AVT AVT Pike User manual

Technical Manual
V4.1.0
20 August 2008
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
AVT Pike

PIKE Technical Manual V4.1.0
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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 08/2008
All rights reserved.
Managing Director: Mr. Frank Grube
Tax ID: DE 184383113
Support:
Taschenweg 2A
D-07646 Stadtroda, Germany
Tel.: [phone]
Fax: [phone]
e-mail: [email protected]

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Contents
Contacting Allied Vision Technologies ..................................................10
Introduction ...........................................................................................................11
Document history ......................................................................................................... 11
Manual overview........................................................................................................... 17
Conventions used in this manual..................................................................................... 18
Styles ..................................................................................................................... 18
Symbols .................................................................................................................. 18
More information.......................................................................................................... 19
Before operation .......................................................................................................... 19
PIKE cameras .......................................................................................................21
Declarations of conformity ...........................................................................23
FireWire....................................................................................................................24
Overview ..................................................................................................................... 24
Definition ............................................................................................................... 24
IEEE 1394 standards ................................................................................................. 24
Why use FireWire? .................................................................................................... 25
FireWire in detail.......................................................................................................... 25
Serial bus................................................................................................................ 25
FireWire connection capabilities ................................................................................. 27
Capabilities of 1394a (FireWire 400)............................................................................ 27
IIDC V1.3 camera control standards ........................................................................ 27
Capabilities of 1394b (FireWire 800) ........................................................................... 28
IIDC V1.31 camera control standards ...................................................................... 28
Compatibility between 1394a and 1394b...................................................................... 29
Compatibility example .......................................................................................... 30
Image transfer via 1394a and 1394b ........................................................................... 31
1394b bandwidths.................................................................................................... 32
Requirements for PC and 1394b.............................................................................. 32
Requirements for laptop and 1394b ........................................................................ 34
Example1: 1394b bandwidth of PIKE cameras ........................................................... 35
Example 2: More than one PIKE camera at full speed................................................. 36
FireWire Plug & play capabilities................................................................................. 37
FireWire hot-plug and screw-lock precautions ............................................................... 37
Operating system support .......................................................................................... 38
Filter and lenses .................................................................................................39
IR cut filter: spectral transmission .................................................................................. 39
Camera lenses.......................................................................................................... 40
Specifications .......................................................................................................42

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PIKE F-032B/C (fiber).................................................................................................... 42
PIKE F-100B/C (fiber).................................................................................................... 44
PIKE F-145B/C (fiber) (-15fps*)...................................................................................... 46
PIKE F-210B/C (fiber).................................................................................................... 48
PIKE F-421B/C (fiber).................................................................................................... 50
PIKE F-505B/C (fiber).................................................................................................... 52
Spectral sensitivity ....................................................................................................... 54
Camera dimensions ..........................................................................................60
PIKE standard housing (2 x 1394b copper) ....................................................................... 60
PIKE (1394b: 1 x GOF, 1 x copper)................................................................................... 61
Tripod adapter ............................................................................................................. 62
Pike W90 (2 x 1394b copper).......................................................................................... 63
Pike W90 (1394b: 1 x GOF, 1 x copper) ............................................................................ 64
Pike W90 S90 (2 x 1394b copper).................................................................................... 65
Pike W90 S90 (1394b: 1 x GOF, 1 x copper) ...................................................................... 66
Pike W270 (2 x 1394b copper) ........................................................................................ 67
Pike W270 (1394b: 1 x GOF, 1 x copper)........................................................................... 68
Pike W270 S90 (2 x 1394b copper) .................................................................................. 69
Pike W270 S90 (1394b: 1 x GOF, 1 x copper)..................................................................... 70
Cross section: CS-Mount (only PIKE F-032B/C) .................................................................. 71
Cross section: C-Mount (VGA size filter) ........................................................................... 72
Cross section: C-Mount (large filter) ................................................................................ 73
Adjustment of C-Mount.................................................................................................. 74
F-Mount, K-Mount, M39-Mount ....................................................................................... 75
Cross section: M39-Mount.......................................................................................... 75
Camera interfaces .............................................................................................76
IEEE 1394b port pin assignment ..................................................................................... 76
Camera I/O connector pin assignment ............................................................................. 78
Status LEDs.................................................................................................................. 79
On LED (green) ........................................................................................................ 79
Status LED............................................................................................................... 79
Control and video data signals........................................................................................ 81
Inputs .................................................................................................................... 81
Triggers.............................................................................................................. 81
Input/output pin control........................................................................................... 82
IO_INP_CTRL 1-2 ................................................................................................. 83
Trigger delay ....................................................................................................... 84
Outputs .................................................................................................................. 86
IO_OUTP_CTRL 1-4 ............................................................................................... 87
Output modes...................................................................................................... 88
Pixel data.................................................................................................................... 91
Description of the data path........................................................................94
Block diagrams of the cameras ....................................................................................... 94
Black and white cameras ........................................................................................... 94

