from a Ladybug3 is 1616 x 1232 Rendering a 4096 x 2048 off screen image using the LADYBUG HQLINEAR color processing method requires at least 110 MB of GPU memory In this case with 512 MB of graphics card memory you may run three threads This allows for im
139. ts from O to 127 All counters reset to O at the end of each cycle Interpreting ROI information The first two bytes are the distance from the left frame border that the region of interest ROI is shifted The next two bytes are the distance from the top frame border that the ROI is shifted White Balance The Ladybug5 supports white balance adjustment which is a system of color correction to account for differing lighting conditions Adjusting white balance by modifying the relative gain of R G and B in an image enables white areas to look whiter Taking some subset of the target image and looking at the relative red to green and blue to green response the objective is to scale the red and blue channels so that the response is 1 1 1 The user can adjust the red and blue values Both values specify relative gain with a value that is half the maximum value being a relative gain of zero Copyright 2013 Point Grey Research Inc Revised 1 30 2013 POINT GREY 62 Innovation in Imaging Point Grey Ladybug5 Technical Reference 8 Imaging Parameters White Balance has two states State Description Off The same gain is applied to all pixels in the Bayer tiling On Manual The Red value is applied to the red pixels of the Bayer tiling and the Blue value is applied to the blue pixels of the Bayer tiling The following table illustrates the default gain settings for most cameras To adjust white balance During Capture Fr
140. tter opens When Trigger On Off is unchecked this value represents the shutter delay Fire Software When clicked causes a one time internal software based trigger to fire Enable Disable Trigger must be Trigger checked for the camera to respond Pin Direction Specifies whether the pin is configured for input or output The Source pin cannot be configured as an output Control when Trigger On Off is checked m Enables a GPIO pin for strobe output Allows configuration of polarity and the period to delay assertion of the output strobe signal after Strobe Control start of exposure Delay can be specified in ticks of your camera s clock and must be within the Delay GPIO range of 0 to 4095 0 n Specifies the duration of the strobe output signal If a value of O is entered the duration is the same as the length of exposure Duration can be specified in ticks of your camera s clock and must be within the range of 0 to 4095 3 2 3 5 Advanced Camera Settings The Advanced Features Dialog allows the control of advanced camera features including m User Sets Memory Channels Embedded Image Information Auto Range Control Allows you to specify a range for exposure shutter and gain that is narrower than the full range for the camera when operating in auto exposure mode Use the Camera Settings dialog to set auto exposure 3 2 3 6 Ladybug Settings The Ladybug Settings dialog allows you to adjust JPEG compression and control e
141. ttings can be adjusted Tonal Gamma Sensor manufacturers strive to make the transfer characteristics of sensors inherently linear which means that as the number of photons hitting the imaging sensor increases the resulting image intensity increases are linear Gamma can be used to apply a non linear mapping of the images produced by the camera Gamma is applied after analog to digital conversion and is available in all pixel formats Gamma values between 0 5 and 1 result in decreased brightness effect while values between 1 and 4 produce an increased brightness effect By default Gamma is enabled and has a value of 1 25 To obtain a linear response disable gamma Tone Mapping When enabled the dynamic range of images is converted from high HDR to low LDR to resemble more closely the dynamic range of the human eye The following controls are available a Compression Gamma style adjustment re maps image values A higher value yields greater compression in bright areas of the image Local area Determines the size of the area around each pixel that is used to calculate new values as part of the overall compression process Color White Balance The Ladybug5 supports white balance adjustment which is a system of color correction to account for differing Due to the 12 bit ADC a 16 bit format is 12 bits padded with zeros Revised 1 30 2013 fe R 73 Copyright 2013 Point Grey Research Inc POI NT G EY ovation in Imagin
142. ulate in the image buffer on the PC increasing the risk of buffer overflow errors When JPEG compression is set to auto mode compression quality adjusts automatically to the following parameters a The maximum allowed by the size of the image buffer on the PC controlled by the camera driver wm Auto buffer usage This setting is the percentage of the image buffer that is used for image data and is configurable when JPEG compression is in auto mode Specifying a value less than the maximum 10096 allows for room in the buffer to accommodate extra images depending on scene variations from frame to frame A setting between 8096 9596 is recommended The visual improvement in compression quality that results from a setting higher than 9596 is negligible compared to the increased amount of data generated To adjust the compression control 1 From the Settings menu select Camera Control or click the 5 button Click the Ladybug Settings tab 3 Under Compression Control N m Select Auto for JPEG quality to specify auto compression Then select an Auto Buffer Usage percentage from the sliding scale A setting between 80 9596 is recommended Or Copyright 2013 Point Grey Research Inc Revised 1 30 2013 POINT GREY 53 Innovation in Imaging Point Grey Ladybug5 Technical Reference 8 Imaging Parameters Deselect Auto JPEG Quality and select a fixed JPEG Quality percentage from the sliding scale A setting between 80 9596 is recomm
