Table of Contents
Advertisement
Advertisement
Table of Contents
Related Manuals for Point Grey Grasshopper
Summary of Contents for Point Grey Grasshopper
- Page 1 Technical Reference Manual Version 1.5 Revised November 26, 2010 ® Point Grey Research Inc. 12051 Riverside Way • Richmond, BC • Canada • V6W 1K7 • T (604) 242-9937 • www.ptgrey.com Copyright © 2010 Point Grey Research Inc. All Rights Reserved.
- Page 2 Module provided with this package is guaranteed to be free from material and manufacturing defects for a period of two (2) years. Should a unit fail 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.
-
Page 3: Table Of Contents
Point Grey Research Grasshopper Technical Reference Table of Contents Table of Contents Table of Contents..................3 List of Figures ..................5 List of Tables ....................5 Introduction..................6 1.1. Grasshopper Overview ................6 1.1.1. Image Acquisition................6 1.1.2. Image Processing ................6 1.1.3. Camera and Device Control ............7 1.1.4. - Page 4 Point Grey Research Grasshopper Technical Reference Table of Contents 3.5.1. GPIO Electrical Characteristics ............21 3.6. Status Indicator LED.................21 Camera Operations and Features ..........22 4.1. General Camera Properties ..............23 4.2. Standard Data Formats, Modes and Frame Rates........23 4.3. Frame Rates and Camera Bandwidth ............25 4.3.1.
-
Page 5: List Of Figures
Figure 1: Dimensional drawing..................15 Figure 2: IEEE-1394b connector pin configuration............18 Figure 3: GPIO schematic.....................20 Figure 4: Grasshopper external trigger timing characteristics.........40 Figure 5: Relationship between video mode change and triggering........41 Figure 6: Test pattern sample image (Mono and YUV formats)........45 List of Tables Table 1: IEEE-1394b connector pin configuration............19... -
Page 6: Introduction
1.1. Grasshopper Overview The Grasshopper digital camera line offers high megapixel resolution and an ultra fast IEEE- 1394b 800Mb/s digital interface. Attractive pricing makes these powerful cameras ideal for OEMs and system integrators who need compact systems that deliver 1.4M, 2.0M or 5.0M images at high frame rates. -
Page 7: Camera And Device Control
1.2. Using This Manual This manual attempts to provide the user with a detailed specification of the Grasshopper camera system. The reader should be aware that the camera system is a complex and dynamic system – if any errors or omissions are found during experimentation, please contact us. -
Page 8: Camera Specifications
Point Grey Research Grasshopper Technical Reference Introduction 1.3. Camera Specifications Specification 03K2 03S3 14S3 14S5 20S4 50S5 Sony® Sony® ICX267 Sony® Sony® ICX274 Sony® ICX625 KAI- Kodak® ICX414 1/2” 1/2” ICX285 2/3” 1/1.8” 2/3” 0340- progressive progressive progressive progressive progressive... -
Page 9: Spectral Response
Point Grey Research Grasshopper Technical Reference Introduction Operating Temperature Dimensions 44mm x 29mm x 58mm (excluding lens holder, without optics) Mass 104 grams (without optics) Lens Mount C-mount Camera IIDC 1394-based Digital Camera Specification v1.31 Specification Voltage 8-30V, via IEEE-1394b interface or 8-pin GPIO connector... -
Page 10: Common Ccd Artifacts
However, the CCD is generally unable to provide the left and right halves of the image at an equal intensity. Therefore in order to maintain image quality, the Grasshopper has been calibrated to correct for imbalances between the left and right halves. However, there may be situations where the boundary between the left and right halves of the images can be seen, such as images with high gain values. -
Page 11: Laptop / Notebook Considerations
Some 1394 PCMCIA cards for laptop / notebook computers require a 4-pin cable. A 4-pin cable does not provide power and will therefore not work with Point Grey cameras, which require a 6-pin connector (the additional two pins provide power). For suggestions on how to provide power in these circumstances,... -
