Allied Stingray User manual

Technical Manual
V4.4.2
15 April 2011
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
AVT Stingray

STINGRAY Technical Manual V4.4.2
2
Legal notice
For customers in the U.S.A.
This equipment has been tested and found to comply with the limits for a Class B 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 residential envi-
ronment. 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. However there is no guarantee that interferences will not occur in
a particular installation. If the equipment does cause harmful interference to radio or televi-
sion reception, the user is encouraged to try to correct the interference by one or more of the
following measures:
• Reorient or relocate the receiving antenna.
• Increase the distance between the equipment and the receiver.
• Use a different line outlet for the receiver.
• Consult a radio or TV technician for help.
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 recom-
mended in this manual must be used with this equipment in order to comply with the limits
for a computing device pursuant to Subpart B of Part 15 of FCC Rules.
For customers in Canada
This apparatus complies with the Class B limits for radio noise emissions set out in the Radio
Interference Regulations.
Pour utilisateurs au Canada
Cet appareil est conforme aux normes classe B pour bruits radioélectriques, spécifiées dans le
Règlement sur le brouillage radioélectrique.
Life support applications
These products are not designed for use in life support appliances, devices, or systems where
malfunction of these products can reasonably be expected to result in personal injury. Allied
customers using or selling these products for use in such applications do so at their own risk
and agree to fully indemnify Allied for any damages resulting from such improper use or sale.
Trademarks
Unless stated otherwise, all trademarks appearing in this document of Allied Vision
Technologies are brands protected by law.
Warranty
The information provided by Allied Vision Technologies is supplied without any guarantees or
warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties con-
cerning the negotiability, the suitability for specific applications or the non-breaking of laws
and patents. Even if we assume that the information supplied to us is accurate, errors and
inaccuracy may still occur.
Copyright
All texts, pictures and graphics are protected by copyright and other laws protecting intellec-
tual property. It is not permitted to copy or modify them for trade use or transfer, nor may
they be used on web sites.
Allied Vision Technologies GmbH 04/2011
All rights reserved.
Managing Director: Mr. Frank Grube
Tax ID: DE 184383113
Headquarters:
Taschenweg 2A
D-07646 Stadtroda, Germany
Tel.: [phone]
Fax: [phone]
e-mail: [email protected]

STINGRAY Technical Manual V4.4.2
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Contents
Contacting Allied Vision Technologies ..................................................11
Introduction ...........................................................................................................12
Document history ......................................................................................................... 12
Manual overview........................................................................................................... 24
Conventions used in this manual..................................................................................... 26
Styles ..................................................................................................................... 26
Symbols.................................................................................................................. 26
More information.......................................................................................................... 27
Before operation .......................................................................................................... 28
STINGRAY cameras ...........................................................................................29
Conformity ..............................................................................................................30
FireWire....................................................................................................................31
Overview ..................................................................................................................... 31
Definition ............................................................................................................... 31
IEEE 1394 standards ................................................................................................. 31
Why use FireWire? .................................................................................................... 32
FireWire in detail.......................................................................................................... 32
Serial bus................................................................................................................ 32
FireWire connection capabilities ................................................................................. 34
Capabilities of 1394a (FireWire 400)............................................................................ 34
IIDC V1.3 camera control standards ........................................................................ 34
Capabilities of 1394b (FireWire 800) ........................................................................... 35
IIDC V1.31 camera control standards ...................................................................... 35
Compatibility between 1394a and 1394b...................................................................... 36
Compatibility example .......................................................................................... 37
Image transfer via 1394a and 1394b ........................................................................... 38
1394b bandwidths.................................................................................................... 39
Requirements for PC and 1394b.............................................................................. 39
Requirements for laptop and 1394b ........................................................................ 41
Example 1: 1394b bandwidth of Stingray cameras..................................................... 43
Example 2: More than one Stingray camera at full speed............................................ 44
FireWire Plug & play capabilities................................................................................. 45
FireWire hot-plug and screw-lock precautions ............................................................... 45
Operating system support .......................................................................................... 46
Filter and lenses .................................................................................................47
IR cut filter: spectral transmission .................................................................................. 47
Camera lenses .............................................................................................................. 48
Specifications .......................................................................................................50

