Home

Scorpion Technical Reference

1. Camera Format Mode Max Image Unit Size Notes Size HxV H V SCOR 03SO 7 0 658x494 2 2 Increased frame rate 82fps 320x240 97fps 160x120 7 1 1 1 2x2 pixel binning mode 7 2 2 1 1x2 pixel binning mode SCOR 14SO 7 0 1392x1040 2 2 Region of interest mode 1024x768 Zlfps 640x480 25fps 320x240 30fps 7 1 696x520 1 1 2x2 pixel binning mode 7 2 1392x520 2 1 1x2 pixel binning mode SCOR 20SO 7 0 1628x1236 4 4 Increased frame rate 1280x1024 16fps 1024x768 18fps 640x480 21fps 320x240 24fps 160x160 26fps 7 1 1 1 2x2 pixel binning mode 7 2 2 1 1x2 pixel binning mode SCOR 13FF 7 0 1280x1024 44 Increased frame rate 1024x768 43fps 640x480 102fps 320x240 333fps 160x120 666fps 7 1 1 1 2x2 pixel binning mode SCOR 03NS J 0 648x484 44 Increased frame rate 70fps 320x240 119fps 160x120 7 1 Mode not implemented SCOR 13SM 7 0 1280x1024 44 Increased frame rate 100fps 640x480 275fps 320x240 7 1 Mode not implemented Table 5 Supported partial image Format 7 video formats and modes Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc POINT GREY ka 4 24 PGR Scorpion Technical Reference 6 2 Pixel Binning and Region of Interest Modes Most Scorpion models implement one or more DCAM Format 7 customizable video modes see the Customizable Formats and Modes section for camera specific information that allows for f
2. 10 6 1 General Specifications i 10 6 2 Individual Model Specifications i 10 6 2 1 SCOR 03SO i 11 6 2 2 SCOR 14SO i 11 6 2 3 SCOR 20SO s t ea aa 12 624 SCOR 13FF i ii 12 6 2 5 SCGOR 03KD ci iaia 13 6 2 6 SCOR 18SM ii piani 13 6 3 Physical DESCHIption iii ai 14 6 4 Camera DIMENSIONS aann ne enen eee ene e eee ever eee ever rene erret 15 6 5 MOUNU as s save v nia s ea v sis shta i e tyre 15 6 5 1 Top and Bottom Mounts 0000 0 nana aaa e enen nese vene nese enen eee vrer eee 15 6 5 2 Front Mount sis se vrisni das tdi Soda dt nd 16 6 6 Lens Setup and Compatibility aaa aaa aaa iii 16 6 6 1 Adjusting Lens FOCUS 16 ST 16 6 8 Typical Spectral Response aaa e eee neve eee v henes ee eee vere eee rere eee tete 17 6 9 Infrared Cut Off Filters aaa aaa aaa anen ee even nen eee vene rere tretet eter ete eee nete eter 17 6 10 Analog to Digital Converter an eee e ever e esen ne enen ee terrene enen 18 7 Camera Interface u i vd td ee Se nS Sn nnn HEH EMH n 19 74 IEEE 1394 Connector ereina erii a Ei A EAR 19 Ti ADES eeki aa dodhur dh 19 Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference 7 3 Host Adapter Card scenes saeeesaaeseeeeeseeeesaaeeseneeee 19 JA Ca
3. 10 1 Creating a Customer Login Account The first step in accessing our technical support resources is to obtain a Customer Login Account This requires a valid name e mail address and camera serial number To apply for a Customer Login Account go to www ptgrey com support downloads user_request html 10 2 Knowledge Base Our on line knowledge base contains answers to some of the most common support questions It has information about all PGR products and was developed to help customers resolve product issues It is constantly updated expanded and refined to ensure that our customers have access to the latest information To access the knowledge base go to www ptgrey com support kb 10 3 Product Downloads Customers with a Customer Login Account can access the latest software and firmware for their cameras from our downloads site at www ptgrey com support downloads We encourage our customers to keep their software and firmware up to date by downloading and installing the latest versions These versions include the latest bug fixes and feature enhancements 10 4 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 using our on
4. and 255 white Lookup table control is achieved using the LUT_CTRL registers as outlined in the PGR IEEE 1394 Digital Camera Register Reference 6 5 Automatic Inter Camera Synchronization All Scorpion models except SCOR 03KD when they are on the same IEEE 1394 bus and running at the same frame rate are automatically synchronized to each other at the hardware level When using multiple cameras the timing of one camera to another camera is as follows e If the cameras are on the same bus the cameras are synchronized to within 125us microseconds of each other note 125us is the maximum deviation However the 1394 bandwidth limits the maximum number of cameras that can be on one bus See the section Maximum Number of Cameras on a Single 1394 Bus for more information e If the cameras are on separate buses a PGR Sync Unit is needed to synchronize the cameras across buses The Sync Unit can synchronize cameras on different buses within the same computer or on different buses across multiple computers This device will ensure that the cameras are synchronized to within 125us If there is no sync device there is no timing correlation between separate cameras on separate buses 6 6 Embedded Image Information All Scorpion models have a feature that allows image timing and camera settings information to be embedded in the first several pixels of each image The first byte of embedded image data starts at pixel 0 0 column 0 row 0 a
5. shown below Kterr tr External trigger f tl min lus t2 less than 10us t3 integration time Integration time t lms ka 3 t5 30ms 240 packets Mode 5 30fps Video packet t4 Figure 10 Scorpion external trigger timing characteristics 7 3 2 Synchronizing to an External Device Using External Trigger Mode Refer to www ptgrey com support kb index asp a 4 amp q 177 to determine the maximum possible frame rate possible in external trigger mode Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Yi 31 POINT GREY ka t t PGR Scorpion Technical Reference Application Notes All Scorpion models support Trigger Mode 0 which is described in greater detail in the PGR IEEE 1394 Digital Camera Register Reference For more information on synchronizing to an external device using the Trigger Mode_0 download Technical Application Note TAN2004004 from the downloads section This functionality is also demonstrated in the AsyncTriggerEx example program that is included with the PGR FlyCapture SDK 7 3 3 Broadcasting a Strobe Pulse to an External Device For more information on how to configure a GPIO pin to output a signal of user defined delay and duration using the DCAM v1 31 strobe output functionality download Technical Application Note TAN2005001 from KB Article 179 www ptgrey com support kb index asp a 4 amp q 179 7 3 4 Control Shutter Time with Trigger Mode 1 B
6. 276 42 1280x960 7 5 0 14 552 29 1280x960 3 75fps 0 28 1106 45 1280x960 1 875fps 0 55 2212 89 SCOR 03NS n a SCOR 13SM n a Table 6 Extended shutter minimum and maximum times 6 4 Lookup Table and Gamma All Scorpion models except SCOR 13SM and SCOR 03KD support lookup table LUT and gamma functionality CCD manufacturers strive to make the transfer characteristics of CCDs Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Fi 25 POINT GREY ka i PGR Scorpion Technical Reference inherently linear which means that as the number of photons hitting the imaging sensor increases the resulting image intensity increases will be linear Gamma is applied after the analog to digital conversion It can be used to apply a non linear mapping of the resulting 10 or 12 bit image depending on the type of A D converter down to 8 bits By default Gamma is OFF and has a value of 1 0 which yields a linear response The LUT essentially takes A D values as inputs and allows users to map these values to 8 bit outputs For example the Scorpion uses an 11 bit LUT although it uses a 12 bit A D converter the frame buffer is only large enough to accommodate 11 bit images The LUT allows the user to map the 2 or 2048 different possible pixel values to any one of 256 2 possible output values For example the LUT would allow the user to map any pixel with a value of 2047 white to any value between 0 black
7. 4fps 52 9fps 59 6fps 120 74 8fps 75 3fps 100 0fps 60 96 5fps 99 4fps 147 5fps 32 111 5fps 118 4fps 168 9fps 16 122 5fps 130 9fps 193 4fps 1 nrow is the ROI height Y16 mode the width should be less than 820 columns 2 nominal is the frame rate achieved when you CSR 83C in auto mode 3 fastest is the best fram achievable for any image o ffset rate achievable wh n the row offset is zero and the FrameRate CSR is set to the maximum value 4 part scan is the best frame rate achievable when the ROI is roughly centred vertially FrameRate CSR is set to the roff 32 floor 1236 nrow 32 8 and the maximum value nrow nominal fastest Y16 nominal 1236 14 7fps 14 8fps 14 8fps 1200 14 7fps 15 1fps 8 1fps 1024 17 0fps 17 6fps 9 3fps 960 17 9fps 18 7fps 9 9fps 600 26 6fps 27 9fps 14 7fps 480 31 7fps 34 0fps 17 4fps 240 51 4fps 57 8fps 28 3fps 120 74 8fps 85 7fps 41 1fps 60 96 5fps 118 4fps 53 0fps 32 111 5fps 146 3fps 61 3fps 16 122 5fps 165 9fps 67 4fps Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc POINT GREY ka 40
