Photon Focus SM2-D1312-TI6455, VisionCam PS User Manual

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User Manual

SM2-D1312-TI6455 / VisionCam PS

CMOS DSP Camera

MAN060 05/2013 V1.0

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.

Contents

1 Preface 7

1.1 About Photonfocus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2 Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.3 Sales Ofﬁces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.4 Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.5 Legend . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2 How to get started (SM2) 9

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2 Get the camera and its accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2.1 SM2-Camera only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2.2 SM2 Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.2.3 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.3 Hardware Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.4 Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.5 Emulator, Debugger Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.5.1 Code Composer Studio (CCS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.5.2 Emulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.5.3 Connect camera to JTAG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.5.4 Framework and examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.5.5 Documentation of the code and libraries . . . . . . . . . . . . . . . . . . . . . 16

2.5.6 microSD card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3 Product Speciﬁcation 17

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2 Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3 Feature Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.4 Technical Speciﬁcation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4 Functionality 25

4.1 Image Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.1.1 Readout Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.1.2 Readout Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.1.3 Exposure Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.1.4 Maximum Frame Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.2 Pixel Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.2.1 Linear Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.2.2 LinLog®. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.3 Reduction of Image Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.3.1 Region of Interest (ROI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.3.2 ROI conﬁguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

4.3.3 Calculation of the maximum frame rate . . . . . . . . . . . . . . . . . . . . . . 39

CONTENTS 3

CONTENTS

4.3.4 Multiple Regions of Interest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.3.5 Decimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.4 Trigger and Strobe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.4.2 Trigger Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.4.3 Exposure Time Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.4.4 Trigger Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.4.5 Burst Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.4.6 Software Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4.4.7 Strobe Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4.5 Data Path Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.6 Image Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.6.2 Offset Correction (FPN, Hot Pixels) . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.6.3 Gain Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.6.4 Corrected Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.7 Digital Gain and Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.8 Grey Level Transformation (LUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.8.1 Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.8.2 Gamma . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4.8.3 User-deﬁned Look-up Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4.8.4 Region LUT and LUT Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4.9 Convolver (monochrome models only) . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.9.1 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.9.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.9.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.10 Crosshairs (monochrome models only) . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

4.10.1 Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

4.11 Image Information and Status Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

4.11.1 Counters and Average Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

4.11.2 Status Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

4.12 Test Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

4.12.1 Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

4.12.2 LFSR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

4.12.3 Troubleshooting using the LFSR . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5 Hardware Interface 79

5.1 GigE Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

5.2 Power Supply Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

5.3 Trigger Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

5.4 Status Indicator (SM2 cameras) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

5.5 Power and Ground Connection for SM2 Cameras . . . . . . . . . . . . . . . . . . . . . 81

5.6 Trigger and Strobe Signals for SM2 Cameras . . . . . . . . . . . . . . . . . . . . . . . 82

5.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

5.6.2 Opto-isolated Interface (power connector) . . . . . . . . . . . . . . . . . . . . 82

5.6.3 RS422 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

6 Framework Functionalities 85

6.1 Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

6.1.1 Access to the Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

6.1.2 Information about the Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

6.1.3 Conﬁguration of the Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

6.1.4 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

6.1.5 Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

6.1.6 Save Pic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

6.1.7 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

6.1.8 View Par . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

6.1.9 App . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

6.2 FTP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

7 Mechanical and Optical Considerations 109

7.1 Mechanical Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

7.1.1 Cameras with GigE Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

7.2 Optical Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

7.2.1 Cleaning the Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

7.3 CE compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

8 Warranty 113

8.1 Warranty Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

8.2 Warranty Claim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

9 References 115

A Pinouts 117

A.1 Power Supply Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

A.2 RS422 Trigger and Strobe Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

B Revision History 121

CONTENTS 5

CONTENTS

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: +41 55 451 07 45 Email: sales@photonfocus.com

Support Phone: +41 55 451 01 37 Email: support@photonfocus.com

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

Photonfocus reserves the right to make changes to its products and documentation 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 is a trademark and LinLog®is a registered trademark of Photonfocus AG. CameraLink®and GigE Vision®are a registered mark of the Automated Imaging Association. Product and company names mentioned herein are trademarks or trade names of their respective companies.

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 errors.

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

How to get started (SM2)

2.1 Introduction

The SM2-D1312(IE)-TI6455 Series / VisionCam PS is an intelligent camera especially designed for machine vision applications. The camera consists of the CMOS camera head and the embedded vision computer. These two main components are developed by Photonfocus AG (camera head) and IMAGO Technologies (vision computer). This document is a guideline for programming and understanding the SM2-D1312(IE)-TI6455 Series / VisionCam PS. This guide shows you:

• How to get the camera and it’s accessories

• How to install the required hardware

• How to install the required software

• How to acquire your ﬁrst images and how to modify camera settings

2.2 Get the camera and its accessories

2.2.1 SM2-Camera only

An order of the SM2 camera contains the camera body only (no lense).

Figure 2.1: SM2 camera

2 How to get started (SM2)

2.2.2 SM2 Starter Kit

An order of the SM2 Starter Kit, contains the following items:

• SM2 Camera body (no lense).

• SM2-JTAG connector

Figure 2.2: SM2-JTAG adapter and camera

2.2.3 Accessories

SM2-JTAG Connector

The SM2-JTAG connector is needed to connect the emulator to the DSP of the SM2 camera. The JTAG interface is behind the "JTAG / SD-CARD" plate. This connector can be ordered from Photonfocus.

Figure 2.3: SM2-JTAG adapter

Power supply

The power supply can be ordered from Photonfocus.

Figure 2.4: SM2 power supply

SM2 Trigger cables

The SM2 trigger cables packages contains two cables:

• 12pol cable for the Hirose power connector.

• 14pol cable for the MDR-14 connector.

Figure 2.5: SM2 trigger cables

2.2 Get the camera and its accessories 11

2 How to get started (SM2)

2.3 Hardware Installation

The hardware installation that is required for this guide is described in this section. The following hardware is required:

• PC with Microsoft Windows OS (XP, Vista, Windows 7)

• A Gigabit Ethernet network interface card (NIC) must be installed in the PC.

• Photonfocus SM2 camera.

• Suitable power supply for the camera (see in the camera manual for speciﬁcation) which can be ordered from your Photonfocus dealership.

• GigE cable of at least Cat 5E or 6.

Photonfocus SM2 cameras can also be used under Linux.

Do not bend GigE cables too much. Excess stress on the cable results in transmission errors. In robots applications, the stress that is applied to the GigE cable is especially high due to the fast movement of the robot arm. For such applications, special drag chain capable cables are available.

The following list describes the connection of the camera to the PC:

1. Remove the Photonfocus SM2 camera from its packaging. Please make sure the following items are included with your camera:

• Power supply connector

• SM2 camera body

• IP address (default: 192.168.1.240)

If any items are missing or damaged, please contact your dealership.