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STINGRAY F-033B/C (fiber)............................................................................................. 50
STINGRAY F-046B/C (fiber)............................................................................................. 52
STINGRAY F-080B/C (fiber)............................................................................................. 54
STINGRAY F-125B/C (fiber)............................................................................................. 56
STINGRAY F-145B/C (fiber)............................................................................................. 58
STINGRAY F-146B/C (fiber)............................................................................................. 60
STINGRAY F-201B/C (fiber)............................................................................................. 62
STINGRAY F-504B/C (fiber)............................................................................................. 64
Spectral sensitivity ....................................................................................................... 66
Camera dimensions ..........................................................................................75
Serial numbers for starting new front flange................................................................. 75
STINGRAY standard housing (2 x 1394b copper) ................................................................ 76
STINGRAY (1394b: 1 x GOF, 1 x copper) ........................................................................... 77
Tripod adapter ............................................................................................................. 78
Stingray W90 (2 x 1394b copper) .................................................................................... 79
Stingray W90 (1394b: 1 x GOF, 1 x copper)....................................................................... 80
Stingray W90 S90 (2 x 1394b copper) .............................................................................. 81
Stingray W90 S90 (1394b: 1 x GOF, 1 x copper)................................................................. 82
Stingray W270 (2 x 1394b copper) .................................................................................. 83
Stingray W270 (1394b: 1 x GOF, 1 x copper) ..................................................................... 84
Stingray W270 S90 (2 x 1394b copper) ............................................................................ 85
Stingray W270 S90 (1394b: 1 x GOF, 1 x copper) ............................................................... 86
Stingray Compact.......................................................................................................... 87
Cross section: CS-Mount................................................................................................. 88
Cross section: C-Mount .................................................................................................. 89
Adjustment of C-Mount and CS-Mount.............................................................................. 89
Stingray board level: dimensions..................................................................................... 90
Stingray board level: CS-Mount ....................................................................................... 91
Stingray board level: C-Mount......................................................................................... 92
Camera interfaces .............................................................................................93
IEEE 1394b port pin assignment ..................................................................................... 93
Board level camera: IEEE 1394b port pin assignment ..................................................... 95
Camera I/O connector pin assignment ............................................................................. 96
Board level camera: I/O pin assignment....................................................................... 97
Status LEDs.................................................................................................................. 98
Normal conditions .................................................................................................... 99
Error conditions ....................................................................................................... 99
Control and video data signals...................................................................................... 100
Inputs .................................................................................................................. 100
Triggers............................................................................................................ 100
Input/output pin control......................................................................................... 101
IO_INP_CTRL 1-2 ............................................................................................... 102
Trigger delay..................................................................................................... 103
Outputs ................................................................................................................ 105
IO_OUTP_CTRL 1-4 ............................................................................................. 107

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Output modes.................................................................................................... 108
Pulse-width modulation (Stingray housing and Stingray board level models) ................... 110
PWM: minimal and maximal periods and frequencies ............................................... 111
PWM: Examples in practice .................................................................................. 112
Pixel data.................................................................................................................. 113
Description of the data path......................................................................119
Block diagrams of the cameras ..................................................................................... 119
Black and white cameras ......................................................................................... 120
Color cameras ........................................................................................................ 121
White balance ............................................................................................................ 122
One-push white balance .......................................................................................... 124
Auto white balance (AWB) ..................................................................................... 125
Auto shutter .............................................................................................................. 127
Auto gain.................................................................................................................. 129
Manual gain............................................................................................................... 132
Brightness (black level or offset) .................................................................................. 132
Horizontal mirror function ........................................................................................... 134
Shading correction...................................................................................................... 135
Building shading image in Format_7 modes ............................................................... 135
First example .................................................................................................... 135
Second example................................................................................................. 135
How to store shading image..................................................................................... 136
Automatic generation of correction data.................................................................... 137
Requirements .................................................................................................... 137
Algorithm ......................................................................................................... 137
Loading a shading image out of the camera ............................................................... 140
Loading a shading image into the camera .................................................................. 141
Look-up table (LUT) and gamma function....................................................................... 142
Loading an LUT into the camera ............................................................................... 144
Defect pixel correction ................................................................................................ 145
Building defect pixel correction image in Format_7 modes ........................................... 146
First example .................................................................................................... 146
Second example................................................................................................. 146
Flow diagram of defect pixel correction ..................................................................... 147
Building defect pixel data ....................................................................................... 148
Grab an image with defect pixel data.................................................................... 148
Calculate defect pixel coordinates ........................................................................ 148
Reset values (resolution, shutter, gain, brightness) ................................................ 149
Activate/deactivate defect pixel correction ................................................................ 149
Store defect pixel data non-volatile .......................................................................... 149
Load non-volatile stored defect pixel data ................................................................. 149
Send defect pixel data to the host ............................................................................ 150
Receive defect pixel data from the host..................................................................... 150
DPC data: storing mechanism ................................................................................... 150
Binning (only Stingray b/w and F-201C/504C) ................................................................ 151
2 x / 4 x / 8 x binning (F-201C only 2 x vertical binning) ............................................ 151
Vertical binning ..................................................................................................... 152