8. Reference 4 4 Camera Dimensions ee F es 9 37 64 0 a l all if li 19 40 25 AN 8 hh i I SY 45 t de ANRA 9 RE Figure 3 Scorpion case dimensions back 37 20 lt 14 50 on 8 S z q M2 set scre Figure 4 Scorpion case dimensions side Figure 5 Scorpion case dimensions bottom 4 5 Mounting 4 5 1 Top and Bottom Mounts The Scorpion is equipped with two M3 mounting holes on each of the top and bottom faces of the case 4 holes total These holes can be used to attach the camera directly to a custom mount or to the Scorpion tripod mounting bracket which can be purchased by contacting sales ptgrey com Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a at PGR Scorpion Technical Reference 4 5 2 Front Mount The Scorpion is equipped vvith four M3 mounting holes on the front sensor face that can be used to attach the camera directly to a custom fixture 4 6 Lens Setup and Compatibility The Scorpion is compatible with both C and CS mount lenses Lenses are not included with the Scorpion camera To differentiate between C and CS mount lenses consult the following article KB Article 98 ptgrey com support kb index asp a 4 amp q 98 4 6 1 Adjusting Lens Focus A lens M2 set screw is located on the underside of the Scorpion camera body toward the side closest
9. Synchronizing to an external signal using DCAM 1 31 Trigger Mode 0 TAN2004001 Configuring and testing the RS 232 serial port TAN2005002 Setting a GPIO pin to strobe using DCAM 1 31 Strobe Signal Output TAN2005003 Setting a GPIO pin to output a strobe signal pulse pattern TAN2005004 Buffering a GPIO pin output signal to drive an external device Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference 4 Camera Specifications and Properties 4 1 General Specifications The Scorpion is available vvith a variety of CMOS and CCD image sensors The follovving table details the specifications common to all Scorpion models unless othervvise specified in Individual Model Specifications NOTES e Signal to Noise Ratio is calculated using the general methodology outlined in the following knowledge base article KB Article 142 www ptgrey com support kb index asp a 4 amp q 142 Specification Description Style Silver anodized aluminum case Interfaces 6 pin IEEE 1394 for camera control and video data transmission Hirose HR10 12 pin for external trigger strobe general purpose I O and built in RS232 serial port Voltage Requirements 8 32V External Trigger DCAM v1 30 Trigger_Mode_0 except SCOR 03KD Signal To Noise Ratio 55dB or better at minimum gain Dimensions 50mm x 50mm x 40mm Mass 125 grams without a lens Lens Adapter
10. When handling the camera unit avoid touching the lenses Fingerprints will affect the quality of the image produced by the device e To clean the lenses use a standard camera lens cleaning kit or a clean dry cotton cloth Do not apply excessive force e To clean the imaging surface of your CCD follow the steps outlined in www ptgrey com support kb index asp a 4 amp q 66 e Our cameras are designed for an office environment or laboratory use Extended exposure to bright sunlight rain dusty environments etc may cause problems with the electronics and the optics of the system Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t r PGR Scorpion Technical Reference e Avoid excessive shaking dropping or any kind of mishandling of the device 3 7 Camera Accessories Accessories such as tripod mounts and lens holders are available from PGR contact our Sales team at sales Optgrey com for additional information Links to Fire VVire IEEE 1394 and digital camera accessories can be found in the following knowledge base article KB Article 131 www pterey com support kb index asp a 4 amp q 131 3 8 Related Documentation and References The following user manuals technical references and application notes are referred to in this manual and can be downloaded from www ptgrey com support downloads PGR IEEE 1394 Digital Camera Register Reference PGR FlyCapture User Manual TAN2004004
11. bit A D Video Output Signal 8 bits per pixel 16 bits per pixel digital data Power Consumption Less than 3 5W Frame Rate max 1SFPS 1280x960 Brightness 0 00 to 6 23 Gain Automatic Manual One Push modes absolute values supported 10 to 26dB Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc y 11 baint er s ka PGR Scorpion Technical Reference Shutter Automatic Manual One Push modes absolute values supported 0 02ms to 66ms 15FPS Extended Shutter Automatic Manual One Push modes absolute values supported 0 02ms to 3337ms 15FPS Gamma 0 50 to 4 00 Trigger Modes DCAM vl 31 Trigger Modes 0 1 and 3 4 2 3 SCOR 2050 Specification Description Current Firmware 1 0 Release Candidate 1 Sensor Overview Sony 171 8 ICX274 Progressive Scan CCD Monochrome or Color Global shutter Sensor Resolution 1600x1200 Sensor Size Diagonal 8 923mm 1 1 8 CCD Sensor Total Pixels 1688 H x 1248 V approx 2 11M pixels Sensor Effective Pixels 1628 H x 1236 V approx 2 01M pixels Sensor Active Pixels 1620 H x 1220 V approx 1 98M pixels Sensor Chip Size 8 50mm H x 6 80mm V Sensor Unit Cell Size 4 4um H x 4 4um V A D Converter Analog Devices AD9849AKST 12 bit A D Video Output Signal 8 bits per pixel 16 bits per pixel digital
12. data Power Consumption Less than 3 5W Frame Rates max 15FPS 1600x1200 Brightness 0 00 to 6 23 Gain Automatic Manual One Push modes absolute values supported 10 to 26dB Shutter Automatic Manual One Push modes absolute values supported 0 03ms to 66 6ms 15FPS Extended Shutter Automatic Manual One Push modes absolute values supported 0 02ms to 3296ms 15FPS Gamma 0 50 to 4 00 Trigger Modes DCAM v1 31 Trigger Modes 0 1 and 3 4 2 4 SCOR 13FF Specification Description Latest Firmware 1 0 Release Candidate 1 Sensor Overview FillFactory 2 3 IBIS 5A Progressive Scan CMOS Monochrome or Color Global Rolling shutter Sensor Resolution 1280x1024 Sensor Size 8 6 x 6 9mm 2 3 CMOS Sensor Total Pixels 1280 H x 1024 V approx 1 31M pixels Sensor Effective Pixels 1280 H x 1024 V approx 1 31M pixels Sensor Active Pixels 1280 H x 1024 V approx 1 31M pixels Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc F 12 I esitare ka t PGR Scorpion Technical Reference Sensor Chip Size 8 6mm H x 6 9mm V Sensor Unit Cell Size 6 7um H x 6 7um V AID Converter On board the CMOS sensor 10 bit A D converter Video Output Signal 8 bits per pixel digital data Power Consumption Less than 2W Frame Ra
13. line web form www ptgrey com support contact This will create a ticket in our Request Tracker support system and a Technical Support representative will contact you by e mail within one 1 business day Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc F 36 POINT GREY ka t PGR Scorpion Technical Reference Contacting Point Grey Research Inc 11 Contacting Point Grey Research Inc For any questions concerns or comments please contact us via the follovving methods Email Knowledge Base Downloads Main Office Distributors USA Europe Japan Korea For all general questions about Point Grey Research please contact us at info ptgrey com For technical support existing customers only contact us at http www ptgrey com support contact Find answers to commonly asked questions in our knowledge base at http www ptgrey com support kb Users can download the latest manuals and software from http www ptgrey com support downloads Mailing Address Point Grey Research Inc 12051 Riverside Way Richmond BC Canada V6W 1K7 Mailing Address 13749 E Charter Oak Drive Scottsdale AZ USA 85259 2322 Mailing Address Gerst cker Str 60 D 81827 Miinchen Germany Tel 1 604 242 9937 Toll free North America only 1 866 765 0827 Fax 1 604 242 9938 sales ptgrey com Tel 1 480 391 2125 Fax 1 480 391 2125 na sales ptgrey com Te