2. Connect the camera to the GigE interface of your PC with a GigE cable of at least Cat 5E or

Figure 2.6: Rear view of the SM2 camera SM2-D1312(IE)-TI6455-80 with power supply and I/O connector, Ethernet jack (RJ45) and status LED

3. Connect a suitable power supply to the power plug. The pin out of the connector is shown in the camera manual.

Check the correct supply voltage and polarity! Do not exceed the operating voltage range of the camera.

A suitable power supply can be ordered from your Photonfocus dealership.

4. Connect the power supply to the camera (see Fig. 2.6).

2.3 Hardware Installation 13

2 How to get started (SM2)

2.4 Software Installation

This section describes the installation of the required software to accomplish the tasks described in this chapter.

1. Use the JavaApplet (tcpdisplay.jar) to connect to the camera. There are differnet ways to get the JavaApplet.

• If you have already the JavaApplet and you know the camer IP address, doubleclick

the JavaApplet and enter camera IP address.

• You can ﬁnd the JavaApplet in the Photonfocus\SM2 folder, when you have installed

PFInstaller and selected the SM2 package during installation.

• If you don’t know the camera IP address, use the VIBFinder.exe tool (you can ﬁnd it

also in the Photonfocus\SM2 folder of the PFInstaller installation). Click to "Find Devices", select the camera and click to "Show Properties". Now you can click to "Open TCP Display".

• The JavaApplet (tcpdisplay.jar) is also on the microSD card of the camera. Unplug the

microSD card and connect it to a computer or download the JavaApplet directly over FTP (ftp://192.168.1.240, username, password)

2. The web browser displays the web server main window as shown in Fig. 2.7.

Figure 2.7: Framework (web server) start page

2.5 Emulator, Debugger Installation

This section describes what software and tools are needed to compile own c/c++ code and download it to the DSP.

2.5.1 Code Composer Studio (CCS)

The Code Composer Studio (CCS) is an integrated development environment (IDE) for Texas Instruments (TI) embedded processor families. CCS comprises a suite of tools used to develop and debug embedded applications. It includes compilers for each of TI’s device families, source code editor, project build environment, debugger, proﬁler, simulators, real-time operating system and many other features. Here are more information about the CCS: www.ti.com/tool/ccstudio. The Node Locked Single User (N01D) cost about 445US$. There is also a 90day evaluation version (CSS-FREE) avialable. The evaluation version has no other limitations. More informations about the licensing of the CSS: http://processors.wiki.ti.com/index.php/Licensing_-_CCS.

2.5.2 Emulator

For debugging a emulator is needed. Photonfocus recomment the XDS200 for about 295US$. Pros of the XDS200:

• No additional driver is needed. The driver is part of the CCS installation.

• Only a USB connector (no additional power needed), perfect for notebook users!

• Low cost (XDS560 family is about 1000US$).

The XDS200 can be ordered directly from the Texas Instruments webs site. Find more information about the XDS200 here: www.ti.com/tool/xds200.

Figure 2.8: XDS200 emulator

2.5 Emulator, Debugger Installation 15

2 How to get started (SM2)

2.5.3 Connect camera to JTAG

Remove the "JTAG / SD-Card" plate, before connecting the JTAG. Figure 2.9 shows how to connect the SM2-JTAG connector and the XDS200 emulator.

Figure 2.9: How to connect camera to XDS200 emulator

2.5.4 Framework and examples

The framework and the examples are working with the CCS. We provide also the source code of the framework and the examples.

2.5.5 Documentation of the code and libraries

These documentations are on the microSD card of the SM2 camera.

2.5.6 microSD card

The microSD card of the SM2 camera contains the following:

• All needed ﬁles for CCS development (framework, source code, libraries, examples) in a zip ﬁle

• Camera manual and source code documentation.

• VIBFinder.exe, this windows tool ﬁnds the SM2 camera in the network, if the user does not know the camera IP address.

• tcpdisplay.jar, JavaApplet to connect to camera build-in webserver

• Ethernet.ini, to change the camera IP-address, default address is: 192.168.1.240

Remove the "JTAG / SD-Card" plate, before accessing the microSD card.

Figure 2.10: microSD card

Product Speciﬁcation

3.1 Introduction

The SM2-D1312(IE)-TI6455 CMOS camera series are built around the A1312(IE/C) CMOS image sensor from Photonfocus and IMAGO Technologies, that provides a resolution of 1312 x 1082 pixels at a wide range of spectral sensitivity. There are standard monochrome and NIR enhanced monochrome (IE) models. The camera series is aimed at standard applications in industrial image processing. The principal advantages are:

• Resolution of 1312 x 1082 pixels.

• Wide spectral sensitivity from 320 nm to 1030 nm for monochrome models.

• Enhanced near infrared (NIR) sensitivity with the A1312IE CMOS image sensor.

• High quantum efﬁciency: > 50% for monochrome models and between 25% and 45% for colour models.

• High pixel ﬁll factor (> 60%).

• Superior signal-to-noise ratio (SNR).

• Low power consumption at high speeds.

• Very high resistance to blooming.

• High dynamic range of up to 120 dB.

• Ideal for high speed applications: Global shutter.

• Image resolution of up to 12 bit.

• On camera shading correction.

• 3x3 Convolver for image pre-processing included on camera.

• Up to 512 regions of interest (MROI).

• 2 look-up tables (12-to-8 bit) on user-deﬁned image regions (Region-LUT).

• Crosshairs overlay on the image (monochrome models only).

• Image information and camera settings inside the image (status line).

• Software provided for setting and storage of camera parameters.

• The camera has a Gigabit Ethernet interface.

• Texas Instrument TMS320C6455 DSP with 1.2GHz and 9600MIPS

• 512MB onboard DDR RAM.

• The camera has a Gigabit Ethernet interface.

• 2GB microSD card (max. 32GB).

• Advanced I/O capabilities: 3 isolated trigger inputs, 3 differential isolated RS-422 inputs, 3 differential isolated RS-422 outputs and 3 isolated outputs.

• Wide power input range from 12 V (-10 %) to 24V (+10 %).

The general speciﬁcation and features of the camera are listed in the following sections.

3 Product Speciﬁcation

3.2 Hardware Overview

The three main components in the block diagram are the CMOS camera module, the FPGA and the digital signal processor. These components are especially designed to transfer high data rates and to communicate with each other. The used high speed communication protocol is called Sun-System-Protocol. The CMOS camera module is a D1312(IE) camera module from Photonfocus, with all its included features like 1312 x 1082 pixel camera resolution, global shutter, shading correction and LinLog®technology. The image processing computer (FPGA / DSP / SDRAM / Flash) is a module based on VisionBox technology from IMAGO Technologies. The function of this module is the handling of the image data, the doing the image processing and performing the communication between the components and peripheral devices. The digital signal processor has a fast internal memory of 2048 kB and runs with a maximum frequency of 1200 MHz. There are up to 512 MB external SDRAM, storing image data and program data.

