Photon Focus MV-D1024E-3D01-160 User manual

User Manual
MV-D1024E-3D01-160
3D CMOS Camera
MAN037 04/2009 V1.1

All information provided in this manual is believed to be accurate and reliable. No
responsibility is assumed by Photonfocus AG for its use. Photonfocus AG reserves the right to
make changes to this information without notice.
Reproduction of this manual in whole or in part, by any means, is prohibited without prior
permission having been obtained from Photonfocus AG.
1

2

Contents
1 Preface 7
1.1 AboutPhotonfocus...................................... 7
1.2 Contact............................................. 7
1.3 SalesOffices .......................................... 7
1.4 FurtherInformation...................................... 7
1.5 Legend ............................................. 8
2 How to get started (CameraLink®) 9
3 Product Specification 13
3.1 Introduction .......................................... 13
3.2 FeatureOverview ....................................... 14
3.3 TechnicalSpecification .................................... 15
3.4 Frame Grabber relevant Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4 Functionality 19
4.1 ImageAcquisition....................................... 19
4.1.1 ReadoutModes .................................... 19
4.1.2 ExposureControl ................................... 21
4.1.3 MaximumFrameRate ................................ 21
4.1.4 Constant Frame Rate (CFR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2 ImageInformation ...................................... 22
4.2.1 Counters and Average Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.2 StatusLine ....................................... 23
4.3 PixelResponse......................................... 24
4.3.1 LinearResponse.................................... 24
4.3.2 LinLog®......................................... 24
4.3.3 Skimming........................................ 29
4.3.4 Grey Level Transformation (LUT) . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.3.5 TestImages....................................... 32
4.4 ImageCorrection ....................................... 35
4.4.1 Overview........................................ 35
4.4.2 Offset Correction (FPN, Hot Pixels) . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.4.3 GainCorrection .................................... 37
4.4.4 CorrectedImage.................................... 38
4.5 ReductionofImageSize ................................... 39
4.5.1 Region of Interest (ROI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.5.2 Multiple Regions of Interest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.5.3 Decimation....................................... 43
4.6 ExternalTrigger ........................................ 43
4.6.1 TriggerSource..................................... 43
4.6.2 TriggerMode ..................................... 44
CONTENTS 3

CONTENTS
4.6.3 TriggerDelay...................................... 44
4.6.4 TriggerResolution................................... 45
4.7 StrobeOutput......................................... 45
4.8 Additional 3D Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.8.1 ModeSettings..................................... 46
4.8.2 Threshold........................................ 46
4.8.3 Insertionof3DData ................................. 47
4.8.4 Interpolation Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.9 Configuration Interface (CameraLink) . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5 Hardware Interface 51
5.1 Connectors........................................... 51
5.1.1 CameraLink Connector for CameraLink Camera Models . . . . . . . . . . . . . 51
5.1.2 Power Supply for CameraLink Camera Models . . . . . . . . . . . . . . . . . . 51
5.1.3 Trigger and Strobe Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.1.4 Status Indicator (CameraLink Cameras) . . . . . . . . . . . . . . . . . . . . . . 53
5.2 CameraLink Data Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.3 Read-outTiming........................................ 56
5.3.1 FreerunningMode.................................. 56
5.3.2 Constant Frame Rate Mode (CFR) . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.4 Trigger ............................................. 60
5.4.1 TriggerModes..................................... 60
5.4.2 TriggerDelay...................................... 62
6 The PFRemote Control Tool 65
6.1 Overview............................................ 65
6.2 PFRemoteandPFLib ..................................... 65
6.3 OperatingSystem....................................... 65
6.4 InstallationNotes ....................................... 65
6.5 Graphical User Interface (GUI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.5.1 PortBrowser...................................... 66
6.5.2 Ports, Device Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.5.3 MainButtons ..................................... 68
6.6 DeviceProperties ....................................... 68
7 Graphical User Interface (GUI) 69
7.1 MV-D1024E-3D01-160..................................... 69
7.1.1 Exposure ........................................ 70
7.1.2 Window ........................................ 71
7.1.3 Trigger ......................................... 73
7.1.4 DataOutput...................................... 75
7.1.5 Characteristics..................................... 77
7.1.6 3D01 .......................................... 78
7.1.7 Correction ....................................... 79
7.1.8 Info ........................................... 81
8 Mechanical and Optical Considerations 83
8.1 Mechanical Interface for CameraLink Camera Models . . . . . . . . . . . . . . . . . . 83
8.2 OpticalInterface........................................ 84
8.2.1 CleaningtheSensor.................................. 84
8.3 Compliance........................................... 86
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9 Warranty 87
9.1 WarrantyTerms ........................................ 87
9.2 WarrantyClaim ........................................ 87
10 References 89
A Pinouts 91
A.1 Power Supply for CameraLink Camera Models . . . . . . . . . . . . . . . . . . . . . . 91
A.1.1 Power Supply Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
A.2 CameraLink Connector for CameraLink Camera Models . . . . . . . . . . . . . . . . . 92
B Revision History 95
CONTENTS 5