14. 005003 from KB Article 207 www ptgrey com support kb index asp a 4 amp q 207 Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc 27 POINT GREY k t t PGR Scorpion Technical Reference 6BCamera Operations and Features 6 9 RS 232 Serial Port All Scorpion models except SCOR 03KD are capable of serial communications via the on board RS232 serial port built into the camera s GPIO connector For information on how to configure the camera s serial port download Technical Application Note TAN2004001 from KB Article 151 www pterey com support kb index asp a 4 amp q 151 6 10 Camera Upgrades The firmware on all Scorpion models can be upgraded downgraded to later earlier versions using the UpdatorGUI program that is bundled with every firmware version available from www ptgrey com support downloads The latest firmware versions often include significant bug fixes and feature enhancements that may benefit some users To determine the changes made in a specific firmware version consult the Release Notes For more information on updating camera firmware consult the UpdatorGUI User Manual available in the downloads section Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Vi 28 POINT GREY ka t PGR Scorpion Technical Reference Application Notes 7 Application Notes This section is recommended for advanced users only and is not meant to address all possible applications of the S
15. 33 Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc paT er s ka t PGR Scorpion Technical Reference 3 Introduction 3 1 Scorpion Overview The Scorpion IEEE 1394 camera platform available with a variety of CMOS and CCD image sensors is designed for demanding imaging applications Common to each camera model is the form factor the communication interface and the general purpose I O AIl model specific information presented in this manual reflects functionality available in the latest version of camera firmware To determine this version please refer to the Individual Model Specifications section This manual attempts to provide the user with a detailed specification of the Scorpion 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 see section 10 4 Contacting Technical Support 3 2 General Features e CCD and CMOS imaging sensors provide a wide range of resolutions and frame rates TEEE 1394 interface for data transmission speeds up to 400Mbps Region of interest and pixel binning modes for faster frame rates Camera settings control of brightness auto exposure gain shutter GPIO connector for external trigger strobe and RS 232 serial I O Anodized aluminum case with top bottom and front mounting Automatic syne with other Scorpion s on the same 1394 bus Embed fram
16. C or CS mount lens Camera Specification IIDC 1394 based Digital Camera Specification v1 30 Emissions Compliance Complies with CE rules and Part 15 Class A of FCC Rules Operating Temperature 0 to 45 C Storage Temperature 30 to 60 C Camera Upgrades Firmware upgrades in field via IEEE 1394 4 2 Individual Model Specifications Detailed image sensor information can be found in the individual sensor datasheets which can be found at www ptgrey com support kb index asp a 4 amp q 23 See the Glossary Section for definitions of terms included in this section NOTES e Current Firmware is the version currently being shipped on individual cameras later versions may be found at www ptgrey com support downloads To determine a camera s firmware version consult the following knowledge base article KB Article 94 www ptgrey com support kb index asp a 4 amp q 94 e Frame Rate max is the maximum frame rate possible using standard non Format_7 video formats and modes Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference 4 2 1 SCOR 03SO Specification Description Current Firmware 1 0 Release Candidate 1 Sensor Overview Sony 1 2 ICX414 Progressive Scan CCD Monochrome Global shutter Sensor Resolution 640x480 Sensor Size Diagonal 8mm 1 2 CCD Sensor Total Pixels 692 H x 504 V approx 350K
17. E fileImage fopen imagel6 pgm wb fprintf fileImage P5 n PGM magic id value fprintf fileImage Sd d n image iCols image iRows fprintf fileImage Sd n OxFFFF max value of a 16bit pixel unsigned short pPixel unsigned short image pData for int iPixel 0 iPixel lt image iRows image iCols iPixel fwrite pPixel 1 2 fileImage pPixel There are very few photo manipulation display applications that can correctly display true 16 bit images XV in Linux and Adobe Photoshop are two possibilities Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc VI 33 POINT GREY ka t PGR Scorpion Technical Reference Glossary 8 Glossary Term Definition Absolute Values Real world values such as milliseconds ms decibels dB or percent 90 Using the absolute values is easier and more efficient than applying complex conversion formulas to integer values Analog to Digital Converter Often abbreviated as ADC or A D converted it is a device that converts a voltage to a digital number API Application Programming Interface Essentially a library of software functions Auto Exposure EV This is the average intensity of the image It will use other available non manually adjustable controls to adjust the image Brightness This is essentially the level of black in an image A high brightness will re
18. Mono 2 6 e 1280x960 Y 16 Mono SCOR 1 2 e 800x600 Y8 Mono 20SO 1 6 ce 800x600 Y16 Mono 2 2 e 1280x960 Y8 Mono 2 5 e 1600x1200 Y8 Mono 2 6 e 1280x960 Y 16 Mono 2 7 e 1600x1200 Y 16 Mono SCOR 0 5 e e 640x480 Y8 Mono 03NS 0 6 e e 640x480 Y16 Mono SCOR 0 5 e 640x480 Y8 Mono 13SM 1 2 800x600 Y8 Mono 1 5 e e 1024x768 Y8 Mono 2 2 e e 1280x960 Y8 Mono Table 4 Supported video formats modes and frame rates Actual frame rate 25Hz gt Actual frame rate 25Hz Revised 30 Jul 08 F 23 Copyright c 2005 Point Grey Research Inc POINT G ka GREY PGR Scorpion Technical Reference 6 1 2 Customizable Formats and Modes The table below outlines the Format 7 custom image modes that are supported by the camera The implementation of these modes and the frame rates that are possible are not specified by the DCAM Format 7 Mode 0 is a region of interest sub window mode that allows the user to only transmit a selected area of the image Format 7 Mode 1 and Mode 2 are pixel binned sub sampled or down sampled modes Moving the position of region of interest to a different location does not require the camera to be stopped isochronous transmission disabled and restarted iso enabled Hovvever changing the size of the ROI does require the stop start procedure
19. PGR IEEE 1394 Digital Camera Register Reference for more information 5 5 General Purpose Input Output GPIO The Scorpion has a set of eight 8 general purpose IO pins that can be accessed via the Hirose HR10 12 pin external interface shown in Figure 1 Picture of Scorpion module front and back These IO pins can be configured to accept an input signal to externally trigger the camera or to send an output signal or strobe to an external device To determine how to configure the GPIO pins please consult the PGR IEEE 1394 Digital Camera Register Reference GPIO pins IOO to IO3 can be used for external triggering general input output strobe output or Pulse Width Modulation PWM output GPIO pins IO4 to IO7 are used for the built in RS232 serial port For more information on using the RS232 serial port download Technical Application Note TAN2004001 from www ptgrey com support downloads 5 5 1 GPIO Connector Pin Layout The following diagram shows the pin layout for the Hirose HR10 12 pin female circular connector Manufacturer Part Number HR10A 10R 12SB used on all Scorpion models The male counterpart Manufacturer Part Number is HR10A 10P 12P For more information about this connector visit the Hirose website Pin GPIO Function Abbreviation 1 100 Input trigger or output strobe default trigger 2 101 Input trigger or output strobe 3 102 Input trigger or output strobe 4 103 Input trigger or out
20. POINT GREY k RES EAR CH Scorpion Technical Reference Manual Revised July 30 2008 Point Grey Research Inc 12051 Riverside Way e Richmond BC e Canada e V6W 1K7 e T 604 242 9937 e www ptgrey com PGR Scorpion Technical Reference For customers in the U S A This equipment has been tested and found to comply vvith the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in vyhich case the user vvill be required to correct the interference at his ovyn expense You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to operate this equipment The shielded interface cable recommended in this manual must be used vvith this equipment in order to comply with the limits for a computing device pursuant to Subpart J of Part 15 of FCC Rules Hardware Warranty Point Grey Research Inc PGR warrants to the Original Purchaser that the Camera Module provided with this package is guaranteed to be free from material a