C M O S

C a m e r a

F P G A

C 6 4 5 5 D S P

1 2 0 0 M H z

R A M

5 1 2 M B

F l a s h

4 M B

E t h e r n e t

1 0 0 0 M b i t / s

R S 4 2 2 T r a n s c e i v e r

( 3 x I n / 3 x O u t )

3 x O p t o I n

3 x O p t o O u t

1 x R S 2 3 2

2 x L E D

m i c r o S D C a r d

Figure 3.1: Hardware overview

Each SM2-D1312(IE)-TI6455 / VisionCam PS camera features an internal ﬂash memory of 4 MBytes and a µSD Card. The internal ﬂash memory is used to store the bootloader, some conﬁguration ﬁles and the ﬁrmware. The µSD card is used to store image data, the executable program and other user data. The communication with external devices is realized via a 1000 Mbit/s Ethernet connection. In this way it is possible to perform high data rates. For other communication purposes, the optocoupled inputs and outputs, the RS422 transceivers and the serial port are helpful.

3.2 Hardware Overview 19

3 Product Speciﬁcation

3.3 Feature Overview

Characteristics SM2-D1312(IE)-TI6455

Interface Gigabit Ethernet, TCP/IP, FTP µSD card

Camera Control Web server or programming library

Trigger Modes Software Trigger / External isolated trigger input / PLC Trigger

Features Greyscale resolution 12 bit / 10 bit / 8 bit

Region of Interest (ROI)

Test pattern (LFSR and grey level ramp)

Shading Correction (Offset and Gain)

3x3 Convolver included on camera

High blooming resistance

isolated trigger input and isolated strobe output

2 look-up tables (12-to-8 bit) on user-deﬁned image region (Region-LUT)

Up to 512 regions of interest (MROI)

Image information and camera settings inside the image (status line)

Crosshairs overlay on the image

Table 3.1: Feature overview (see Chapter 4 for more information)

Figure 3.2: SM2-D1312(IE)-TI6455 CMOS camera with C-mount lens

3.4 Technical Speciﬁcation

Technical Parameters SM2-D1312(IE)-TI6455

Technology CMOS active pixel (APS)

Scanning system Progressive scan

Optical format / diagonal 1” (13.6 mm diagonal) @ maximum

resolution

2/3” (11.6 mm diagonal) @ 1024 x 1024 resolution

Resolution 1312 x 1082 pixels

Pixel size 8 µm x 8 µm

Active optical area 10.48 mm x 8.64 mm (maximum)

Random noise < 0.3 DN @ 8 bit

Fixed pattern noise (FPN) 3.4 DN @ 8 bit / correction OFF

Fixed pattern noise (FPN) < 1DN @ 8 bit / correction ON

1)2)

Dark current SM2-D1312-TI6455 0.65 fA / pixel @ 27 °C

Dark current SM2-D1312IE-TI6455 0.79 fA / pixel @ 27 °C

Full well capacity ~ 90 ke

−

Spectral range SM2-D1312-TI6455 350 nm ... 980 nm (see Fig. 3.3)

Spectral range SM21-D1312IE-TI6455 320 nm ... 1000 nm (see Fig. 3.4)

Responsivity MV1-D1312 and DR1-D1312 295 x103DN/(J/m2) @ 670 nm / 8 bit

Responsivity MV1-D1312IE and DR1-D1312IE 305 x103DN/(J/m2) @ 870 nm / 8 bit

Quantum Efﬁciency > 50 %

Optical ﬁll factor > 60 %

Dynamic range 60 dB in linear mode, 120 dB with LinLog

Colour format (colour models) RGB Bayer Raw Data Pattern

Characteristic curve Linear, LinLog

Shutter mode Global shutter

Greyscale resolution 12 bit / 10 bit / 8 bit

Table 3.2: General speciﬁcation of the SM2-D1312(IE)-TI6455 camera series (Footnotes:1)Indicated values are typical values.2)Indicated values are subject to conﬁrmation.

3.4 Technical Speciﬁcation 21

3 Product Speciﬁcation

SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-160

Exposure Time 10 µs ... 0.83 s 10 µs ... 0.42 s

Exposure time increment 50 ns 25 ns

Frame rate5)( T

int

= 10 µs) 54 fps 108 fps

Pixel clock frequency 40 MHz 80 MHz

Pixel clock cycle 25 ns 12.5 ns

Camera taps 1 2

Read out mode sequential or simultaneous

Table 3.3: Model-speciﬁc parameters (Footnotes:5)Maximum frame rate @ full resolution @ 8 bit).

SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-160

Operating temperature / moisture 0°C ... 50°C / 20 ... 80 %

Storage temperature / moisture -25°C ... 60°C / 20 ... 95 %

Camera power supply +12 V DC (± 10 %)

Trigger signal input range +12 .. +24 V DC

Strobe signal power supply +12 .. +24 V DC

Strobe signal sink current (average) max. 8 mA

Max. power consumption @ 12 V < TBD W < TBD W

Lens mount C-Mount (CS-Mount optional)

Dimensions 60 x 60 x TBD mm

Mass 600 g

Conformity CE / RoHS / WEE

Table 3.4: Physical characteristics and operating ranges of the SM2-D1312(IE)-TI6455 camera series

Fig. 3.3 shows the quantum efﬁciency and the responsivity of the monochrome A1312 CMOS sensor, displayed as a function of wavelength. For more information on photometric and radiometric measurements see the Photonfocus application note AN008 available in the support area of our website www.photonfocus.com.

800

1000

1200

40%

50%

60%

/J/m²]

Efficiency

QE Responsivity

200

400

600

10%

20%

30%

200 300 400 500 600 700 800 900 1000 1100

Responsivity [

Quantu

Wavelength [nm]

Figure 3.3: Spectral response of the A1312 CMOS monochrome image sensor (standard) in the SM2-D1312TI6455 camera series

3.4 Technical Speciﬁcation 23

3 Product Speciﬁcation

Fig. 3.4 shows the quantum efﬁciency and the responsivity of the monochrome A1312IE CMOS sensor, displayed as a function of wavelength. The enhancement in the NIR quantum efﬁciency could be used to realize applications in the 900 to 1064 nm region.