CONTENTS
6

1
Preface
1.1 About Photonfocus
The Swiss company Photonfocus is one of the leading specialists in the development of CMOS
image sensors and corresponding industrial cameras for machine vision, security & surveillance
and automotive markets.
Photonfocus is dedicated to making the latest generation of CMOS technology commercially
available. Active Pixel Sensor (APS) and global shutter technologies enable high speed and
high dynamic range (120 dB) applications, while avoiding disadvantages like image lag,
blooming and smear.
Photonfocus has proven that the image quality of modern CMOS sensors is now appropriate
for demanding applications. Photonfocus’ product range is complemented by custom design
solutions in the area of camera electronics and CMOS image sensors.
Photonfocus is ISO 9001 certified. All products are produced with the latest techniques in order
to ensure the highest degree of quality.
1.2 Contact
Photonfocus AG, Bahnhofplatz 10, CH-8853 Lachen SZ, Switzerland
Sales Phone: [phone] Email: [email protected]
Support Phone: [phone] Email: [email protected]
Table 1.1: Photonfocus Contact
1.3 Sales Offices
Photonfocus products are available through an extensive international distribution network
and through our key account managers. Details of the distributor nearest you and contacts to
our key account managers can be found at www.photonfocus.com.
1.4 Further Information
For further information on the products, documentation and software updates please see our
web site www.photonfocus.com or contact our distributors.
Photonfocus reserves the right to make changes to its products and documenta-
tion without notice. Photonfocus products are neither intended nor certified for
use in life support systems or in other critical systems. The use of Photonfocus
products in such applications is prohibited.
Photonfocus®and LinLog®are registered trademarks of Photonfocus AG.
CameraLink®is a registered mark of the Automated Imaging Association. Prod-
uct and company names mentioned herein are trademarks or trade names of
their respective companies.
7

1 Preface
Reproduction of this manual in whole or in part, by any means, is prohibited
without prior permission having been obtained from Photonfocus AG.
Photonfocus can not be held responsible for any technical or typographical er-
rors.
1.5 Legend
In this documentation the reader’s attention is drawn to the following icons:
Important note
Alerts and additional information
Attention, critical warning
✎
Notification, user guide
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2
How to get started (CameraLink®)
1. Install a suitable frame grabber in your PC.
To find a compliant frame grabber, please see the frame grabber compatibility
list at www.photonfocus.com.
2. Install the frame grabber software.
✎
Without installed frame grabber software the camera configuration tool PFRe-
mote will not be able to communicate with the camera. Please follow the in-
structions of the frame grabber supplier.
3. Remove the camera from its packaging. Please make sure the following items are included
with your camera:
• Power supply connector (7-pole power plug)
• Camera body cap
If any items are missing or damaged, please contact your dealership.
4. Remove the camera body cap from the camera and mount a suitable lens.
When removing the camera body cap or when changing the lens, the camera
should always be held with the opening facing downwards to prevent dust or
debris falling onto the CMOS sensor.
Figure 2.1: Camera with protective cap and lens.
Do not touch the sensor surface. Protect the image sensor from particles and
dirt!
9

2 How to get started (CameraLink®)
The sensor has no cover glass, therefore dust on the sensor surface may resemble
to clusters or extended regions of dead pixel.
To choose a lens, see the Lens Finder in the ’Support’ area at
www.photonfocus.com.
5. Connect the camera to the frame grabber with a suitable CameraLink cable (see Fig. 2.2).
CameraLink cables can be purchased from Photonfocus directly (www.photonfocus.com).
Please note that Photonfocus provides appropriate solutions for your advanced vision
applications.
Figure 2.2: Camera with frame grabber, power supply and cable.
Do not connect or disconnect the CameraLink cable while camera power is on!
For more information about CameraLink see Section 4.9.
6. Connect a suitable power supply to the provided 7-pole power plug. For the connector
assembly see Fig. A.1. The pinout of the connector is shown in Appendix A.
Check the correct supply voltage and polarity! Do not exceed the maximum
operating voltage of +12V DC (±10%).
7. Connect the power supply to the camera (see Fig. 2.2).
✎
The status LED on the rear of the camera will light red for a short moment, and
then flash green. For more information see Section 5.1.4.
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8. Download the camera software PFRemote to your computer.
You can find the latest version of PFRemote on the support page at
www.photonfocus.com.
9. Install the camera software PFRemote. Please follow the instructions of the PFRemote
setup wizard.
Figure 2.3: Screen shot PFremote setup wizard
10. Start the camera software PFRemote and choose the communication port.
Figure 2.4: PFRemote start window
11. Check the status LED on the rear of the camera.
✎
The status LED lights green when an image is being produced, and it is red when
serial communication is active. For more information see Section 5.1.4.
12. You may display images using the software that is provided by the frame grabber
manufacturer.
11