21. Reference 3 4 3 Third Party Software Applications The following knowledge base article provides information on PGR IEEE 1394 camera compatibility with third party software development kits applications camera drivers and integrated development environments IDEs KB Article 152 www ptgrey com support kb index asp a 4 amp q 152 3 5 Camera Control Command Registers For a complete description of the Camera Control Command Registers implemented on the Scorpion please refer to the PGR IEEE 1394 Digital Camera Register Reference included with the PGR FlyCapture SDK and downloadable from www ptgrey com support downloads 3 6 Handling Precautions and Camera Care Do not open the camera housing Doing so voids the Hardware Warranty described at the beginning of this reference manual Your PGR IEEE 1394 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 e Avoid electrostatic charging Please consult the following knowledge base article for more details www ptgrey com support kb index asp a 4 amp q 42 e Users who have purchased a bare board camera should be sure to take the following additional protective measures o Either handle bare handed or use non chargeable gloves clothes or material Also use conductive shoes o Install a conductive mat on the floor or working table to prevent the generation of static electricity e
22. _RATE register 0x83C which is described in the PGR IEEE 1394 Digital Camera Register Reference This is particularly useful for capturing an image stream at a different frame rate than those outlined in the Supported Data Formats and Modes section For example users may wish to play an image stream back on a PAL based system that displays at 25FPS This is also useful for synchronizing to 50Hz light sources which can cause image intensity fluctuations due to the light source oscillations being out of sync with the frame rate 6 8 Programmable Strobe Output All Scorpion models except SCOR 03KD and SCOR 13SM are capable of outputting a strobe pulse off one or all of their 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 However some models can also be configured to output a variable strobe pulse pattern The strobe pattern functionality allows users to define the frames for which the camera will output a strobe For example this is useful in situations where a strobe should only fire e Every Nth frame e g odd frames from one camera and even frames from another or e Nframesinarow outof T e g the last 3 frames in a set of 6 or e Specific frames within a defined period e g frames 1 5 and 7 in a set of 8 To determine which Scorpion models support this and how to configure the variable strobe pattern download Technical Application Note TAN2
23. aster frame rates based on selecting a specific region of interest ROI of the image or by configuring the camera to sub sample the image using a process known as pixel binning See the following knowledge base article for a more detailed description of these modes KB Article 163 www ptgrey com support kb index asp a 4 amp q 163 6 3 Extended Shutter Times The maximum shutter time for some Scorpion models can be extended beyond the normal shutter range by turning the FRAME_RATE register OFF To do this set the ON OFF field of the FRAME_RATE register 83Ch to OFF Once the FRAME_RATE is turned off you should see the Max_Value of the ABS_VAL_SHUTTER register 910h increase The maximum extended shutter time reported by the SHUTTER INQ register 51Ch is capped at 4095 0xFFF the maximum value allowed by the Max_Value field of this register Use the Max_Value of the ABS_VAL_SHUTTER register to determine the maximum shutter Model Format and FPS Min ms Max ms Notes SCOR 20SO 1600x1200 15fps 0 03 3296 99 1600x1200 7 5fps 0 05 5994 53 1600x1200 3 75fps 0 05 5994 53 1600x1200 1 875fps 0 06 23019 00 SCOR 14SO 1280x960 15fps 0 02 3335 85 1280x960 7 5fps 0 03 4449 33 1280x960 3 75fps 0 03 8898 66 1280x960 1 875fps 0 11 30650 00 SCOR 03SO 640x480 60fps 0 02 1919 74 640x480 30 15 7 5 3 75fps 0 02 3829 50 640x480 1 875fps 0 02 7673 88 SCOR 13FF 1280x960 15fps 0 07
24. camera If you are using the PGR FlyCapture software this will require calls to flycapturelnitialize and flycaptureStart 2 Ensure that isochronous data transfer is turned off by doing the following set 614h to 00 00 00 00 3 Fora single shot poke the first bit of the MULTI_SHOT register as follows set 61Ch to 80 00 00 00 For multiple shots in this example 175 or OXAF poke the first bit of the MULTI SHOT register as follows Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc F 30 POINT GREY ka u PGR Scorpion Technical Reference Application Notes set 61Ch to 40 00 00 AF This vvill cause the camera to produce the desired number of images before resuming a vvait state Standard image transmission can be resumed by poking the 614h register again as follows set 614h to 80 00 00 00 7 3 Interacting with External Devices The Point Grey Research Scorpion is a versatile IEEE 1394 digital camera that is capable of interacting with external devices It can be configured to trigger on an external electrical signal or produce a similar signal that allows devices external to the camera to be synchronized to the camera Input and output of these signals is achieved via the Scorpion s general purpose IO pins described in section 5 5 General Purpose Input Output GPIO 7 3 1 External Trigger Timing Information For most Scorpion models the time from the external trigger going low to the integration time is
25. corpion camera 7 1 Maximum Number of Cameras on a Single 1394 Bus There are four elements that limit the number of cameras that can be used on the same 1394 bus 1 Although the 1394a standard limits the maximum number of simultaneous isochronous channels to 16 there is currently no host adapter that is capable of supporting 16 channels Host adapters based on the TI chipset can support at most 4 simultaneous DMA channels also known as DMA contexts Similar adapters based on the Lucent Agere chipset support up to 8 DMA contexts There are no known 1394b chipsets that allow more than 4 simultaneous DMA contexts See Knowledge Base Article 146 for more information 2 The maximum bandwidth of the 1394a bus is 400Mbits sec 5120Bytes packet The usable bandwidth as defined by the 1394a Trade Association and enforced by the Microsoft Windows 1394 driver stack 1394bus sys ohcil394 sys etc is approximately 80 or 40MBytes sec 4096Bytes packet The remaining 20 of the bandwidth is allocated for asynchronous communication e g register reads writes The same general rules apply for 1394b buses except that the maximum bandwidth increases to 800Mbps 10240Bpp when 1394b devices are connected The 1394a standard limits the maximum number of devices on a single bus to 63 4 An inadequate power supply Consult the voltage and power requirements in the General Specifications section of your PGR camera s Technical Reference or Getting Started
26. e 0 0 Alpha 33 Sensor Overview Symagery 2 3 VCA1281 Progressive Scan CMOS Monochrome or Color Rolling shutter Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc F 13 l estirr k s ka t PGR Scorpion Technical Reference Sensor Resolution 1280x1024 Sensor Size Diagonal 11 5mm 2 3 CMOS Sensor Total Pixels n a Sensor Effective Pixels 1284 H x 1028 V approx 1 32M pixels Sensor Active Pixels 1280 H x 1024 V approx 1 31M pixels Sensor Chip Size Not available in datasheet Sensor Unit Cell Size 7um H x 7um V AID Converter On board the CMOS sensor 10 bit A D converter Video Output Signal 8 bits per pixel digital data Power Consumption Less than 4W Frame Rates max 30FPS 1280x960 Gain Automatic Manual modes DPGA 1 to 25 Shutter Automatic Manual Extended Shutter modes 0 100ms to 44ms 15FPS Signal To Noise Ratio 40dB or better at minimum gain 4 3 Physical Description Adjustable C CS aA o A f o oan C Lens Holder Ring PETE ane t Sa AN I ai Imaging Sensor ay Il NI Il f NA J ie SE fi 12 pin GPIO A Il Connector Status LED IEEE 1394 Connector Lens set screw M3 Mounting Hole Figure 1 Picture of Scorpion module front and back Revised 30 Jul 08 igh 2 Poi R s Copyright c 2005 Point Grey Research Inc N POINT GREY a u t PGR Scorpion Technical