10%

20%

30%

40%

50%

60%

300 400 500 600 700 800 900 1000 1100

Wavelength [nm]

Quantum Efficiency

200

400

600

800

1000

1200

Responsivity [V/J/m^2]

QE [%]

Responsivity [V/W/m^2]

Figure 3.4: Spectral response of the A1312IE monochrome image sensor (NIR enhanced) in the SM2D1312IE-TI6455 camera series

Functionality

This chapter serves as an overview of the camera conﬁguration modes and explains camera features. The goal is to describe what can be done with the camera. The setup of the SM2-D1312(IE)-TI6455 series cameras is explained in later chapters.

4.1 Image Acquisition

4.1.1 Readout Modes

The SM2-D1312(IE)-TI6455 cameras provide two different readout modes:

Sequential readout Frame time is the sum of exposure time and readout time. Exposure time

of the next image can only start if the readout time of the current image is ﬁnished.

Simultaneous readout (interleave) The frame time is determined by the maximum of the

exposure time or of the readout time, which ever of both is the longer one. Exposure time of the next image can start during the readout time of the current image.

Readout Mode SM2-D1312(IE)-TI6455 Series

Sequential readout available

Simultaneous readout available

Table 4.1: Readout mode of SM2-D1312(IE)-TI6455Series camera

The following ﬁgure illustrates the effect on the frame rate when using either the sequential readout mode or the simultaneous readout mode (interleave exposure).

E x p o s u r e t i m e

F r a m e r a t e ( f p s )

S i m u l t a n e o u s r e a d o u t m o d e

S e q u e n t i a l r e a d o u t m o d e

f p s = 1 / r e a d o u t t i m e

f p s = 1 / e x p o s u r e t i m e

f p s = 1 / ( r e a d o u t t i m e + e x p o s u r e t i m e )

e x p o s u r e t i m e < r e a d o u t t i m e

e x p o s u r e t i m e > r e a d o u t t i m e

e x p o s u r e t i m e = r e a d o u t t i m e

Figure 4.1: Frame rate in sequential readout mode and simultaneous readout mode

Sequential readout mode For the calculation of the frame rate only a single formula applies:

frames per second equal to the inverse of the sum of exposure time and readout time.

4 Functionality

Simultaneous readout mode (exposure time < readout time) The frame rate is given by the

readout time. Frames per second equal to the inverse of the readout time.

Simultaneous readout mode (exposure time > readout time) The frame rate is given by the

exposure time. Frames per second equal to the inverse of the exposure time.

The simultaneous readout mode allows higher frame rates. However, if the exposure time greatly exceeds the readout time, then the effect on the frame rate is neglectable.

In simultaneous readout mode image output faces minor limitations. The overall linear sensor reponse is partially restricted in the lower grey scale region.

When changing readout mode from sequential to simultaneous readout mode or vice versa, new settings of the BlackLevelOffset and of the image correction are required.

Sequential readout

By default the camera continuously delivers images as fast as possible ("Free-running mode") in the sequential readout mode. Exposure time of the next image can only start if the readout time of the current image is ﬁnished.

e x p o s u r e r e a d o u t

e x p o s u r e

r e a d o u t

Figure 4.2: Timing in free-running sequential readout mode

When the acquisition of an image needs to be synchronised to an external event, an external trigger can be used (refer to Section 4.4). In this mode, the camera is idle until it gets a signal to capture an image.

e x p o s u r e r e a d o u t

i d l e e x p o s u r e

e x t e r n a l t r i g g e r

Figure 4.3: Timing in triggered sequential readout mode

Simultaneous readout (interleave exposure)

e x p o s u r e n i d l e

i d l e

r e a d o u t n

e x p o s u r e n + 1

r e a d o u t n + 1

f r a m e t i m e

r e a d o u t n - 1

Figure 4.4: Timing in free-running simultaneous readout mode (readout time> exposure time)

e x p o s u r e n

i d l e

r e a d o u t n

e x p o s u r e n + 1

f r a m e t i m e

r e a d o u t n - 1

i d l e

e x p o s u r e n - 1

Figure 4.5: Timing in free-running simultaneous readout mode (readout time< exposure time)

Figure 4.6: Timing in triggered simultaneous readout mode

4.1.2 Readout Timing

Sequential readout timing

By default, the camera is in free running mode and delivers images without any external control signals. The sensor is operated in sequential readout mode, which means that the sensor is read out after the exposure time. Then the sensor is reset, a new exposure starts and the readout of the image information begins again. The data is output on the rising edge of the pixel clock. The signals FRAME_VALID (FVAL) and LINE_VALID (LVAL) mask valid image information. The signal SHUTTER indicates the active exposure period of the sensor and is shown for clarity only.

Simultaneous readout timing

To achieve highest possible frame rates, the camera must be set to "Free-running mode" with simultaneous readout. The camera continuously delivers images as fast as possible. Exposure time of the next image can start during the readout time of the current image. The data is output on the rising edge of the pixel clock. The signals FRAME_VALID (FVAL) and LINE_VALID (LVAL) mask valid image information. The signal SHUTTER indicates the active integration phase of the sensor and is shown for clarity only.

4.1 Image Acquisition 27

4 Functionality

P C L K

S H U T T E R

F V A L

L V A L

D V A L

D A T A

L i n e p a u s e

L i n e p a u s e L i n e p a u s e

F i r s t L i n e L a s t L i n e

E x p o s u r e T i m e

F r a m e T i m e

C P R E

Figure 4.7: Timing diagram of sequential readout mode

P C L K

S H U T T E R

F V A L

L V A L

D V A L

D A T A

L i n e p a u s e

L i n e p a u s e L i n e p a u s e

F i r s t L i n e L a s t L i n e

E x p o s u r e T i m e

F r a m e T i m e

C P R E

E x p o s u r e T i m e

C P R E

Figure 4.8: Timing diagram of simultaneous readout mode (readout time > exposure time)

P C L K

S H U T T E R

F V A L

L V A L

D V A L

D A T A

L i n e p a u s e

L i n e p a u s e L i n e p a u s e

F i r s t L i n e L a s t L i n e

F r a m e T i m e

C P R E

E x p o s u r e T i m e

C P R E

Figure 4.9: Timing diagram simultaneous readout mode (readout time < exposure time)

4.1 Image Acquisition 29

4 Functionality

Frame time Frame time is the inverse of the frame rate.

Exposure time Period during which the pixels are integrating the incoming light.

PCLK Pixel clock on internal camera interface.

SHUTTER Internal signal, shown only for clarity. Is ’high’ during the exposure

time.

FVAL (Frame Valid) Is ’high’ while the data of one complete frame are transferred.

LVAL (Line Valid) Is ’high’ while the data of one line are transferred. Example: To transfer

an image with 640x480 pixels, there are 480 LVAL within one FVAL active high period. One LVAL lasts 640 pixel clock cycles.