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Color cameras .......................................................................................................... 95
Channel balance ........................................................................................................... 96
Channel adjustment with SmartView (>1.5) .................................................................. 96
White balance .............................................................................................................. 98
One-push automatic white balance ............................................................................. 99
Automatic white balance ......................................................................................... 101
Auto shutter .............................................................................................................. 102
Auto gain .................................................................................................................. 104
Manual gain............................................................................................................... 107
Brightness (black level or offset) .................................................................................. 108
Horizontal mirror function ........................................................................................... 109
Shading correction...................................................................................................... 111
Building shading image in Format_7 modes ............................................................... 111
First example .................................................................................................... 111
Second example................................................................................................. 111
How to store shading image..................................................................................... 112
Automatic generation of correction data.................................................................... 113
Requirements .................................................................................................... 113
Algorithm ......................................................................................................... 113
Loading a shading image out of the camera ............................................................... 116
Loading a shading image into the camera .................................................................. 117
Look-up table (LUT) and gamma function....................................................................... 118
Loading an LUT into the camera ............................................................................... 120
Binning (only Pike b/w models).................................................................................... 121
2 x / 4 x / 8 x binning............................................................................................ 121
Vertical binning ..................................................................................................... 122
Horizontal binning ................................................................................................. 124
2 x full binning/4 x full binning/8 x full binning ........................................................ 125
Sub-sampling (PIKE b/w and color) ............................................................................... 126
What is sub-sampling? ............................................................................................ 126
Which PIKE models have sub-sampling? ..................................................................... 126
Description of sub-sampling..................................................................................... 126
Binning and sub-sampling access.................................................................................. 133
Quick parameter change timing modes....................................................................... 135
Why new timing modes?.......................................................................................... 135
Standard Parameter Update Timing .................................................................... 136
New: Quick Format Change Mode (QFCM) ............................................................. 136
How to transfer parameters to the camera.................................................................. 137
Encapsulated Update (begin/end)...................................................................... 137
Parameter-List Update ...................................................................................... 138
Standard Update (IIDC)..................................................................................... 139
Packed 12-Bit Mode................................................................................................... 140
High SNR mode (High Signal Noise Ratio) ...................................................................... 141
Frame memory and deferred image transport................................................................... 142
Deferred image transport......................................................................................... 142
HoldImg mode....................................................................................................... 143
FastCapture mode................................................................................................... 145