27. e Shot and Multi Shot Modes 30 9 3 Interacting with External Devices 31 9 3 1 External Trigger Timing Information i 31 9 3 2 Synchronizing to an External Device Using External Trigger Mode 31 9 3 3 Broadcasting a Strobe Pulse to an External Device 32 9 3 4 Control Shutter Time with Trigger Mode 1 Bulb Trigger Mode 32 9 4 Software Triggering an Image AcquisitioN i 32 9 5 Working with Y16 16 bit Mono Images aaa ananas sene esen reze 33 9 5 1 Y16 Data Format uan iaia t 33 9 5 2 Saving Y16 IMageSs aaa eee a eseve eee ene ee enen ee veres e eee eren 33 10 OS SQ ad aina inani tadika e aiM u ENa anaE AAE aKa N a nik Aake E Naani 34 11 Errata and Change Notifications da aannnnnnnnnna nanen nonen eren enen nonen 35 11 1 Case and Adapter Revisions ana nanes eee eseve ke sene re enen ee veren eee 35 12 Technical Support Resources dan nana na nena nenen enen nenen nene enen 36 12 1 Creating a Customer Login ACCOUNt ne ananas ene eee nene ever ee eee 36 12 2 Knowledge Base 36 12 3 Product DownloadS i 36 12 4 Contacting Technical Support aaa nane eseve nese eres enen ee veres ne eee 36 13 Contacting Point Grey Research INC ssssseeeeeeeeeeeeeeeeeeeeeeees 37 DO Cc O 38 Revised 30 Jul 08 Copyright c 2005 P
28. e specific info in pixels of the image Extended shutter times up to several seconds Firmware upgradeable in field via IEEE 1394 interface 3 3 System Requirements e Processor Recommended Intel Pentium 4 2 0 GHz or compatible processor Minimum Intel Pentium III 800 MHz or compatible processor e Memory Recommended 512 MB RAM Minimum 64 MB RAM Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference e Desktop resolution Recommended 1600 x 1200 Minimum 640 x 480 AGP video card vvith 64 MB video memory 128 MB recommended 32 bit standard PCI slot for the IEEE 1394 card Microsoft Windows XP Service Pack 1 Microsoft Visual C 6 0 to compile and run example code 3 3 1 Laptop 1 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 PGR cameras which require a 6 pin connector the additional two pins provide power For suggestions on how to provide power in these circumstances consult the following knowledge base article KB Article 93 www ptgrey com support kb index asp a 4 amp q 93 3 3 2 Macintosh and Linux OS Support Users wishing to operate their PGR camera on the Macintosh OS X or Linux operating systems should consult the following knowledge base articles Macintosh support www ptgrey com support kb index as
29. from a gray image of the same intensity For example red is highly saturated whereas a pale pink is not Sharpness This works by filtering the image to reduce blurred edges in an image Shutter ms This is the amount of time that the camera s electronic shutter stays open for also known as the integration time The shutter time defines the start and end point of when light falls on the imaging sensor At the end of the integration period all charges are simultaneously transferred to light shielded areas of the sensor The charges are then shifted out of the light shielded areas of the sensor and read out Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc F 34 POINT GREY ka t PGR Scorpion Technical Reference Errata and Change Notifications 9 Errata and Change Notifications This errata section lists significant changes to the Scorpion hardyvare and electrical components that have been implemented since the last release of the Scorpion Technical Reference For a summary of all firmware changes please consult the Scorpion Firmware Release Notes 9 1 Case and Adapter Revisions The follovving revisions pertain to the aluminum case enclosure that houses the Scorpion stacked PCBs and the tripod mounting adapter that can be screvved to the bottom of the case Sticker Cutout Added May 27 2003 e A 0 5mm deep cutout was added to the bottom of the case to allow for a sticker containing camera inf
30. includes a complete analog front end with A D conversion combined with a programmable timing driver The Precision Timing core allows adjustment of high speed clocks with approximately 1 ns resolution Pixel Gain Amplifier 4dB 6dB 6 bit Variable Gain Amplifier 2dB to 36dB 10 bit Black Level Clamp 0 LSB to 255 LSB Revised 30 Jul 08 Yi Copyright c 2005 Point Grey Research Inc Toe k POINT a GREY PGR Scorpion Technical Reference 5 Camera Interface 5 1 IEEE 1394 Connector The Scorpion has a standard 6 pin IEEE 1394 connector pin configuration shown below that is used for data transmission camera control and powering the camera L aS N 5 4 3 2 1 OR n Figure 8 IEEE 1394 connector pin configuration Pin Function 1 Power Input 8 to 32 VDC 2 DC GND 3 TPB 4 TPB 5 TPA 6 TPA Table 1 IEEE 1394 connector pin configuration 5 2 Cables The maximum 1394a 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 Trade Association Standard shielded twisted pair copper cables must be used Consult the following knowledge base article for information on how to extend the physical distance between the camera and the controlling host system KB Article 197 www ptgrey com support kb index asp a 4 amp q 197 5 3 Host Adapter Card All Scorpion camera kits e g SCOR
31. l 49 89 45463224 Fax 49 89 45463225 eu sales ptgrey com ViewPLUS Inc http www viewplus co jp Cylod Co Ltd http www cylod com Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc POINT GREY ka 37 PGR Scorpion Technical Reference Index 12 Index 1 16 bit Mono data format See Y16 data format 4 4 pin 1394 cables 7 A A D converter See analog to digital converter analog to digital converter 18 automatic synchronizationSee multiple camera automatic synchronization B binning See pixel binning bulb trigger mode 32 C cables 19 camera firmware upgrades 10 camera settings embedded in image 26 capture image in single shot mode 30 cleaning the CCD 8 custom image modes 24 D DCAMSee IIDC 1394 based Digital Camera DCAM Specification F faster frame rates firmware See regions of interest changes summary 35 firmware version SCOR 03NS 13 SCOR 03SO 11 SCOR 13FF 11 12 SCOR 13SM 13 G general purpose input output pins 20 connector part number 20 electrical characteristics 21 GPIO See general purpose input output pins IIDC 1394 based Digital Camera DCAM Specification 22 image timestamp 26 infrared cut off filters 17 input voltage 20 Integration time See Shutter L laptop power considerations 7 lens adapter formats 10 lens compatibility 16 M mounting holes 15 E multiple camera automatic synchronization 26 syncing cameras on different buse
32. manual to determine the amount of power required to operate the cameras effectively w 7 1 1 Calculating Maximum Possible Frame Rate The maximum frame rate allowable for each of the cameras on the bus depends on the resolution of the cameras and the frame rate and can be roughly approximated using the following general formula assuming all cameras are at the same resolution Frames_per_second Bandwidth Pixels_per_frame Bytes_per_pixel Num_cameras Example To calculate the frames per second available to three 1024x768 Scorpions that are in 8 bit mode you would calculate Frames_per_second 40MB s 1 1024 768 1byte pixel 3 40MB s 1 0 75MB total_frames 3 53 33 fps 3 17 8fps Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Vi 29 POINT GREY ka t PGR Scorpion Technical Reference Application Notes You can perform a more exact calculation using the number of pixels or bytes per packet Bpp that each camera is required to send when in a particular video format mode frame rate The Bpp can be derived using the Isochronous Bandwidth Requirements table in Section 3 of the PGR IEEE 1394 Digital Camera Register Reference For example a single PGR Scorpion SCOR 03SO in 640x480 Y16 mode running at 15fps is sending 640 pixels per packet Each pixel consists of 16 bits or 2 bytes of data Therefore the camera is sending 640 2 1280Bpp of data The maximum bandwidth of the 1394a bu