DVAL (Data Valid) Is ’high’ while data are valid.

DATA Transferred pixel values. Example: For a 100x100 pixel image, there are

100 values transferred within one LVAL active high period, or 100*100 values within one FVAL period.

Line pause Delay before the ﬁrst line and after every following line when reading

out the image data.

Table 4.2: Explanation of control and data signals used in the timing diagram

These terms will be used also in the timing diagrams of Section 4.4.

4.1.3 Exposure Control

The exposure time deﬁnes the period during which the image sensor integrates the incoming light. Refer to Section 3.4 for the allowed exposure time range.

4.1.4 Maximum Frame Rate

The maximum frame rate depends on the exposure time and the size of the image (see Section

4.3.)

The maximal frame rate with current camera settings can be read out from the property FrameRateMax (AcquisitionFrameRateMax in GigE cameras).

4.2 Pixel Response

4.2.1 Linear Response

The camera offers a linear response between input light signal and output grey level. This can be modiﬁed by the use of LinLog®as described in the following sections. In addition, a linear digital gain may be applied, as follows. Please see Table 3.2 for more model-dependent information.

Black Level Adjustment

The black level is the average image value at no light intensity. It can be adjusted by the software. Thus, the overall image gets brighter or darker. Use a histogram to control the settings of the black level.

In CameraLink®cameras the black level is called "BlackLevelOffset" and in GigE cameras "BlackLevel".

4.2.2 LinLog

Overview

The LinLog®technology from Photonfocus allows a logarithmic compression of high light intensities inside the pixel. In contrast to the classical non-integrating logarithmic pixel, the LinLog®pixel is an integrating pixel with global shutter and the possibility to control the transition between linear and logarithmic mode. In situations involving high intrascene contrast, a compression of the upper grey level region can be achieved with the LinLog®technology. At low intensities each pixel shows a linear response. At high intensities the response changes to logarithmic compression (see Fig. 4.10). The transition region between linear and logarithmic response can be smoothly adjusted by software and is continuously differentiable and monotonic.

G r e y V a l u e

L i g h t I n t e n s i t y

0 %

1 0 0 %

L i n e a r R e s p o n s e

S a t u r a t i o n

W e a k c o m p r e s s i o n

V a l u e 2

S t r o n g c o m p r e s s i o n

V a l u e 1

R e s u l t i n g L i n l o g R e s p o n s e

Figure 4.10: Resulting LinLog2 response curve

4.2 Pixel Response 31

4 Functionality

LinLog®is controlled by up to 4 parameters (Time1, Time2, Value1 and Value2). Value1 and Value2 correspond to the LinLog®voltage that is applied to the sensor. The higher the parameters Value1 and Value2 respectively, the stronger the compression for the high light intensities. Time1 and Time2 are normalised to the exposure time. They can be set to a maximum value of 1000, which corresponds to the exposure time. Examples in the following sections illustrate the LinLog®feature.

LinLog1

In the simplest way the pixels are operated with a constant LinLog®voltage which deﬁnes the knee point of the transition.This procedure has the drawback that the linear response curve changes directly to a logarithmic curve leading to a poor grey resolution in the logarithmic region (see Fig. 4.12).

V a l u e 1

e x p

L i n L o g

= V a l u e 2

T i m e 1 = T i m e 2 = m a x . = 1 0 0 0

Figure 4.11: Constant LinLog voltage in the Linlog1 mode

100

150

200

250

300

Typical LinLog1 Response Curve − Varying Parameter Value1

Illumination Intensity

Output grey level (8 bit) [DN]

V1 = 15 V1 = 16

V1 = 17 V1 = 18 V1 = 19

Time1=1000, Time2=1000, Value2=Value1

Figure 4.12: Response curve for different LinLog settings in LinLog1 mode

LinLog2

To get more grey resolution in the LinLog®mode, the LinLog2 procedure was developed. In LinLog2 mode a switching between two different logarithmic compressions occurs during the exposure time (see Fig. 4.13). The exposure starts with strong compression with a high LinLog®voltage (Value1). At Time1 the LinLog®voltage is switched to a lower voltage resulting in a weaker compression. This procedure gives a LinLog®response curve with more grey resolution. Fig. 4.14 and Fig. 4.15 show how the response curve is controlled by the three parameters Value1, Value2 and the LinLog®time Time1.

Settings in LinLog2 mode, enable a ﬁne tuning of the slope in the logarithmic region.

V a l u e 1

V a l u e 2

T i m e 1

e x p

L i n L o g

T i m e 2 = m a x . = 1 0 0 0

T i m e 1

Figure 4.13: Voltage switching in the Linlog2 mode

100

150

200

250

300

Typical LinLog2 Response Curve − Varying Parameter Time1

Illumination Intensity

Output grey level (8 bit) [DN]

T1 = 840 T1 = 920 T1 = 960

T1 = 980 T1 = 999

Time2=1000, Value1=19, Value2=14

Figure 4.14: Response curve for different LinLog settings in LinLog2 mode

4.2 Pixel Response 33

4 Functionality

100

120

140

160

180

200

Typical LinLog2 Response Curve − Varying Parameter Time1

Illumination Intensity

Output grey level (8 bit) [DN]

T1 = 880 T1 = 900 T1 = 920 T1 = 940 T1 = 960 T1 = 980 T1 = 1000

Time2=1000, Value1=19, Value2=18

Figure 4.15: Response curve for different LinLog settings in LinLog2 mode

LinLog3

To enable more ﬂexibility the LinLog3 mode with 4 parameters was introduced. Fig. 4.16 shows the timing diagram for the LinLog3 mode and the control parameters.

L i n L o g

V a l u e 1

V a l u e 2

e x p

T i m e 2

T i m e 1

T i m e 1 T i m e 2

e x p

V a l u e 3 = C o n s t a n t = 0

Figure 4.16: Voltage switching in the LinLog3 mode

100

150

200

250

300

Typical LinLog2 Response Curve − Varying Parameter Time2

Illumination Intensity

Output grey level (8 bit) [DN]

T2 = 950 T2 = 960 T2 = 970 T2 = 980

T2 = 990

Time1=850, Value1=19, Value2=18

Figure 4.17: Response curve for different LinLog settings in LinLog3 mode

4.2 Pixel Response 35

4 Functionality

4.3 Reduction of Image Size

With Photonfocus cameras there are several possibilities to focus on the interesting parts of an image, thus reducing the data rate and increasing the frame rate. The most commonly used feature is Region of Interest (ROI).