Page 12: Camera Control Command Registers
Do not open the camera housing. Doing so voids the Hardware Warranty described at the beginning of this reference manual. Your Point Grey digital camera module is a precisely manufactured device and should be handled with care. Here are some tips on how to care for the device. -
Page 13: Camera Accessories
Point Grey Research Grasshopper Technical Reference Introduction If reducing heat is a concern, users can use a cooling fan to set up a positive air flow around the camera, taking into consideration the following precautions: • Mount the camera on a heat sink, such as a camera mounting bracket, made out of a heat-conductive material like aluminum. -
Page 14: Camera Physical Properties
Input/Output section for more information. equipment. Consult the section Lens 5. Status LED Setup and This light indicates the current state of the Grasshopper Compatibility for full operation. Refer to the section Status Indicator LED. details. 6. IEEE-1394b connector 2. Glass / IR filter 7. -
Page 15: Camera Dimensions
Point Grey Research Grasshopper Technical Reference Camera Physical Properties 2.2. Camera Dimensions Figure 1: Dimensional drawing 2.3. Lens Setup and Compatibility The lens holder is compatible with C-mount lenses. Lenses are not included with individual cameras. To differentiate between C- and CS-mount lenses, consult the following article: KB Article 98: www.ptgrey.com/support/kb/index.asp?a=4&q=98... -
Page 16: Dust Protection
Two (2) M3x0.5mm mounting holes on the top of the case • Four (4) M3x0.5mm mounting holes on the bottom of the case that can be used to attach the camera directly to a custom mount or to the Grasshopper tripod mounting bracket 2.5.2. Using the Tripod Mounting Bracket The Grasshopper tripod mounting bracket comes with the Development Kit, or can be purchased separately by contacting sales@ptgrey.com. -
Page 17: Infrared Cut-Off Filters
2.6. Infrared Cut-Off Filters Point Grey Research color camera models are equipped with an additional infrared (IR) cut-off filter. This filter can reduce sensitivity in the visible spectrum. The properties of this filter are illustrated in the results below, which were obtained by Point Grey Research independent of camera model. -
Page 18: Camera Interface
However, the maximum bandwidth available for all cameras is still restricted to 800Mbps (for IEEE-1394b) or 400Mbps (for IEEE-1394a). While the Grasshopper is an IEEE-1394b device, it is backward compatible with the IEEE-1394a 400Mb/s standard, and can therefore be connected to any 1394a OHCI host adapter using a 9- to 6-pin cable (included with Grasshopper Development Kits). -
Page 19: Cables
Point Grey Research Grasshopper Technical Reference Camera Interface Table 1: IEEE-1394b connector pin configuration 3.2. Cables The maximum 1394 cable length between any 1394 node (e.g. camera to PCI card, PCI card to hub, etc.) is 4.5m, as specified by the IEEE- 1394 standard. Standard, shielded twisted pair copper cables must be used. -
Page 20: General Purpose Input/Output (Gpio)
3.5. General Purpose Input/Output (GPIO) The Grasshopper has an 8-pin GPIO connector on the back of the case. The connector is a Hirose HR25 8 pin connector (Mfg P/N: HR25-7TR-8SA). KIT contents include a prewired male connector; refer to the diagram below for wire color-coding. Additional male connectors (Mfg P/N: HR25-7TP-8P) can be purchased from Digikey (P/N: HR702-ND). -
Page 21: Gpio Electrical Characteristics
3.5.1. GPIO Electrical Characteristics The Grasshopper GPIO pins are TTL 3.3V pins. When configured as inputs, the pins are internally pulled high using weak pull-up resistors to allow easy triggering of the camera by simply shorting the pin to ground (GND). Inputs can also be directly driven from a 3.3V or 5V logic output. -
Page 22: Camera Operations And Features
Point Grey Research Grasshopper Technical Reference Camera Operations and Features Camera Operations and Features The Grasshopper line of IEEE-1394 cameras complies with the IIDC 1394-based Digital Camera (DCAM) Specification Version v1.31. To determine the specific DCAM v1.31 features implemented in a particular Grasshopper model, consult the following sections of the PGR IEEE-1394 Digital Camera Register Reference. -