33. mera PONG sasia lirica nd n d h ha e 20 7 5 General Purpose Input Output GPIO i 20 7 5 1 GPIO Connector Pin Layout 20 7 5 2 GPIO Electrical CharacteristiS ii 21 76 Status Indicator LED sua aaa aaa aaa aaa nen an nese enen eee vene rere veren eee eee eee ererat 21 8 Camera Operations and Features 1 iii en enen ese eenesese 22 8 1 Supported Data Formats and Modes i 23 8 1 1 Standard Formats Modes and Frame Rates 23 8 1 2 Customizable Formats and Modes i 24 8 2 Pixel Binning and Region of Interest ModesS nenen nene enes 25 8 3 Extended Shutter Times i 25 8 4 Lookup Table and Gamma 25 8 5 Automatic Inter Camera Synchronization iii 26 8 6 Embedded Image Information nana anen ne ee nenes ene ne ene eee ee eee rere 26 8 7 Frame Rate Control 27 8 8 Programmable Strobe Output ii 27 8 9 RS 232 Serial Polti za eann i inie 28 8 10 Camera Upgrades i 28 9 lt ApplicalionNO 6S r eee tienes pts a nnbtcadnnnlataeadatanedinnipal 29 9 1 Maximum Number of Cameras on a Single 1394 BUS 29 9 1 1 Calculating Maximum Possible Frame Rate 29 9 1 2 Problems Maximizing Frame Rates i 30 9 2 Using the Camera in Singl
34. nd continues in the first row of the image data i e 1 0 2 0 etc This feature is enabled via the FRAME INFO register 12F8h Insertion of each quadlet is controlled by a bit in the FRAME_INFO register Timestamp is bit 31 Gain bit 30 etc Users using color cameras and doing Bayer color processing on the PC must extract the value from the non color processed image in order for the data to be valid Model Data Size Data Description starting at quadlet 1 quadlets SCOR 13FF Variable up to 1 Timestamp SCOR 20SO 9 quadlets 2 Gain SCOR 14SO 3 Shutter Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Fi 26 POINT GREY ka t t PGR Scorpion Technical Reference SCOR 03SO Brightness Exposure White Balance Frame Counter Strobe Pattern Counter see TAN2005003 GPIO Pin State at end of shutter Timestamp Gain Shutter Brightness Exposure CMOS sensor registers 0x1D Ox1E 0x1F 0x20 CMOS sensor registers 0x21 0x25 0x26 0x15 CMOS sensor registers 0x16 and 3 zero bytes SCOR 13SM Variable up to mplements the same first five quadlets as the SCOR 13FF etc 5 quadlets described above SCOR 03KD 8 quadlets not variable CISUBWUNE LIA N e Table 7 Types of embedded image information 6 7 Frame Rate Control All Scorpion models except SCOR 03KD and SCOR 13SM allow users to fine tune the frame rates of their cameras using the FRAME
35. nd manufacturing defects for a period of one 1 year Should a unit fail during this period PGR 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 PGR have been found to have failed due to customer abuse mishandling alteration improper installation or negligence 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 a Trademarks PGR the Point Grey Research Inc logo Digiclops Dragonfly Dragonfly Express Firefly Flea Ladybug Scorpion and Triclops are t
36. oint Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference 1 List of Figures Figure 1 Picture of Scorpion module front and back 14 Figure 2 Scorpion case dimensions front i 15 Figure 3 Scorpion case dimensions back 15 Figure 4 Scorpion case dimensions side ii 15 Figure 5 Scorpion case dimensions bottom aaa nanen ea nene sene re eee eee veren ere eee 15 Figure 6 Protective glass above CCD i 17 Figure 8 IEEE 1394 connector pin configuration ii 19 Figure 9 GPIO pin layOUt iii 21 Figure 10 Scorpion external trigger timing characteristics iii 31 2 List of Tables Table 1 IEEE 1394 connector pin configuration i 19 Table 2 GPIO pin assignmentS i 21 Table 3 Status indicator LED descriptions aan aaa a eseve nese here see r ee veren re ee eee rere 21 Table 4 Supported video formats modes and frame rates n 23 Table 5 Supported partial image Format 7 video formats and modes 24 Table 6 Extended shutter minimum and maximum times hana aaan aaa nese nene ene eee 25 Table 7 Types of embedded image information nana ana e ana e seen ez veres veres zere 27 Table 8 Y16 16 bit Mono data format aaa n e nanes zene e eve nese ee ee see re eee res rere enen reree
37. ormation part number serial number etc Two Mounting Holes Added September 12 2003 e Two 2 M2 5 tapped holes 5mm deep were added to the top of the case This modification was integrated into standard product design Multiple Mounting Holes Added December 15 2003 e Four 4 M3 tapped holes 5mm deep added to the front of the case Sticker Cutout Modified Jan 12 2004 e Size of the cutout modified Adapter Modified July 2 2004 e Size of the screw holes changed to M4 Adapter Modified August 20 2004 e Size of the screw holes changed to M3 Glass System Added SCOR 14SO only November 14 2004 e The design of the case was modified to prevent dust from falling directly onto the CCD s protective glass surface This is achieved by placing a piece of glass that is 2 5mm above the surface of the CCD s glass By increasing the distance between the imaging surface and the location of the potential dust particles the likelihood of interference from the dust is reduced assuming non collimated light Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc F 35 POINT GREY ka t PGR Scorpion Technical Reference Technical Support Resources 10 Technical Support Resources Point Grey Research Inc endeavours 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
38. orpion Technical Reference Figure 6 Protective glass above CCD 4 8 Typical Spectral Response The spectral response curves for each sensor are in the technical datasheets available from the individual sensor manufacturers Datasheet links for these sensors can be found in the follovving knovvledge base article KB Article 23 ptgrey com support kb index asp a 4 amp q 23 4 9 Infrared Cut Off Filters Scorpion cameras equipped with color sensors have an additional infrared cut off filter included The approximate properties of this filter are illustrated by the IRC30 curve in the graph below IR cut off filter transmittance 3 g IRC20 IRC21 E IRC30 e g H Wavelength nm Figure 7 IR filter transmittance graph Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference 4 10 Analog to Digital Converter The Scorpion SCOR 20S0 SCOR 14SO and SCOR 03SO models incorporate an Analog Devices AD9849AKST A D converter in order to digitize the images produced by the CCD The following table illustrates the most important aspects of the processor For more information please refer to the Analog Devices website at www analog com Resolution 12 bit 30MHz Description The AD9849 is a highly integrated CCD signal processor for digital still camera applications It
39. p a 4 amp q 173 Linux support www ptgrey com support kb index asp a 4 amp q 17 3 4 Controlling the Camera The Scorpion can be controlled by the following types of applications 3 4 1 PGR FlyCapture FlyCap Demo Program The FlyCap application is a generic streaming image viewer included with the PGR FlyCapture SDK that can be used to test many of the capabilities of your compatible PGR IEEE 1394 camera It allows you to view a live video stream from the camera save individual images or avi movie clips adjust the various video formats frame rates properties and settings of the camera and access camera registers It is an easy to use program that can be used to test many of the capabilities of your PGR IEEE 1394 camera system Consult the PGR FlyCapture User Manual for more information 3 4 2 Custom Applications Built with the PGR FlyCapture API PGR FlyCapture includes a full Application Programming Interface that allows customers to create custom applications to control PGR Imaging Products The SDK provides a number of sample programs and source code that is meant to help the advanced programmer get started using the FlyCapture API Examples range from simple console programs that demonstrate the basic functionality of the API such as PGRFlyCaptureTest to more complex examples such as the MFC application FlyCap Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical
40. pixels Sensor Effective Pixels 659 H x 494 V approx 330K pixels Sensor Active Pixels n a Sensor Chip Size 7 48mm H x 6 15mm V Sensor Unit Cell Size 9 9um H x 9 9um V AID Converter Analog Devices AD9849AKST 12 bit A D Video Output Signal 8 bits per pixel 16 bits per pixel digital data Power Consumption Less than 2 6W Frame Rate max 60FPS 640x480 Brightness 0 00 to 6 23 Gain Automatic Manual One Push modes absolute values supported 5 45 to 31dB Shutter Automatic Manual One Push modes absolute values supported 0 02ms to 16 6ms 60FPS Extended Shutter Automatic Manual One Push modes absolute values supported 0 02ms to 1919 74ms 60FPS Gamma 0 50 to 4 00 Trigger Modes DCAM vl 31 Trigger Modes 0 1 and 3 4 2 2 SCOR 14SO Specification Description Current Firmware 1 0 Release Candidate 1 Sensor Overview Sony 1 2 ICX267 Progressive Scan CCD Monochrome or Color Global shutter Sensor Resolution 1360x1024 Sensor Size Diagonal 8mm 1 2 CCD Sensor Total Pixels 1434 H x 1050 V approx 1 5M pixels Sensor Effective Pixels 1392 H x 1040 V approx 1 45M pixels Sensor Active Pixels 1360 H x 1024 V approx 1 4M pixels Sensor Chip Size 7 60mm H x 6 20mm V Sensor Unit Cell Size 4 65 uum H x 4 65um V A D Converter Analog Devices AD9849AKST 12