4.3.1 Region of Interest (ROI)

Some applications do not need full image resolution (e.g. 1312 x 1082 pixels). By reducing the image size to a certain region of interest (ROI), the frame rate can be increased. A region of interest can be almost any rectangular window and is speciﬁed by its position within the full frame and its width (W) and height (H). Fig. 4.18 and Fig. 4.19 how possible conﬁgurations for the region of interest, and Table 4.3 present numerical examples of how the frame rate can be increased by reducing the ROI.

Both reductions in x- and y-direction result in a higher frame rate.

The minimum width of the region of interest depends on the model of the MV1D1312(I) camera series. For more details please consult Table 4.4 and Table 4.5.

The minimum width must be positioned symmetrically towards the vertical center line of the sensor as shown in Fig. 4.18 and Fig. 4.19). A list of possible settings of the ROI for each camera model is given in Table 4.5.

³ 2 0 8

P i x e l

2 0 8 P i x e l

³ 2 0 8

P i x e l

+ m o d u l o 3 2 P i x e l

³ 2 0 8

P i x e l + m o d u l o 3 2 P i x e l

a )

b )

Figure 4.18: Possible conﬁguration of the region of interest with SM2-D1312(IE)-TI6455-80 CMOS camera

✎

It is recommended to re-adjust the settings of the shading correction each time a new region of interest is selected.

2 7 2 p i x e l

+ m o d u l o 3 2 p i x e l

2 7 2 p i x e l + m o d u l o 3 2 p i x e l

a )

b )

Figure 4.19: Possible conﬁguration of the region of interest with SM2-D1312(IE)-TI6455-160 CMOS camera

Any region of interest may NOT be placed outside of the center of the sensor. Examples shown in Fig. 4.20 illustrate conﬁgurations of the ROI that are NOT allowed.

a )

b )

Figure 4.20: ROI conﬁguration examples that are NOT allowed

4.3 Reduction of Image Size 37

4 Functionality

ROI Dimension [Standard] SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-160

1312 x 1082 (full resolution) 54 fps 108 fps

1248 x 1082 56 fps 113 fps

1280 x 1024 (SXGA) 58 fps 117 fps

1280 x 768 (WXGA) 78 fps 156 fps

800 x 600 (SVGA) 157 fps 310 fps

640 x 480 (VGA) 241 fps 472 fps

288 x 1 not allowed ROI setting not allowed ROI setting

480 x 1 10593 fps not allowed ROI setting

544 x 1 10498 fps 11022 fps

544 x 1082 125 fps 249 fps

480 x 1082 141 fps not allowed ROI setting

1312 x 544 107 fps 214 fps

1248 x 544 112 fps 224 fps

1312 x 256 227 fps 445 fps

1248 x 256 238 fps 466 fps

544 x 544 248 fps 485 fps

480 x 480 314 fps not allowed ROI setting

1024 x 1024 72 fps 145 fps

1056 x 1056 68 fps 136 fps

1312 x 1 9541 fps 10460 fps

1248 x 1 9615 fps 10504 fps

Table 4.3: Frame rates of different ROI settings (exposure time 10 µs; correction on, and sequential readout mode).

4.3.2 ROI conﬁguration

In the SM2-D1312(IE)-TI6455 camera series the following two restrictions have to be respected for the ROI conﬁguration:

• The minimum width (w) of the ROI is camera model dependent, consisting of 416 pixel in the SM2-D1312(IE)-TI6455-80 camera, of 544 pixel in the SM2-D1312(IE)-TI6455-160 camera.

• The region of interest must overlap a minimum number of pixels centered to the left and to the right of the vertical middle line of the sensor (ovl).

For any camera model of the SM2-D1312(IE)-TI6455 camera series the allowed ranges for the ROI settings can be deduced by the following formula:

min

= max(0, 656 + ovl − w)

max

= min(656 − ovl, 1312 − w) .

where "ovl" is the overlap over the middle line and "w" is the width of the region of interest.

Any ROI settings in x-direction exceeding the minimum ROI width must be modulo 32.

SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-160

ROI width (w) 416 ... 1312 544 ... 1312

overlap (ovl) 208 272

width condition modulo 32 modulo 32

Table 4.4: Summary of the ROI conﬁguration restrictions for the SM2-D1312(IE)-TI6455 camera series indicating the minimum ROI width (w) and the required number of pixel overlap (ovl) over the sensor middle line

The settings of the region of interest in x-direction are restricted to modulo 32 (see Table 4.5).

There are no restrictions for the settings of the region of interest in y-direction.

4.3.3 Calculation of the maximum frame rate

The frame rate mainly depends on the exposure time and readout time. The frame rate is the inverse of the frame time. fps =

frame

Calculation of the frame time (sequential mode)

4.3 Reduction of Image Size 39

4 Functionality

Width ROI-X (SM2-D1312(IE)-TI6455-80) ROI-X (SM2-D1312(IE)-TI6455-160)

288 not available not available

320 not available not available

352 not available not available

384 not available not available

416 448 not available

448 416 ... 448 not available

480 384 ... 448 not available

512 352 ... 448 not available

544 320 ... 448 384

576 288 ... 448 352 ... 384

608 256 ... 448 320 ... 352

640 224 ... 448 288 ... 384

672 192 ... 448 256 ... 384

704 160 ... 448 224 ... 384

736 128 ... 448 192 ... 384

768 96 ... 448 160 ... 384

800 64 ... 448 128 ... 384

832 32 ... 448 96 ... 384

864 0 ... 448 64 ... 384

896 0 ... 416 32 ... 384

... ... ...

1248 0 ... 64 0 ... 64

1312 0 0

Table 4.5: Some possible ROI-X settings (SM2-D1312(IE)-TI6455 series)

frame

≥ t

exp

+ t

Typical values of the readout time troare given in table Table 4.6. Calculation of the frame time (simultaneous mode)

The calculation of the frame time in simultaneous read out mode requires more detailed data input and is skipped here for the purpose of clarity.

A frame rate calculator for calculating the maximum frame rate is available in the support area of the Photonfocus website.

An overview of resulting frame rates in different exposure time settings is given in table Table

4.7.

ROI Dimension SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-160

1312 x 1082 tro= 18.23 ms tro= 9.12 ms

1248 x 1082 tro= 17.37 ms tro= 8.68 ms

1024 x 512 tro= 6.78 ms tro= 3.39 ms

1056 x 512 tro= 6.99 ms tro= 3.49 ms

1024 x 256 tro= 3.39 ms tro= 1.70 ms

1056 x 256 tro= 3.49 ms tro= 1.75 ms

Table 4.6: Read out time at different ROI settings for the SM2-D1312(IE)-TI6455 CMOS camera series in sequential read out mode.

