Point Grey Bumblebee 2 BB2-03S2 Getting Started

BumBleBee ® 2 SpecificationS
SpECIfICatIon BB2-03S2
Sony ® 1/3" progressive scan CCD
Imaging Sensor ICX424 (648x488 max pixels)
7.4μm square pixels
Baseline
12cm
Lens focal Length 2.5mm with 97° HFOV or 3.8mm with 66° HFOV or 6mm with 43° HFOV
a/D Converter 12-bit analog-to-digital converter
Video Data output 8, 16 and 24-bit digital data (see Supported Data Formats below)
frame Rates
48, 30, 15, 7.5, 3.75, 1.875 FPS
Interfaces 6-pin IEEE-1394a for camera control and video data transmission
Voltage Requirements 8-30V via IEEE-1394 interface or GPIO connector
power Consumption 2.5W at 12V
Gain Automatic/Manual
Shutter
Automatic/Manual, 0.01ms to 66.63ms at 15 FPS
Gamma 0.50 to 4.00
trigger Modes DCAM v1.31 Trigger Modes 0, 1, 3, and 14
Signal to noise Ratio Greater than 60dB at 0dB gain
Dimensions
157mm x 36mm x 47.4mm
Mass 342 grams
Camera Specification IIDC 1394-based Digital Camera Specification v1.31
Emissions Compliance Complies with CE rules and Part 15 Class A of FCC Rules
operating temperature Commercial grade electronics rated from 0° to 45°C
Storage temperature
-30° to 60°C
image acQuiSition
automatic Synchronization Multiple Bumblebee2's on the same 1394 bus automatically sync
fast frame Rates Faster standard frame rates
Multiple trigger Modes Bulb-trigger mode, overlapped trigger/transfer
Color Conversion On-camera conversion to YUV411, YUV422 and RGB formats
Image processing On-camera control of sharpness, hue, saturation, gamma, LUT
Embedded Image Info Pixels contain frame-specific info (e.g. shutter, 1394 cycle time)
camera and deVice control
frame Rate Control
Fine-tune frame rates for video conversion (e.g. PAL @ 24 FPS)
Strobe output Increased drive strength, configurable strobe pattern output
RS-232 Serial port Provides serial communication via GPIO TTL digital logic levels
Memory Channels Non-volatile storage of camera default power-up settings
temperature Sensor Reports the temperature near the imaging sensor
Camera Upgrades Firmware upgradeable in field via IEEE-1394 interface.
caliBration and mechanicS
Lens System
High quality microlenses protected by removeable glass system
accurate pre-Calibration For lens distortions and camera misalignments
Stereo pair alignment Left and right images aligned to within 0.1
Calibration Retention Minimizes loss of calibration due to shock and vibration
1 Based on a stereo resolution of 640x480 and is valid for all camera models. Calibration accuracy will vary from camera to camera.
StatuS led
Steady on
Receiving power and successful camera initialization
Steady on and very bright Acquiring / transmitting images
Flashing bright, then brighter Camera registers being accessed (no image acquisition)
Camera firmware updated (requires power cycle),
Steady or slow flashing on and off
or possible camera problem

camera interface

IEEE-1394 Connector
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The Bumblebee 2 has a standard 6-pin IEEE-1394 connector that is used for data transmission, camera control and powering
the camera. The maximum 1394 cable length between any 1394 node (e.g. camera to PCI card, card to hub, etc.) is 4.5m, as
specified by the IEEE-1394 standard. Use standard, shielded twisted pair copper cables.
General Purpose Input/Output (GPIO)
The Bumblebee2 has a 12-pin Hirose HR10 (Mfg P/N: HR10A-10R-12SB) female circular connector on the back
of the case. Camera KIT contents include a pre-wired male connector; refer to the diagram below for wire color-
coding. Additional male counterparts (Mfg P/N: HR10A-10P-12P) can be purchased from Digi-Key (P/N: HR112-ND).
Diagram Pin
1
2
3
4
9 1
5
6
8 2
10
7
8
7 12 11 3
9, 10
11
6
4
12
5
To configure the GPIO pins, consult the "General Purpose Input / Output" section of the
PGR IEEE-1394 Digital Camera Register Reference.
The Bumblebee2 GPIO pins are TTL 3.3V pins. Inputs can be configured to accept external trigger signals. 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). The inputs are protected from both over and under voltage.
It is recommended, however, that they only be connected to 5V or 3.3V digital logic signals. Outputs can be
configured to send an output signal or strobe pulse. When configured as outputs, each line can sink 10mA of current.
Stereo image formatS
The Bumblebee2 can be configured to output images from both sensors at the same time as pixel (byte) interleaved
stereo pairs using Format_7. Pixel interleaved images use a raw 16bit/pixel format, where the first byte is from the
left camera and the second from the right.
BB2-HIxxx
Mode Pixel Format Max Size
3 Raw16 (16bpp) 1024x768
BB2-xxx
3 Raw16 (16bpp) 640x480
Standard image formatS
1 Use the PAN control to select the camera that is outputting images
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BB2-COL BB2-BW
Mode
Description
1.875 3.75
• •
640x480 YUV411
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640x480 YUV422
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640x480 RGB
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640x480 Y8
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640x480 Y16
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1024x768 YUV422
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1024x768 RGB
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1024x768 Y8
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1024x768 Y16
BB2-08S2
ICX204 (1032x776 max pixels)
4.65μm square pixels
18, 15, 7.5, 3.75, 1.875 FPS
1 pixel RMS error
Function Description
IO0 Input / Output (default Trigger_Src)
IO1 Input / Output
IO2 Input / Output / RS232 Transmit (TX)
IO3 Input / Output / RS232 Receive (RX)
RTS RS-232 Request to Send
CTS RS-232 Clear to Send
TX RS-232 Transmit (Output)
RX RS-232 Receive (Input)
GND
V Voltage limit: 8-30V; Current limit: 1A
EXT
+3.3V Power external circuitry up to a total of 150mA
FPS Description
20 Pixel interleaved stereo image
48 Pixel interleaved stereo image
• •
BB2-HICOL BBS-HIBW
Frames Per Second
7.5 15 30
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Getting Started

Bumblebee
technical drawingS
12 PIN GPIO CONNECTOR
Spectral reSponSe (Qe)
For full sensor datasheets, visit
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2
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IEEE-1394a Stereo Vision Digital Camera System
The following items are included with your Bubblebee2
Development Accessory Kit
All Development Kits
• 4.5 meter, 6-pin to 6-pin IEEE-1394 cable
• IEEE-1394 OHCI PCI Host Adapter 3-port 400Mb/s card
• Hirose HR10 12-pin male GPIO connector pre-wired for easy triggering
®
• FlyCapture SDK and Triclops SDK (C/C++ API and device drivers)
157.0
120.0
STATUS LED
FRONT VIEW
3.8mm OR 6mm MICROLENS
WITH PROTECTIVE GLASS
REAR VIEW
66.0
1/4-20x6 DEEP
2-M3x4 DEEP BOTTOM VIEW
TRIPOD MOUNTING HOLE
Color
www.ptgrey.com/support/kb/index.asp?a=4&q=23
IEEE 1394A CONNECTOR
Monochrome