41. put strobe 5 104 RS232 Request to Send RTS 6 105 RS232 Clear to Send CTS 7 106 RS232 Transmit Output TD or TX or TXD 8 107 RS232 Receive Input RD or RX or RXD 9 10 GND 11 12 3 3V Revised 30 Jul 08 YI 20 Copyright c 2005 Point Grey Research Inc POINT ka GREY PGR Scorpion Technical Reference Table 2 GPIO pin assignments TOP TOP 0880 losse 9 Figure 9 GPIO pin layout 5 5 2 GPIO Electrical Characteristics The Scorpion GPIO pins are TTL 3 3V pins protected by two diodes to 3 3V and GND in parallel There is also a 10K resistor in series to limit current When configured as input the pins can be directly driven from a 3 3V or 5V logic output For output each GPIO pin has almost no drive strength they are high impedance and needs to be buffered with a transistor or driver to lower its impedance Consult the following article for information on buffering an output signal KB Article 200 www ptgrey com support kb index asp a 4 amp q 200 The IO pins 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 GPIO pins IO4 to 107 are used for the built in RS232 serial port and provide RS 232 compatible signal voltage levels The 3 3V pins on the Scorpion GPIO connector are fused at 200mA External devices connected to 3 3V should not attempt to pull anything grea
42. rademarks or registered trademarks of Point Grey Research Inc in Canada and other countries Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t r PGR Scorpion Technical Reference Table of Contents 1 Hardware Warranyicn On nn ee eee eee 2 2 TableofContenhtS ri 3 3 LiSFOFFIGUIES ul 5 4 KS 5 5 KKK KO ae scans cued 6 Db Scorpion OVETVIOV dado vusn da deve v n shihte e h 6 5 2 General F atures sisht dt Ea 6 5 3 System Requirements duna aaa aaa aaa nanen seen e ever e eset ee eee ee sene ee rete EKAA NE EKAA EANES 6 5 3 1 Laptop 1 Notebook Considerations ne nene enen eee e even rene 7 5 3 2 Macintosh and Linux OS Support i 7 5 4 Controlling the Camera nana anen eee seen eee eee eee ee sene ke ente ee teres ete eee eren 7 5 4 1 PGR FlyCapture FlyCap Demo Program ui 7 5 4 2 Custom Applications Built with the PGR FlyCapture API 7 5 4 3 Third Party Software Applications ii 8 5 5 Camera Control Command Registers i 8 5 6 Handling Precautions and Camera Care ananas enen even e ever enen 8 5 7 Camera ACCESSOrieSs aa ae nenen eee eee ee zene tete tree tentene tete 9 5 8 Related Documentation and References i 9 6 Camera Specifications and Properties
43. rs for Feature Elements You can query the registers described in these sections to identify whether specific features have been implemented For a complete description of the Camera Control Command Registers implemented on the Scorpion please refer to the PGR IEEE 1394 Digital Camera Register Reference included with the PGR FlyCapture SDK and downloadable from www ptgrey com support downloads Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Fi 22 POINT GREY ka t t PGR Scorpion Technical Reference 6 1 Supported Data Formats and Modes 6 1 1 Standard Formats Modes and Frame Rates The follovving sections enumerate the different non Format 7 data formats and modes contained in the IEEE 1394 specification that are supported by the various Scorpion models See the Customizable Formats and Modes section for supported Format 7 modes Camera Format Mode Frame Rate fps Mode Description IO n sjejelajajs s SCOR 0 5 e e e e 640x480 Y8 Mono 13FF 0 6 e e 640x480 Y16 Mono 1 5 e 1024x768 Y8 Mono 1 7 e 1024x768 Y16 Mono 2 2 e 1280x960 Y8 Mono 2 7 e e 1280x960 Y 16 Mono SCOR 0 5 640x480 Y8 Mono 03SO 0 6 e e 640x480 Y16 Mono SCOR 0 5 e e e 640x480 Y8 Mono 14SO 0 6 e e 640x480 Y16 Mono 2 2 1280x960 Y8
44. s 26 embedded image timestamp 26 extended shutter times 25 maximums 25 O external trigger timing information 31 operating temperature 10 Revised 30 Jul 08 38 Copyright c 2005 Point Grey Research Inc ka POINT GREY PGR Scorpion Technical Reference Index P spectral response curves 17 storage temperature 10 PGM file format for Y16 images 33 PGR IEEE 1394 Digital Camera Register T Reference 8 22 pixel binning 25 powering the camera 20 technical support resources contacting a support representative 36 creating a Customer Login Account 36 R knowledge base 36 on the Internet 36 region of interest 25 regions of interest 25 V ROI See region of interest voltage requirements 10 S shutter Y control shutter using Trigger Mode 1 32 signal to noise ratio 10 Y16 data format 33 SNR See signal to noise ratio Revised 30 Jul 08 39 Copyright c 2005 Point Grey Research Inc ka POINT GREY PGR Scorpion Technical Reference Index Stuff to Add This firmware uses a x16 speed up during high speed vertical scanning and has a flag which enables leaving part of the previous image in the interline transfer buffer In Y8 mode the width doesn t matter In leave the FrameRat nrow nominal fastest part scan 1236 14 7fps 14 8fps 14 8fps 1200 14 7fps 14 8fps 15 2fps 1024 17 0fps 17 1fps 17 4fps 960 17 9fps 18 1fps 18 4fps 600 26 6fps 26 1fps 28 5fps 480 31 7fps 32 3fps 34 2fps 240 51
45. s as discussed above is 4096Bpp so it would be possible for 4096 1280 3 rounded down PGR Scorpion s to run in 640x480 Y16 mode at 15fps on the same 1394a bus 7 1 2 Problems Maximizing Frame Rates In some circumstances due to 1394 bus bandwidth limitations set by Microsoft Windows some cameras may not be able to achieve the maximum calculated frame rate Example According to the formula in the section Calculating Maximum Possible Frame Rate it is possible to run four 640x480 cameras in Y8 8 bit mode at 30Hz However when attempting to do this via the PGR software Format and Frame Rate controls starting the fourth camera at 30Hz often results in a bandwidth exceeded error The workaround to this problem is to circumvent the Windows bandwidth restrictions by directly manipulating the camera s CURRENT_FRAME_RATE register 600h In the example above start three instances of the PGR FlyCapture demo program FlyCap with each camera running at 30Hz Start the fourth camera up at 15Hz then access register 600h and set the register to 0x80000000 FrameRate_4 30Hz 7 2 Using the Camera in Single Shot and Multi Shot Modes It is possible to put the camera into a mode where it will grab only a single image single shot or a set number of images multi shot In order to have the camera capture a single image the user must do the following 1 Put the software system into a mode where it is ready to accept images from the
46. sult in a low amount of black in the image In the absence of noise the minimum pixel value in an image acquired with a brightness setting of 1 should be 1 of the AID converter s minimum value DCAM Abbreviation for the HIDC 1394 based Digital Camera DCAM Specification which is the standard used for building FireWire based cameras Firmware Programming that is inserted into programmable read only memory thus becoming a permanent part of a computing device Firmware is created and tested like software and can be loaded onto the camera Format_7 Encompasses partial or custom image video formats and modes such as region of interest of pixel binned modes Format_7 modes and frame rates are defined by the camera manufacturer as opposed to the DCAM specification FPS Frames Per Second Frame Rate Often defined in terms of number of frames per second FPS or frequency Hz This is the speed at which the camera is streaming images to the host system It basically defines the interval between consecutive image transfers Gain dB The amount of amplification that is applied to a pixel by the A D converter An increase in gain can result in a brighter image and an increase in noise Gamma Gamma defines the function between incoming light level and output picture level Gamma can also be useful in emphasizing details in the darkest and or brightest regions of the image GPIO General Purpose Input Output Saturation This is how far a color is