143. wing m The two points of each line should be as distant as possible wm The two lines should not be too close to each other or too close in an exact opposite direction that is 180 degrees apart Vertical tilt adjustment can also be accomplished by manually adjusting the image roll using the mouse To adjust image roll right click and drag the mouse vertically inside the image For best results magnify the image first using the mouse scroll wheel To undo Vertical Tilt To undo any vertical tilt adjustments click the Rotation Angle control gt on the Image Processing Toolbar and select Default Adjusting 8 bit Images Use the Image Processing control ad on the Image Processing Toolbar to make the following adjustments to 8 bit images Color Correction When enabled overall image hue intensity and saturation of images can be adjusted Red green and blue can also be adjusted individually which may help to correct white balance issues during image capture Color correction may degrade overall image quality Sharpening When enabled image textures are sharpened This effect may be most noticeable along texture edges Texture Intensity Adjustment This control is best used when the camera is operating in an independent sensor control mode or a stream file is opened that was captured in an independent exposure control mode When enabled texture intensities are adjusted to compensate for differences in exposure between i
144. without notice All model specific information presented in this manual reflects functionality available in the model s firmware version For more information see Camera Firmware Where to Find Information Chapter What You Will Find Information on powering the Ladybug5 monitoring status user configuration sets General Ladybug5 Operation memory controls and firmware Input Output Control Information on input output modes and controls Image Acquisition Information on asynchronous triggering and supported trigger modes Imaging Parameters Information on supported imaging parameters and their controls Post Processing Control Information on image processing on the PC after capture Information on how to get support diagnostics for the Ladybug5 and common sensor Troubleshooting artifacts Appendix Appendix Ladybug API Examples API Examples Sample programs provided with the Ladybug SDK programs provided Sample programs provided with the Ladybug SDK the Ladybug SDK Appendix Stream File Format Stream Appendix Stream File Format Format Detailed information on stream files 00 information on Detailed information on stream files 00 files Appendix Calibration and Information on translating 2D and 3D points Coordinate System Document Conventions This manual uses the following to provide you with additional information A note that contains i
145. xposure for each sensor independently Compression Control JPEG Quality Controls the JPEG compression rate of the compressor unit Increasing the compression rate increases JPEG image quality and as a result the amount of image data that is produced and collects in the image buffer Select Auto to set the compression rate to the maximum allowed by the image buffer Auto JPEG Quality means the compression rate continually adjusts so that it never exceeds the amount of data allowed by the image buffer Manual JPEG Quality provides consistent compression however the size of compressed image data may exceed the image buffer size resulting in buffer size errors A JPEG Quality value between 8096 and 9596 is recommended depending on your application s requirements The visual improvement at higher than 9596 is negligible and usually not worth the increased amount of data that is generated See JPEG Compression and JPEG Buffer Usage Revised 1 30 2013 P R 23 Copyright 2013 Point Grey Research Inc POINT G EY Innovation in Imaging Point Grey Ladybug5 Technical Reference 3 Tools to Control the Ladybug5 Auto buffer usage When JPEG Quality Auto is selected you can use this slider to specify the percentage of the image buffer that is used for JPEG compressed image data Specifying a value less than the maximum allows for room in the image buffer to accommodate extra image data depending on scene variations from frame to frame Increasin
146. y Research Inc POI NT G EY n Imaging Innovation in A 7 A 8 A 9 A 10 Point Grey Ladybug5 Technical Reference Appendix A Ladybug AP Examples the cube mapping The overall scene which is comprised of the reflective objects is then rendered All calculations required to construct the cube map are handled inside the OpenGL library This example must be run with freeglut dll present This example must be run with freeglut32 dll present ladybugOGLTextureEx This example shows how to access Ladybug images directly on the graphics card as an OpenGL texture map The rendered Ladybug image is accessed by its texture ID and can be mapped to any geometric object as desired by using OpenGL functions Right click the mouse in the client area to display a menu and select various Ladybug image types This example must be run with glut32 dll ladybugOutput3DMesh This example demonstrates how to produce a 3D mesh out of calibration data from the connected camera The output of this program can be directly used for the input of the program ladybugStitchFrom3DMesh You can save the output of this program to a file by using redirection From the command prompt navigate cd to the Ladybug SDK s bin directory and type ladybugoutput3dmesh mymesh txt You will then have the output in the file mymesh txt ladybugPanoramic This example shows how to use a document view application to grab Ladybug images and display them in a window

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