Page 23: General Camera Properties
“Auto”, “On/Off” and “One Push” - Control and Status Registers for Features section • “Absolute Mode” - Absolute Value CSR Registers section The following property ranges apply to a Grasshopper GRAS-50S5C running at 15 FPS, and can change depending on the camera resolution and frame rate: •... -
Page 24: Table 4: Supported Video Formats, Modes And Frame Rates
Point Grey Research Grasshopper Technical Reference Camera Operations and Features Images acquired by color cameras using Y8 or Y16 modes (or Format_7 Mono8 / Mono16 modes) are converted to greyscale (monochrome) on-board the camera. To access the raw Bayer data to... -
Page 25: Frame Rates And Camera Bandwidth
4.3. Frame Rates and Camera Bandwidth This section is recommended for advanced users only, and is not meant to address all possible applications of the Grasshopper camera. 4.3.1. Maximum Number of Cameras on a Single Bus A single IEEE-1394 OHCI host adapter generally constitutes a single “bus”. There are four elements that limit the number of cameras that can be used on the same 1394 bus: •... -
Page 26: Exceeding Bandwidth Limitations Using Format_7 With Multiple Cameras
Requirements section of the PGR IEEE-1394 Digital Camera Register Reference. For example, a single Grasshopper in 640x480 RGB mode running at 15 FPS is sending 640 pixels per packet. Each pixel consists of 24 bits, or 3 bytes, of data. Therefore, the camera is sending 640*3 = 1920Bpp of data. -
Page 27: Customizable Data Formats And Modes
The table below outlines the Format_7 custom image modes that are supported by the Grasshopper. The implementation of these modes and the frame rates that are possible are not specified by the DCAM, and are subject to change across firmware versions. -
Page 28: Table 5: Supported Partial Image (Format 7) Video Formats And Modes For Gras-03K2C
Point Grey Research Grasshopper Technical Reference Camera Operations and Features YUV411 4140 640x480 YUV422 5520 640x480 YUV444 8280 640x480 RGB8 8280 640x480 Mono8 4032 320x240 Mono16 8024 320x240 YUV411 2832 320x240 YUV422 1376 320x240 YUV444 2068 320x240 RGB8 2068 320x240... -
Page 29: Table 6: Supported Partial Image (Format 7) Video Formats And Modes For Gras-03S3M
Point Grey Research Grasshopper Technical Reference Camera Operations and Features GRAS-03S3M Pixel 640 x 480 320 x 240 160 x 120 Mode Resolution Format Mono8 2644 (648 x 488) Mono16 5292 (648 x 488) Mono8 1212 (324 x 244) Mono16... -
Page 30: Table 7: Supported Partial Image (Format 7) Video Formats And Modes For Gras-14S3C
Point Grey Research Grasshopper Technical Reference Camera Operations and Features Raw8 1628 692x516 Raw16 3256 692x516 YUV411 2440 692x516 YUV422 3256 692x516 YUV444 4884 692x516 RGB8 4884 692x516 Mono8 3256 1384x516 Mono16 6512 1384x516 Raw8 3256 1384x516 Raw16 6512 1384x516... -
Page 31: Table 8: Supported Partial Image (Format 7) Video Formats And Modes For Gras-14S5C
Point Grey Research Grasshopper Technical Reference Camera Operations and Features Mono8 1368 692x518 Mono16 2740 692x518 YUV411 1000 692x518 YUV422 1336 692x518 YUV444 2004 692x518 RGB8 2004 692x518 Mono8 1336 1384x518 Mono16 2676 1384x518 YUV411 2004 1384x518 YUV422 2676 1384x518... -
Page 32: Table 9: Supported Partial Image (Format 7) Video Formats And Modes For Gras-20S4C
Point Grey Research Grasshopper Technical Reference Camera Operations and Features Mono16 6900 812x612 Raw8 3448 812x612 Raw16 6900 812x612 YUV411 3536 812x612 YUV422 4716 812x612 YUV444 7076 812x612 RGB8 7076 812x612 Mono8 4664 1624x612 Mono16 9328 1624x612 Raw8 6804 1624x612... - Page 33 Point Grey Research Grasshopper Technical Reference Camera Operations and Features RGB8 9792 2448x2048 Mono8 3036 1224x1024 Mono16 6072 1224x1024 Raw8 3644 1224x1024 Raw16 7288 1224x1024 YUV411 4566 1224x1024 YUV422 6072 1224x1024 YUV444 9112 1224x1024 RGB8 9112 1224x1024 Mono8 5064 2448x1024...