Exposure time SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-160

10 µs 54 / 54 fps 108 / 108 fps

100 µs 54 / 54 fps 107 / 108 fps

500 µs 53 / 54 fps 103 / 108 fps

1 ms 51 / 54 fps 98 / 108 fps

2 ms 49 / 54 fps 89 / 108 fps

5 ms 42 / 54 fps 70 / 108 fps

10 ms 35 / 54 fps 52 / 99 fps

12 ms 33 / 54 fps 47 / 82 fps

Table 4.7: Frame rates of different exposure times, [sequential readout mode / simultaneous readout mode ], resolution 1312 x 1082 pixel, FPN correction on.

4.3.4 Multiple Regions of Interest

The SM2-D1312(IE)-TI6455 camera series can handle up to 512 different regions of interest. This feature can be used to reduce the image data and increase the frame rate. An application example for using multiple regions of interest (MROI) is a laser triangulation system with several laser lines. The multiple ROIs are joined together and form a single image, which is transferred to the frame grabber. An individual MROI region is deﬁned by its starting value in y-direction and its height. The starting value in horizontal direction and the width is the same for all MROI regions and is deﬁned by the ROI settings. The maximum frame rate in MROI mode depends on the number of rows and columns being read out. Overlapping ROIs are allowed. See Section 4.3.3 for information on the calculation of the maximum frame rate. Fig. 4.21 compares ROI and MROI: the setups (visualized on the image sensor area) are displayed in the upper half of the drawing. The lower half shows the dimensions of the resulting image. On the left-hand side an example of ROI is shown and on the right-hand side an example of MROI. It can be readily seen that resulting image with MROI is smaller than the resulting image with ROI only and the former will result in an increase in image frame rate. Fig. 4.22 shows another MROI drawing illustrating the effect of MROI on the image content. Fig. 4.23 shows an example from hyperspectral imaging where the presence of spectral lines at known regions need to be inspected. By using MROI only a 656x54 region need to be readout and a frame rate of 4300 fps can be achieved. Without using MROI the resulting frame rate would be 216 fps for a 656x1082 ROI.

4.3 Reduction of Image Size 41

4 Functionality

M R O I 0

M R O I 1

M R O I 2

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

R O I

M R O I 0

M R O I 1

M R O I 2

R O I

Figure 4.21: Multiple Regions of Interest

Figure 4.22: Multiple Regions of Interest with 5 ROIs

6 5 6 p i x e l

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

2 0 p i x e l

2 6 p i x e l

2 p i x e l

1 p i x e l

C h e m i c a l A g e n t

B C

Figure 4.23: Multiple Regions of Interest in hyperspectral imaging

4.3 Reduction of Image Size 43

4 Functionality

4.3.5 Decimation

Decimation reduces the number of pixels in y-direction. Decimation can also be used together with ROI or MROI. Decimation in y-direction transfers every nthrow only and directly results in reduced read-out time and higher frame rate respectively. Fig. 4.24 shows decimation on the full image. The rows that will be read out are marked by red lines. Row 0 is read out and then every nthrow.

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

Figure 4.24: Decimation in full image

Fig. 4.25 shows decimation on a ROI. The row speciﬁed by the Window.Y setting is ﬁrst read out and then every nthrow until the end of the ROI.

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

R O I

Figure 4.25: Decimation and ROI

Fig. 4.26 shows decimation and MROI. For every MROI region m, the ﬁrst row read out is the row speciﬁed by the MROI<m>.Y setting and then every nthrow until the end of MROI region m.

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

M R O I 0

R O I

M R O I 2

M R O I 1

Figure 4.26: Decimation and MROI

The image in Fig. 4.27 on the right-hand side shows the result of decimation 3 of the image on the left-hand side.

Figure 4.27: Image example of decimation 3

An example of a high-speed measurement of the elongation of an injection needle is given in Fig. 4.28. In this application the height information is less important than the width information. Applying decimation 2 on the original image on the left-hand side doubles the resulting frame to about 7800 fps.

4.3 Reduction of Image Size 45

4 Functionality

Figure 4.28: Example of decimation 2 on image of injection needle

4.4 Trigger and Strobe

4.4.1 Introduction

The start of the exposure of the camera’s image sensor is controlled by the trigger. The trigger can either be generated internally by the camera (free running trigger mode) or by an external device (external trigger mode). This section refers to the external trigger mode if not otherwise speciﬁed. In external trigger mode, the trigger can be applied through the CameraLink®interface (interface trigger) or directly by the power supply connector of the camera (I/O Trigger) (see Section 4.4.2). The trigger signal can be conﬁgured to be active high or active low. When the frequency of the incoming triggers is higher than the maximal frame rate of the current camera settings, then some trigger pulses will be missed. A missed trigger counter counts these events. This counter can be read out by the user. The exposure time in external trigger mode can be deﬁned by the setting of the exposure time register (camera controlled exposure mode) or by the width of the incoming trigger pulse (trigger controlled exposure mode) (see Section 4.4.3). An external trigger pulse starts the exposure of one image. In Burst Trigger Mode however, a trigger pulse starts the exposure of a user deﬁned number of images (see Section 4.4.5). The start of the exposure is shortly after the active edge of the incoming trigger. An additional trigger delay can be applied that delays the start of the exposure by a user deﬁned time (see Section 4.4.4). This often used to start the exposure after the trigger to a ﬂash lighting source.

4.4 Trigger and Strobe 47

4 Functionality

4.4.2 Trigger Source

The trigger signal can be conﬁgured to be active high or active low. One of the following trigger sources can be used:

Free running The trigger is generated internally by the camera. Exposure starts immediately

after the camera is ready and the maximal possible frame rate is attained, if Constant Frame Rate mode is disabled. In Constant Frame Rate mode, exposure starts after a user-speciﬁed time (Frame Time) has elapsed from the previous exposure start and therefore the frame rate is set to a user deﬁned value.

Opt. In 0 In the "Opt. In 0" trigger mode, the trigger signal is applied to the camera by the

power supply connector (via an optocoupler). The input OPTO_IN0 is used.

RS422 In 0 In the "RS422 In 0" trigger mode, the trigger signal is applied directly to the camera

by the 14 pol trigger connector. The differential input DIG_IN0 is used (PDIG_IN0 and NDIG_IN0 pins)

RS422 Encoder Use the In the "RS422 Encoder" trigger mode, the trigger signal is applied

directly to the camera by the 14 pol trigger connector. TBD.