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Horizontal binning (F-201C only 2 x horizontal binning) .............................................. 154
2 x full binning/4 x full binning/8 x full binning (F-201C only 2 x full binning)............... 156
Sub-sampling (Stingray b/w and color) .......................................................................... 157
What is sub-sampling? ............................................................................................ 157
Which Stingray models have sub-sampling?................................................................ 157
Description of sub-sampling..................................................................................... 157
Binning and sub-sampling access.................................................................................. 164
Quick parameter change timing modes........................................................................... 166
Why new timing modes?.......................................................................................... 166
Standard Parameter Update Timing .................................................................... 167
New: Quick Format Change Mode (QFCM) ............................................................. 167
How to transfer parameters to the camera.................................................................. 168
Encapsulated Update (begin/end)...................................................................... 169
Parameter-List Update ...................................................................................... 169
Standard Update (IIDC)..................................................................................... 171
Packed 12-Bit Mode................................................................................................... 172
High SNR mode (High Signal Noise Ratio) ...................................................................... 173
Frame memory and deferred image transport................................................................... 174
Deferred image transport......................................................................................... 174
HoldImg mode....................................................................................................... 175
FastCapture mode................................................................................................... 177
Color interpolation (BAYER demosaicing) ....................................................................... 178
Sharpness.................................................................................................................. 180
Hue and saturation ..................................................................................................... 181
Color correction.......................................................................................................... 182
Why color correction? ......................................................................................... 182
Color correction in AVT cameras ........................................................................... 182
Color correction: formula..................................................................................... 182
GretagMacbeth ColorChecker................................................................................ 182
Changing color correction coefficients .................................................................. 183
Switch color correction on/off ............................................................................. 183
Color conversion (RGB YUV) ..................................................................................... 184
Bulk Trigger............................................................................................................... 184
Level Trigger.............................................................................................................. 184
Serial interface........................................................................................................... 185
Controlling image capture ..........................................................................190
Trigger modi .............................................................................................................. 190
Bulk trigger (Trigger_Mode_15)................................................................................ 192
Trigger delay ......................................................................................................... 195
Trigger delay advanced register............................................................................ 196
Software trigger..................................................................................................... 197
Debounce.............................................................................................................. 197
Debounce time....................................................................................................... 198
Exposure time (shutter) and offset ................................................................................ 199
Exposure time offset............................................................................................... 199
Minimum exposure time .......................................................................................... 199
Extended shutter.................................................................................................... 200

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One-shot ................................................................................................................... 202
One-shot command on the bus to start of exposure ..................................................... 203
End of exposure to first packet on the bus ................................................................. 204
Multi-shot ................................................................................................................. 205
ISO_Enable / free-run.................................................................................................. 205
Asynchronous broadcast .............................................................................................. 205
Jitter at start of exposure ............................................................................................ 206
Sequence mode .......................................................................................................... 208
How is sequence mode implemented?........................................................................ 209
Setup mode....................................................................................................... 210
Sequence step mode........................................................................................... 210
SeqMode description .......................................................................................... 211
Sequence repeat counter..................................................................................... 211
Manual stepping & reset ..................................................................................... 211
Which sequence mode features are available? ............................................................. 213
Setup mode....................................................................................................... 213
I/O controlled sequence stepping mode ................................................................ 213
I/O controlled sequence pointer reset ................................................................... 213
I/O controlled sequence stepping mode and I/O controlled sequence pointer reset via
software command ............................................................................................. 214
Points to pay attention to when working with a sequence ............................................ 214
Changing the parameters within a sequence ............................................................... 216
Points to pay attention to when changing the parameters............................................ 216
Secure image signature (SIS): definition and scenarios .................................................... 217
SIS: Definition....................................................................................................... 217
SIS: Scenarios........................................................................................................ 217
Video formats, modes and bandwidth .................................................219
Stingray F-033B / Stingray F-033C
and board level F-033B BL / F-033C BL .......................................................................... 220
Stingray F-046B / Stingray F-046C
and board level F-046B BL / F-046C BL .......................................................................... 222
Stingray F-080B / Stingray F-080C
and board level F-080B BL / F-080C BL .......................................................................... 224
Stingray F-125B / Stingray F-125C
and board level F-125B BL / F-125C BL .......................................................................... 226
Stingray F-145B / Stingray F-145C
and board level F-145B BL / F-145C BL .......................................................................... 229
Stingray F-146B / Stingray F-146C
and board level F-146B BL / F-146C BL .......................................................................... 233
Stingray F-201B / Stingray F-201C
and board level F-201B BL / F-201C BL .......................................................................... 236
Stingray F-504B / Stingray F-504C
and board level F-504B BL / F-504C BL .......................................................................... 239
Area of interest (AOI) ................................................................................................. 241
Autofunction AOI ................................................................................................... 243
Frame rates................................................................................................................ 245
Frame rates Format_7 ............................................................................................. 249