2 How to get started (CameraLink®)
13. The installation procedure and the system configuration of a suitable PCI Express
framegrabber needed to operate the 3D Suite from Photonfocus is covered in separate
documentations.
You can find more detailled instructions in the application note AN028 "3D Sys-
tem Configuration" in the support area at www.photonfocus.com.
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3
Product Specification
3.1 Introduction
The MV-D1024E-3D01-160 is a CMOS camera from Photonfocus optimized in two aspects for
laser triangulation applications. The camera includes an image processing module, that runs an
algorithm called Peak Detector. The Peak Detector algorithm is able to compute with sub-pixel
accurracy the peak position of a laser line. Thus, the height profile of an object gets computed
within the camera, making additional calculations in the PC obsolet.
In several applications solved with laser triangulation setups it was shown that the use of the
LinLog®response curve leads to better triangulation results, since information is not getting
lost by saturation of the laser line. The triangulation is getting more stable and independent of
the object surface properties.
The camera is built around the monochrome CMOS image sensor A1024B, developed by
Photonfocus. The principal advantages are:
• High reliability of 3D reconstruction, due to the non-linear interpolation technique used
in the peak detection algorithm
• Peak detection with up to 1/64 subpixel accuracy
• Less post-processing necessary for obtaining perfectly smooth surfaces
• Extremely high image contrast achieved by LinLog®technology
• Stabilization of laser triangulation applications independent from object surfaces
• Detection of small features on the inspected parts due to decreased noise sensitivity
• Combined 2D/3D applications can be realized in the 2D/3D mode of the camera
• Global shutter
• Region of interest (ROI) freely selectable in x and y direction
• Stabilization of laser triangulation applications independent from object surfaces
• Detection of small features on the inspected parts due to decreased noise sensitivity
• Several simultaneously selectable read out windows: Multiple region of interest (Multiple
ROI)
• The camera has a digital CameraLink®interface (CL base configuration)
• Grey level resolution up to 12 bit
• The compact size of only or 55 x 55 x 40 mm3make the MV-D1024E-3D01-160 camera the
perfect solution for applications in which space is at a premium
The basic components for 3D imaging consist of a laser line and a high speed CMOS camera in
a triangular arrangement to capture images (profiles) from objects that are moved on a
conveyer belt or in a similar setup (see Fig. 3.1).
You can find more information on the basics of laser triangulation and on the
principles of 3D image acquisition technique in the user manual "PF 3D Suite"
available in the support area at www.photonfocus.com.
.
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3 Product Specification
C o n v e y o r b e l t w i t h o b j e c t s
L a s e r C a m e r a
Figure 3.1: Triangulation principle with objects moved on a conveyor belt
3.2 Feature Overview
The general specification and features of the camera are listed in the following sections. The
detailed description of the camera features is given in Chapter 4.
MV-D1024E-3D01-160
Interfaces CameraLink base configuration
Camera Control PFRemote (Windows GUI) or programming library
Configuration Interface serial, 9’600 baud or 57.6 kbaud (user selectable)
Trigger Modes Interface Trigger / I/O Trigger
Exposure Time Defined by camera or trigger pulse width
Features 3D Peak Detector
Linear Mode / LinLog®Mode / Skimming
Shading Correction (Offset and Gain)
Grey level resolution 12 bit / 10 bit / 8 bit
Region of Interest (ROI) / Multiple Regions of Interest (MROI)
Look-up table (10 to 8 bit) / Decimation
Trigger input / Strobe output with programmable delay
Test pattern / Image information / Status line
Table 3.1: Feature overview (see Chapter 4 for more information)
.
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3.3 Technical Specification
MV-D1024E-3D01-160
Sensor A1024B Photonfocus
Technology CMOS active pixel
Scanning system progressive scan
Optical format / diagonal 1” / 15.42 mm
Resolution 1024 x 1024 pixels
Pixel size 10.6 µm x 10.6 µm
Active optical area 10.9 mm x 10.9 mm
Random noise < 0.5 DN RMS @ 8 bit / gain= 1
Fixed pattern noise (FPN) < 1 DN RMS @ 8 bit / gain= 1 / offset correction on
Dark current 2 fA/pixel @ 30°C
Full well capacity 200 ke−
Spectral range 400 nm ... 900 nm
Responsivity 120 x 103DN / (J/m2) @ 610 nm / 8 bit / gain = 1
Optical fill factor 35%
Dynamic range up to 120 dB (with LinLog®)
Colour format monochrome
Characteristic curve Linear, LinLog®, Skimming
Shutter mode global shutter
Minimum Region of Interest (ROI) 1 row x 9 columns
Greyscale Resolution 12 bit / 10 bit / 8 bit
Digital Gain x1 / x2 / x4
Exposure Time 10 µs ... 0.41 s
Table 3.2: General specification of the MV-D1024E-3D01-160 camera
MV-D1024E-3D01-160
Exposure Time Increment 25 ns
Frame Rate ( Tint = 10 µs) 150 fps
Pixel Clock Frequency 80 MHz
Pixel Clock Cycle 25 ns
Camera Taps 2
Readout mode sequential or simultaneous
Table 3.3: Model-specific parameters
.
3.3 Technical Specification 15