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Color interpolation (BAYER demosaicing) ....................................................................... 146
Sharpness.................................................................................................................. 147
Hue and saturation ..................................................................................................... 148
Color correction.......................................................................................................... 149
Why color correction? ......................................................................................... 149
Color correction in AVT cameras ........................................................................... 149
Color correction: formula..................................................................................... 149
GretagMacbeth ColorChecker ................................................................................ 149
Changing color correction coefficients .................................................................. 150
Switch color correction on/off ............................................................................. 150
Color conversion (RGB YUV) ..................................................................................... 151
Bulk Trigger............................................................................................................... 151
Level Trigger.............................................................................................................. 151
Serial interface........................................................................................................... 152
Controlling image capture ..........................................................................157
Trigger modi .............................................................................................................. 157
Bulk Trigger (Trigger_Mode_15)................................................................................ 159
Trigger delay ......................................................................................................... 162
Trigger delay advanced register............................................................................ 163
Exposure time (shutter) and offset ................................................................................ 164
Exposure time offset ............................................................................................... 164
Minimum exposure time .......................................................................................... 165
Extended shutter.................................................................................................... 165
One-shot ................................................................................................................... 167
One-shot command on the bus to start of exposure ..................................................... 168
End of exposure to first packet on the bus ................................................................. 169
Multi-shot ................................................................................................................. 170
ISO_Enable / free-run.................................................................................................. 170
Asynchronous broadcast .............................................................................................. 170
Jitter at start of exposure ............................................................................................ 171
Sequence mode .......................................................................................................... 173
How is sequence mode implemented?........................................................................ 174
Setup mode (new for 3.x).................................................................................... 175
Sequence step mode (new for 3.x)........................................................................ 175
SeqMode description .......................................................................................... 176
Sequence repeat counter (new for 3.x) .................................................................. 176
Manual stepping & reset (new for 3.x) .................................................................. 176
Which new sequence mode features are available?....................................................... 178
Setup mode....................................................................................................... 178
I/O controlled sequence stepping mode.............................................................. 178
I/O controlled sequence pointer reset ................................................................ 179
I/O controlled sequence stepping mode and I/O controlled sequence pointer reset via
software command ............................................................................................. 179
Points to pay attention to when working with a sequence ............................................ 179
Changing the parameters within a sequence ............................................................... 181
Points to pay attention to when changing the parameters............................................ 181
Secure image signature (SIS): definition and scenarios .................................................... 182

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SIS: Definition....................................................................................................... 182
SIS: Scenarios........................................................................................................ 182
Smear reduction ......................................................................................................... 184
Smear reduction: definition ..................................................................................... 184
Smear reduction: how it works ................................................................................. 184
Smear reduction: switch on/off in register and SmartView ............................................ 184
Video formats, modes and bandwidth .................................................185
PIKE F-032B / PIKE F-032C........................................................................................... 186
PIKE F-100B / PIKE F-100C........................................................................................... 188
PIKE F-145B / PIKE F-145C (-15 fps**) .......................................................................... 190
PIKE F-210B / PIKE F-210C........................................................................................... 192
PIKE F-421B / PIKE F-421C........................................................................................... 194
PIKE F-505B / PIKE F-505C........................................................................................... 196
Area of interest (AOI) ................................................................................................. 198
Autofunction AOI ................................................................................................... 200
Frame rates................................................................................................................ 201
Frame rates Format_7 ............................................................................................. 205
PIKE F-032: AOI frame rates..................................................................................... 206
PIKE F-100: AOI frame rates..................................................................................... 208
PIKE F-145: AOI frame rates (no sub-sampling)........................................................... 210
PIKE F-145: AOI frame rates (sub-sampling) ............................................................... 212
PIKE F-145-15fps: AOI frame rates (no sub-sampl.) ..................................................... 214
PIKE F-145-15fps: AOI frame rates (sub-sampl.).......................................................... 216
PIKE F-210: AOI frame rates (no sub-sampling)........................................................... 217
PIKE F-210: AOI frame rates (sub-sampling) ............................................................... 219
PIKE F-421: AOI frame rates..................................................................................... 221
PIKE F-505: AOI frame rates..................................................................................... 223
AOI frame rates with max. BPP = 8192 .................................................................. 223
AOI frame rates with max. BPP = 11000 ................................................................ 225
How does bandwidth affect the frame rate? ...................................226
Example formula for the b/w camera..................................................................... 227
Test images ............................................................................................................... 228
Loading test images ............................................................................................... 228
Test images for b/w cameras.................................................................................... 228
Test images for color cameras .................................................................................. 229
YUV4:2:2 mode.................................................................................................. 229
Mono8 (raw data) .............................................................................................. 229
Configuration of the camera......................................................................230
Camera_Status_Register............................................................................................... 230
Example................................................................................................................ 231
Sample program ..................................................................................................... 234
Example FireGrab ............................................................................................... 234
Example FireStack API ........................................................................................ 235
Configuration ROM...................................................................................................... 236
Implemented registers................................................................................................. 239