-
Page 34: Calculating Format_7 Frame Rates
Point Grey Research Grasshopper Technical Reference Camera Operations and Features Mono16 1844 612X512 Table 10: Supported partial image (Format 7) video formats and modes for GRAS-50S5C The maximum resolution currently supported by the GRAS-50S5C when using a mode that performs color processing on board (e.g. -
Page 35: Image Acquisition
Exposure), the time between the beginning of consecutive integrations will change. If the shutter time is constant, the time between integrations will also be constant. The Grasshopper will continually expose and read image data off of the sensor under the following conditions: 1. -
Page 36: Gain
4.5.3. Gain The Grasshopper supports automatic, manual and one-push gain modes. The A/D converter provides a PxGA gain stage (white balance / preamp) and VGA gain stage (GAIN register 0x820). The main VGA gain stage is available to the user, and is variable from 0 to 24dB in steps of 0.046db. -
Page 37: Extended Shutter Times
4.5.5. Extended Shutter Times The maximum shutter time for the Grasshopper can be extended beyond the normal shutter range by setting the ON_OFF bit [6] of the FRAME_RATE register 0x83C to zero (OFF). Once the FRAME_RATE is turned off, you should see the Max_Value of the ABS_VAL_SHUTTER register increase. -
Page 38: Automatic Inter-Camera Synchronization
4.5.6. Automatic Inter-Camera Synchronization Multiple Point Grey FireWire cameras, when they are on the same IEEE-1394 bus and running at the same frame rate, are automatically synchronized to each other at the hardware level. When using multiple cameras, the timing of one camera to another camera is as follows: •... -
Page 39: Y16 (16-Bit Mono) Image Acquisition
4.5.9. Y16 (16-bit Mono) Image Acquisition The Grasshopper can output Y16 (16 bit-per-pixel) mono images. However, the number of bits of usable data is limited to 12, or 4095 possible values, by the following: •... -
Page 40: Figure 4: Grasshopper External Trigger Timing Characteristics
Ensuring Trigger is Armed It is possible for the Grasshopper to be in asynchronous trigger mode but not be ready to accept a trigger. The reason for this is that the camera may be currently exposing an image; the camera is only ready to be triggered again when this image finishes integrating and is completely read off of the CCD. -
Page 41: On-Camera Frame Buffer
‘overlapped exposure/readout mode’ (Mode 14). 4.5.11. On-Camera Frame Buffer The Grasshopper has 32MB of memory that can be used for temporary image storage. This may be useful in cases such as: Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc. -
Page 42: High Dynamic Range (Hdr) Mode
4.5.12. High Dynamic Range (HDR) Mode The Grasshopper can be set into a High Dynamic Range mode in which the camera will rotate between 4 user-defined shutter and gain settings. This allows images representing a wide range of shutter and gain settings to be collected in a short time to be combined into a final HDR image later. -
Page 43: Lookup Table And Gamma
(row 0, column 0), the second byte at (row 0, column 1), etc. In the case of a 1600x1200 color Grasshopper that is streaming out Raw8 image data in RGGB format, if we access the image data via the pData pointer we have the following: •... -
Page 44: Saturation
4.6.5. White Balance The Grasshopper supports white balance, which is a name given to a system of color correction to deal with differing lighting conditions. Adjusting the white balance by modifying the relative gain of R, G and B in an image enables white areas to look "whiter". Taking some subset of the target image and looking at the relative red to green and blue to green response, the general idea is to scale the red and blue channels so that the response is 1:1:1. -
Page 45: Image Flip / Mirror
4.6.6. Image Flip / Mirror The Grasshopper supports horizontal image mirroring. The mirror image operation is done on the camera using the on-board frame buffer, and is controlled using the IMAGE_DATA_FORMAT register 0x1048, which is described in detail in the PGR IEEE-1394 Digital Camera Register Reference. -
Page 46: Embedded Image Information
Programmable Strobe Output The Grasshopper is capable of outputting a strobe pulse off one or all of its GPIO pins. By default, a pin that is configured to be a strobe output will output a pulse each time the camera begins integration of an image. -
Page 47: Memory Channel Storage Of Camera Settings
4.7.6. Camera Upgrades The firmware on the Grasshopper can be upgraded / downgraded to later / earlier versions using the UpdatorGUI program that is bundled with every firmware version available from www.ptgrey.com/support/downloads/. The latest firmware versions often include significant bug fixes and feature enhancements that may benefit some users. -
Page 48: Appendix A: Spectral Response Curves
Point Grey Research Grasshopper Technical Reference Appendix A: Spectral Response Curves Appendix A: Spectral Response Curves GRAS-03K2M GRAS-03K2C Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc. - Page 49 Point Grey Research Grasshopper Technical Reference Appendix A: Spectral Response Curves GRAS-03S3M Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc.