47. t the PGR IEEE 1394 Digital Camera Register Reference for camera register information The time between a software asynchronous trigger and the start of integration is discussed in the following knowledge base article www ptgrey com support kb index asp a 4 amp q 169 Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc Fi 32 POINT GREY ka u PGR Scorpion Technical Reference Application Notes 7 5 Working with Y16 16 bit Mono Images Most Scorpion models can output Y16 16 bits per pixel mono images However not all 16 bits of data are useable Models that use a 12 bit A D converter see Individual Model Specifications and Analog to Digital Converter sections output 12 bits of data Models that use a 10 bit A D converter output 10 bits of data To determine the number of bits of useable image data that is actually being produced by the A D converter consult the following knowledge base article www ptgrey com support kb index asp a 4 amp g 170 7 5 1 Y16 Data Format The data format for Y16 images is DCAM compliant Description Data Format Actual bit depth 10bpp 0 7 8 15 Bit alignment MSB High Byte Low Byte Byte alignment Big endian Table 8 Y16 16 bit Mono data format 7 5 2 Saving Y16 Images The PGM file format can be used to correctly save 16 bit images Following is some sample code that can be used in conjunction with the PGR FlyCapture SDK FIL
48. ter than that 5 6 Status Indicator LED The LED on the back of the Scorpion module provides the following general status messages LED Status Description Off Not receiving power Steady on Receiving power and successful camera initialization Steady on and very bright Acquiring transmitting images Flashing bright then brighter Camera registers being accessed no image acquisition Steady flashing on and off Indicates possible camera problem Slow flashing on and off Indicates possible camera problem Table 3 Status indicator LED descriptions Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc y 21 POINT GREY ka t t PGR Scorpion Technical Reference 6 Camera Operations and Features The Scorpion line of IEEE 1394 cameras complies with the IIDC 1394 based Digital Camera DCAM Specification Version vl 30 In addition some Scorpion models implement functionality and video formats and frame rates outlined in the IIDC 1394 based Digital Camera DCAM Specification Version v1 31 This includes improved frame rate control trigger parallel input output PIO serial input output SIO and strobe functionality To determine the specific DCAM v1 31 features implemented in a particular Scorpion model consult the following sections of the PGR IEEE 1394 Digital Camera Register Reference Inquiry Registers for Basic Functions Inquiry Registers for Feature Presence Inquiry Registe
49. tes max 15FPS 1280x960 Brightness 0 to 127 Gain Automatic Manual One Push modes absolute values supported 3 to 14 3dB Shutter Automatic Manual One Push modes absolute values supported 0 07ms to 66 6ms 15Hz Extended Shutter Automatic Manual One Push modes absolute values supported 0 07ms to 2213ms 1 875FPS Gamma 0 50 to 4 00 Trigger Modes DCAM vl 31 Trigger Modes 0 and 1 4 2 5 SCOR 03KD Specification Description Current Firmware 0 0 Beta 48 Sensor Overview Kodak 1 3 KAC 9618 KAC 9628 Progressive Scan CMOS Monochrome or Color Rolling shutter Sensor Resolution 640x480 Sensor Size Diagonal 6mm 1 3 CMOS Sensor Total Pixels Not available in datasheet Sensor Effective Pixels 664 H x 504 V approx 335K pixels Sensor Active Pixels 648 H x 488 V approx 316K pixels Sensor Chip Size Not available in datasheet Sensor Unit Cell Size 7 5um H x 7 5um V A D Converter On board the CMOS sensor non linear 12 bit A D converter Video Output Signal 8 bits per pixel 16 bits per pixel digital data Power Consumption Less than 1 6W Frame Rates max 30FPS 640x480 Gain Automatic Manual modes 0 to 28dB Shutter Automatic Manual Extended Shutter modes 0 060ms to 33ms 30Hz Signal To Noise Ratio 45dB or better at minimum gain 4 2 6 SCOR 13SM Specification Description Current Firmwar
50. to the lens see the Camera Dimensions section The set screw is used to hold the adjustable C CS lens holder ring see the Physical Description section in place once the lens is focused The Scorpion comes pre focused to the standard CS mount lens focal length 12 52mm Should you need to adjust the back focal length loosen the set screw with the 0 035 inch hex driver provided with the camera before adjusting the focal length For more information on lens focusing consult the following knowledge base article KB Article 122 ptgrey com support kb index asp a 4 amp q 122 4 7 Dust Protection Cameras are sealed when they are shipped To avoid contamination seals should not be broken until cameras are ready for assembly at customer s site The case is designed to prevent dust from falling directly onto the CCD s protective glass surface This is achieved by placing a piece of glass that is 2 5mm above the surface of the CCD s glass see figure below By increasing the distance between the imaging surface and the location of the potential dust particles the likelihood of interference from the dust assuming non collimated light and the possibility of damage to the sensor during cleaning is reduced Do not remove the protective glass Doing so can void the Hardware Warranty described at the beginning of this reference manual Revised 30 Jul 08 Copyright c 2005 Point Grey Research Inc N POINT GREY a t r PGR Sc
51. ulb Trigger Mode To see the effects of using Trigger_Mode_1 to control the camera shutter time 1 Attach a function generator to the camera negative to GND pin positive to IO2 Attach an oscilloscope to the camera just to observe the signal and duty cycle ground the GND and signal lead to IO2 Open the PGR FlyCapture SDK example program FlyCap and start the camera Open the Camera Control Dialog box and go to the Extended tab Enable External Trigger mode the function generator s pulses should now be driving the external trigger 6 Enable Trigger_Mode_1 by writing 82 01 00 00 to register 830h 7 Use the function generator to increase and decrease the duty cycle Decreasing the duty cycle increases the integration shutter time and vice versa Ad 7 4 Software Triggering an Image Acquisition All Scorpion models support the ability to be software triggered when in Trigger Mode 0 to begin integration of a new image The user initiates a trigger by writing specific registers on the camera to first put the camera into trigger mode then generate a software asynchronous trigger Scorpion s that implement DCAM v1 31 triggering functionality see the Individual Model Specifications section are triggered using the DCAM v1 31 SOFTWARE_TRIGGER register 0x62Ch and by setting the Trigger_Source to be the SOFTWARE_TRIGGER All Scorpion s can also be software triggered using the PGR specific SOFT_ASYNC_TRIGGER register 0x102C Consul
52. xxxx KIT come with a 3 port IEEE 1394 PCI host adapter card built using a Texas Instruments TI Open Host Controller Interface For more information regarding the differences between various 1394 host adapters consult the following knowledge base article KB Article 146 www ptgrey com support kb index asp a 4 amp q 146 Revised 30 Jul 08 4 19 Copyright c 2005 Point Grey Research Inc N POINT GREY a t PGR Scorpion Technical Reference 5 4 Camera Povver The 6 pin 1394 connector connects to a standard IEEE 1394 FireWire 6 pin cable and provides a power connection between the camera and the host computer The ideal input voltage is 12V DC however the camera is designed to handle voltages between 8V and 32V DC according to the IEEE 1394 standard The power consumption of the Scorpion varies depending on the model see Individual Model Specifications section Some systems such as laptop computers or those with several FireWire devices connected require an external power supply to power the camera For suggestions on how to provide power in these circumstances consult the following knowledge base article KB Article 93 www ptgrey com support kb index asp a 4 amp q 93 Some Scorpion models allow the user to power up or power down components of the camera using the DCAM CAMERA POVVER register 0x610 The exact components e g image sensor AID converter other board electronics will vary between camera models Consult the

Scorpion Technical Reference

Contents

Download Pdf Manuals

Related Search

Related Contents