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Camera initialize register......................................................................................... 239
Inquiry register for video format............................................................................... 239
Inquiry register for video mode ................................................................................ 240
Inquiry register for video frame rate and base address ................................................. 241
Inquiry register for basic function............................................................................. 250
Inquiry register for feature presence ......................................................................... 251
Inquiry register for feature elements ......................................................................... 253
Inquiry register for absolute value CSR offset address .................................................. 256
Status and control register for feature....................................................................... 257
Feature control error status register .......................................................................... 261
Video mode control and status registers for Format_7.................................................. 261
Quadlet offset Format_7 Mode_0 .......................................................................... 261
Quadlet offset Format_7 Mode_1 .......................................................................... 261
Format_7 control and status register (CSR) ............................................................ 261
Advanced features ...................................................................................................... 263
Extended version information register ....................................................................... 266
Advanced feature inquiry......................................................................................... 269
Camera status ........................................................................................................ 271
Maximum resolution ............................................................................................... 272
Time base ............................................................................................................. 272
Extended shutter.................................................................................................... 274
Test images ........................................................................................................... 275
Look-up tables (LUT) .............................................................................................. 276
Loading a look-up table into the camera ............................................................... 277
Shading correction ................................................................................................. 278
Reading or writing shading image from/into the camera .......................................... 280
Automatic generation of a shading image.............................................................. 280
Non-volatile memory operations........................................................................... 280
Memory channel error codes ................................................................................ 281
Deferred image transport......................................................................................... 282
Frame information.................................................................................................. 283
Input/output pin control......................................................................................... 283
Delayed Integration enable...................................................................................... 284
Auto shutter control ............................................................................................... 285
Auto gain control................................................................................................... 286
Autofunction AOI ................................................................................................... 287
Color correction ..................................................................................................... 288
Trigger delay ......................................................................................................... 289
Mirror image.......................................................................................................... 289
AFE channel compensation (channel balance)............................................................. 290
Soft reset.............................................................................................................. 290
High SNR mode (High Signal Noise Ratio) .................................................................. 291
Maximum ISO packet size ........................................................................................ 292
Quick parameter change timing modes ...................................................................... 294
Standard Parameter Update Timing .................................................................... 294
Quick Format Change Mode................................................................................ 294
Automatic reset of the UpdActive flag................................................................... 295
Low noise binning mode (only 2 x H-binning) ............................................................ 295
Parameter-List Update ............................................................................................ 296

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Format_7 mode mapping ......................................................................................... 297
Example ........................................................................................................... 298
Secure image signature (SIS) ................................................................................... 299
Advanced register: SIS........................................................................................ 299
Advanced register: frame counter ......................................................................... 301
Advanced register: trigger counter........................................................................ 302
Where to find time stamp, frame counter and trigger counter in the image................. 303
Where to find all SIS values in the image .............................................................. 303
Smear reduction..................................................................................................... 304
User profiles.......................................................................................................... 305
Error codes ....................................................................................................... 306
Reset of error codes ........................................................................................... 306
Stored settings .................................................................................................. 307
GPDATA_BUFFER..................................................................................................... 309
Little endian vs. big endian byte order.................................................................. 309
User adjustable gain references ................................................................................ 310
Firmware update...............................................................................................311
Extended version number (FPGA/µC).............................................................................. 311
Appendix ................................................................................................................312
Sensor position accuracy of AVT cameras........................................................................ 312
Index.........................................................................................................................313

Contacting Allied Vision Technologies
PIKE Technical Manual V4.1.0
10
Contacting Allied Vision Technologies
Info
L
•Technical information:
[e-mail]
phone (for Germany): [phone]
phone (for USA): [phone]
outside Germany/USA: Please check the link for your
local dealer.
http://www.alliedvisiontec.com/partner.html
•Ordering and commercial information:
[e-mail]
phone (for Germany): [phone]
phone (for USA): [phone]
outside Germany/USA: Please check the link for your
local dealer.
http://www.alliedvisiontec.com/partner.html
Please note order number/text given in the
AVT Modular Camera Concept.