- Page 50 Point Grey Research Grasshopper Technical Reference Appendix A: Spectral Response Curves GRAS-14S3M GRAS-14S3C Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc.
- Page 51 Point Grey Research Grasshopper Technical Reference Appendix A: Spectral Response Curves GRAS-14S5M GRAS-14S5C Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc.
- Page 52 Point Grey Research Grasshopper Technical Reference Appendix A: Spectral Response Curves GRAS-20S4M GRAS-20S4C Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc.
- Page 53 Point Grey Research Grasshopper Technical Reference Appendix A: Spectral Response Curves GRAS-50S5M GRAS-50S5C Revised 26-Nov-10 Copyright (c) 2010 Point Grey Research Inc.
-
Page 54: Appendix B: Memory Channel Registers
Point Grey Research Grasshopper Technical Reference Appendix B: Memory Channel Registers Appendix B: Memory Channel Registers Register Name Offset CURRENT_FRAME_RATE 600h CURRENT_VIDEO_MODE 604h CURRENT_VIDEO_FORMAT 608h CAMERA_POWER 610h CUR_SAVE_CH 620h BRIGHTNESS 800h AUTO_EXPOSURE 804h SHARPNESS 808h WHITE_BALANCE 80Ch 810h SATURATION 814h... -
Page 55: Appendix C: Glossary
Point Grey Research Grasshopper Technical Reference Appendix C: Glossary Appendix C: Glossary Term Definition 1394a An Institute of Electrical and Electronics Engineers (IEEE) interface standard capable of transferring data at a rate of 400Mbit per second. 1394b An IEEE interface standard capable of transferring data at a rate of 800Mbit per second. - Page 56 Point Grey Research Grasshopper Technical Reference Appendix C: Glossary Grabbing Images A commonly-used phrase to refer to the process of enabling isochronous transfers on a camera, which allows image data to be streamed from the camera to the host system.
-
Page 57: Appendix D: Technical Support Resources
Appendix D: Technical Support Resources Appendix D: Technical Support Resources Point Grey Research Inc. endeavors to provide the highest level of technical support possible to our customers. Most support resources can be accessed through the Product Support section of our website: www.ptgrey.com/support. -
Page 58: Appendix E: Contacting Point Grey Research
Appendix E: Contacting Point Grey Research For any questions, concerns or comments please contact us via the following methods: Email: For all general questions about Point Grey Res earch please contact us at info@ptgrey.com. For technical support (existing customers only) contact us at http://www.ptgrey.com/support/contact/. -
Page 59: Appendix F: Revision History
• Replaced generic diagram in Section 2.6 of infra-red cutoff filter properties with one generated by Point Grey Research independent of camera model. • Section 1.3 (Specifications): Provided complete part number of sensor used in the 03K2 model. - Page 60 Point Grey Research Grasshopper Technical Reference Appendix F: Revision History • November Section 4.4 Customizable Data Formats and Modes: Updated 26, 2010 frame rate table for GRAS-50S5C. • Section 4.6.5 White Balance: Added White balance may be unresponsive in auto mode if auto exposure is <...
- Page 61 Point Grey Research Grasshopper Technical Reference Appendix F: Revision History Index 16-bit Mono data format ..See Y16 data format faster frame rates ..... See regions of interest firmware upgrades.......... 47 flash memory ..........47 Format_7 ............27 frame buffer ........... 41 absolute mode .....
- Page 62 Point Grey Research Grasshopper Technical Reference Appendix F: Revision History output pins............21 saving user data...... See flash memory output pulse........See strobe sharpness ............44 shutter .......... 23, 35, 36, 37 signal to noise ratio ........39 software trigger ... See asynchronous trigger strobe ............