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Stingray F-033/F-033 BL: AOI frame rates .................................................................. 250
Stingray F-046/F-046 BL: AOI frame rates .................................................................. 251
Stingray F-080/F-080 BL: AOI frame rates .................................................................. 252
Stingray F-125/F-125 BL: AOI frame rates .................................................................. 253
Stingray F-145/F-145 BL: AOI frame rates .................................................................. 254
Stingray F-146/F-146 BL: AOI frame rates .................................................................. 255
Stingray F-201/F-201 BL: AOI frame rates .................................................................. 256
Stingray F-504/F-504 BL: AOI frame rates .................................................................. 257
How does bandwidth affect the frame rate? ...................................258
Example formula for the b/w camera..................................................................... 259
Test images ............................................................................................................... 260
Loading test images ............................................................................................... 260
Test images for b/w cameras.................................................................................... 260
Test images for color cameras .................................................................................. 261
YUV4:2:2 mode.................................................................................................. 261
Mono8 (raw data) .............................................................................................. 261
Configuration of the camera......................................................................262
Camera_Status_Register............................................................................................... 262
Example................................................................................................................ 263
Sample program ..................................................................................................... 266
Example FireGrab ............................................................................................... 266
Example FireStack API ........................................................................................ 267
Configuration ROM...................................................................................................... 268
Implemented registers (IIDC V1.31) .............................................................................. 271
Camera initialize register......................................................................................... 271
Inquiry register for video format............................................................................... 271
Inquiry register for video mode ................................................................................ 272
Inquiry register for video frame rate and base address ................................................. 273
Inquiry register for basic function............................................................................. 282
Inquiry register for feature presence ......................................................................... 283
Inquiry register for feature elements ......................................................................... 285
Status and control registers for camera...................................................................... 288
Inquiry register for absolute value CSR offset address .................................................. 289
Status and control register for one-push .................................................................... 290
Feature control error status register .......................................................................... 294
Video mode control and status registers for Format_7.................................................. 294
Quadlet offset Format_7 Mode_0.......................................................................... 294
Quadlet offset Format_7 Mode_1.......................................................................... 294
Format_7 control and status register (CSR) ............................................................ 294
Temperature register............................................................................................... 296
Advanced features (AVT-specific) .................................................................................. 297
Advanced registers summary .................................................................................... 297
Extended version information register ....................................................................... 301
Advanced feature inquiry......................................................................................... 303
Camera status........................................................................................................ 305
Maximum resolution ............................................................................................... 306

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Time base ............................................................................................................. 306
Extended shutter.................................................................................................... 308
Test images........................................................................................................... 309
Look-up tables (LUT) .............................................................................................. 310
Loading a look-up table into the camera ............................................................... 311
Shading correction ................................................................................................. 312
Reading or writing shading image from/into the camera.......................................... 313
Automatic generation of a shading image.............................................................. 313
Memory channel error codes ................................................................................ 314
Deferred image transport......................................................................................... 315
Frame information.................................................................................................. 316
Defect pixel correction............................................................................................ 317
Input/output pin control......................................................................................... 318
Delayed Integration Enable (IntEna) ......................................................................... 319
Auto shutter control ............................................................................................... 320
Auto gain control................................................................................................... 321
Autofunction AOI ................................................................................................... 322
Color correction ..................................................................................................... 323
Trigger delay ......................................................................................................... 324
Mirror image.......................................................................................................... 324
Soft reset.............................................................................................................. 325
High SNR mode (High Signal Noise Ratio) .................................................................. 326
Maximum ISO packet size ........................................................................................ 327
Quick parameter change timing modes ...................................................................... 329
Standard Parameter Update Timing....................................................................... 329
Quick Format Change Mode.................................................................................. 329
Automatic reset of the UpdActive flag................................................................... 330
Parameter-List Update ............................................................................................ 331
Format_7 mode mapping ......................................................................................... 332
Example ........................................................................................................... 333
Low noise binning mode (2 x and 4 x binning) ........................................................... 333
Secure image signature (SIS) ................................................................................... 334
Advanced register: SIS........................................................................................ 334
Examples: cycle time .......................................................................................... 336
Advanced register: frame counter ......................................................................... 337
Advanced register: trigger counter........................................................................ 338
Where to find cycle time, frame counter and trigger counter in the image .................. 339
Where to find all SIS values in the image .............................................................. 339
Software feature control (disable LEDs) ..................................................................... 340
Disable LEDs...................................................................................................... 340
User profiles.......................................................................................................... 341
Error codes ....................................................................................................... 342
Reset of error codes ........................................................................................... 343
Stored settings.................................................................................................. 343
Pulse-width modulation (PWM): Stingray housing and board level cameras...................... 344
GPDATA_BUFFER..................................................................................................... 345
Little endian vs. big endian byte order.................................................................. 345
Appendix ................................................................................................................346

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Sensor position accuracy of AVT GigE cameras................................................................. 346
Firmware update...............................................................................................347
Extended version number (FPGA/µC).............................................................................. 347
Index.........................................................................................................................348