3 Product Specification
MV-D1024E-3D01-160
Operating temperature 0°C ... 50°C
Camera power supply +12 V DC (±10%)
Trigger signal input range +5 .. +15 V DC
Strobe signal power supply +5 .. +15 V DC
Strobe signal sink current (average) max. 8 mA
Maximum power consumption 3.7 W
Lens mount C- or CS-Mount
Dimensions 55 x 55 x 40 mm3
Mass 210 g
Conformity CE, RoHS, WEEE
Table 3.4: Physical characteristics and operating ranges
Fig. 3.2 shows the quantum efficiency curve of the A1024B sensor from Photonfocus measured
in the wavelength range from 250 nm to 1100 nm. Note, that the oscillations in the diagram
are caused by the multilayer interferences of the sensor.
Q u a n t u m E f f i c i e n c y v s W a v e l e n g t h
0 . 0 0
0 . 0 5
0 . 1 0
0 . 1 5
0 . 2 0
0 . 2 5
0 . 3 0
0 . 3 5
0 . 4 0
0 . 4 5
0 . 5 0
2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0 1 1 0 0
W a v e l e n g t h / n m
Q u a n t u m E f f i c i e n c y
Figure 3.2: Spectral response of the A1024B CMOS sensor from Photonfocus
.
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3.4 Frame Grabber relevant Configuration
Table 3.5 summarizes the parameters needed for the configuration of the frame grabber.
MV-D1024E-3D01-160
Pixel Clock per Tap 80 MHz
Number of Taps 2
Greyscale resolution 12 bit / 10 bit / 8 bit
CC1 EXSYNC
CC2 not used
CC3 not used
CC4 not used
Table 3.5: Summary of parameters needed for frame grabber configuration
CameraLink Port and Bit assignments are compliant to the CameraLink standard (see [CL] ).
Bit Tap 0 Tap 1 Tap 0 Tap 1 Tap 0 Tap 1
8 Bit 8 Bit 10 Bit 10 Bit 12 Bit 12 Bit
0 (LSB) A0 B0 A0 C0 A0 C0
1 A1 B1 A1 C1 A1 C1
2 A2 B2 A2 C2 A2 C2
3 A3 B3 A3 C3 A3 C3
4 A4 B4 A4 C4 A4 C4
5 A5 B5 A5 C5 A5 C5
6 A6 B6 A6 C6 A6 C6
7 (MSB of 8 Bit) A7 B7 A7 C7 A7 C7
8 - - B0 B4 B0 B4
9 (MSB of 10 Bit) - - B1 B5 B1 B5
10 - - - - B2 B6
11 (MSB of 12 Bit) - - - - B3 B7
Table 3.6: CameraLink port and bit assignments for the MV-D1024E-3D01-160 camera
The output of grey values is listed in Table 3.6. 3D data are assigned in the bits [7:0]. For
further information see Section 4.8.3.
.
3.4 Frame Grabber relevant Configuration 17

3 Product Specification
18