C a m e r a

T r i g g e r S o u r c e

R X R S 4 2 2

1 4 p o l e C o n n e c t o r

1 2 p o l e C o n n e c t o r

O p t o c o u p l e r

O P T O _ I N [ 0 . . 2 ]

P D I G _ I N [ 0 . . 2 ]

N D I G _ I N [ 0 . . 2 ]

S h a f t e n c o d e r

D S P

F P G A

S e n s o r

D I G _ I N [ 1 . . 2 ]

D I G _ I N 0

O P T O _ I N 0

O P T O _ I N [ 1 . . 2 ]

Figure 4.29: Trigger inputs of the SM2-D1312(IE)-TI6455 camera series

4.4.3 Exposure Time Control

Depending on the trigger mode, the exposure time can be determined either by the camera or by the trigger signal itself:

Camera-controlled Exposure time In this trigger mode the exposure time is deﬁned by the

camera. For an active high trigger signal, the camera starts the exposure with a positive trigger edge and stops it when the preprogrammed exposure time has elapsed. The exposure time is deﬁned by the software.

Trigger-controlled Exposure time In this trigger mode the exposure time is deﬁned by the

pulse width of the trigger pulse. For an active high trigger signal, the camera starts the exposure with the positive edge of the trigger signal and stops it with the negative edge.

Trigger-controlled exposure time is not available in simultaneous readout mode.

External Trigger with Camera controlled Exposure Time

In the external trigger mode with camera controlled exposure time the rising edge of the trigger pulse starts the camera states machine, which controls the sensor and optional an external strobe output. Fig. 4.30 shows the detailed timing diagram for the external trigger mode with camera controlled exposure time.

e x t e r n a l t r i g g e r p u l s e i n p u t

t r i g g e r a f t e r i s o l a t o r

t r i g g e r p u l s e i n t e r n a l c a m e r a c o n t r o l

d e l a y e d t r i g g e r f o r s h u t t e r c o n t r o l

i n t e r n a l s h u t t e r c o n t r o l

d e l a y e d t r i g g e r f o r s t r o b e c o n t r o l

i n t e r n a l s t r o b e c o n t r o l

e x t e r n a l s t r o b e p u l s e o u t p u t

d - i s o - i n p u t

j i t t e r

t r i g g e r - d e l a y

e x p o s u r e

s t r o b e - d e l a y

d - i s o - o u t p u t

s t r o b e - d u r a t i o n

t r i g g e r - o f f s e t

s t r o b e - o f f s e t

Figure 4.30: Timing diagram for the camera controlled exposure time

The rising edge of the trigger signal is detected in the camera control electronic which is implemented in an FPGA. Before the trigger signal reaches the FPGA it is isolated from the

4.4 Trigger and Strobe 49

4 Functionality

camera environment to allow robust integration of the camera into the vision system. In the signal isolator the trigger signal is delayed by time t

d−iso−input

. This signal is clocked into the

FPGA which leads to a jitter of t

jitter

. The pulse can be delayed by the time t

trigger−delay

which can be conﬁgured by a user deﬁned value via camera software. The trigger offset delay t

trigger−oﬀset

results then from the synchronous design of the FPGA state machines. The

exposure time t

exposure

is controlled with an internal exposure time controller. The trigger pulse from the internal camera control starts also the strobe control state machines. The strobe can be delayed by t

strobe−delay

with an internal counter which can be controlled by

the customer via software settings. The strobe offset delay t

strobe−delay

results then from the synchronous design of the FPGA state machines. A second counter determines the strobe duration t

strobe−duration

(strobe-duration). For a robust system design the strobe output is also

isolated from the camera electronic which leads to an additional delay of t

d−iso−output

. Table

4.8 and Table 4.9 gives an overview over the minimum and maximum values of the parameters.

External Trigger with Pulsewidth controlled Exposure Time

In the external trigger mode with Pulsewidth controlled exposure time the rising edge of the trigger pulse starts the camera states machine, which controls the sensor. The falling edge of the trigger pulse stops the image acquisition. Additionally the optional external strobe output is controlled by the rising edge of the trigger pulse. Timing diagram Fig. 4.31 shows the detailed timing for the external trigger mode with pulse width controlled exposure time.

e x t e r n a l t r i g g e r p u l s e i n p u t

t r i g g e r a f t e r i s o l a t o r

t r i g g e r p u l s e r i s i n g e d g e c a m e r a c o n t r o l

d e l a y e d t r i g g e r r i s i n g e d g e f o r s h u t t e r s e t

i n t e r n a l s h u t t e r c o n t r o l

d e l a y e d t r i g g e r f o r s t r o b e c o n t r o l

i n t e r n a l s t r o b e c o n t r o l

e x t e r n a l s t r o b e p u l s e o u t p u t

d - i s o - i n p u t

j i t t e r

t r i g g e r - d e l a y

e x p o s u r e

s t r o b e - d e l a y

d - i s o - o u t p u t

s t r o b e - d u r a t i o n

t r i g g e r p u l s e f a l l i n g e d g e c a m e r a c o n t r o l

d e l a y e d t r i g g e r f a l l i n g e d g e s h u t t e r r e s e t

j i t t e r

t r i g g e r - d e l a y

e x p o s u r e

t r i g g e r - o f f s e t

s t r o b e - o f f s e t

Figure 4.31: Timing diagram for the Pulsewidth controlled exposure time

The timing of the rising edge of the trigger pulse until to the start of exposure and strobe is equal to the timing of the camera controlled exposure time (see Section 4.4.3). In this mode however the end of the exposure is controlled by the falling edge of the trigger Pulsewidth: The falling edge of the trigger pulse is delayed by the time t

d−iso−input

which is results from the

signal isolator. This signal is clocked into the FPGA which leads to a jitter of t

jitter

. The pulse is

then delayed by t

trigger−delay

by the user deﬁned value which can be conﬁgured via camera

software. After the trigger offset time t

trigger−oﬀset

the exposure is stopped.

4.4.4 Trigger Delay

The trigger delay is a programmable delay in milliseconds between the incoming trigger edge and the start of the exposure. This feature may be required to synchronize to external strobe with the exposure of the camera.

4.4.5 Burst Trigger

The camera includes a burst trigger engine. When enabled, it starts a predeﬁned number of acquisitions after one single trigger pulse. The time between two acquisitions and the number of acquisitions can be conﬁgured by a user deﬁned value via the camera software. The burst trigger feature works only in the mode "Camera controlled Exposure Time". The burst trigger signal can be conﬁgured to be active high or active low. When the frequency of the incoming burst triggers is higher than the duration of the programmed burst sequence, then some trigger pulses will be missed. A missed burst trigger counter counts these events. This counter can be read out by the user. The timing diagram of the burst trigger mode is shown in Fig. 4.32. The timing of the "external trigger pulse input" until to the "trigger pulse internal camera control" is equal to the timing in the section Fig. 4.31. This trigger pulse then starts after a user conﬁgurable burst trigger delay time t

burst−trigger−delay

the internal burst engine, which generates n internal triggers for the shutter- and the strobe-control. A user conﬁgurable value deﬁnes the time t

burst−period−time

between two acquisitions.

4.4 Trigger and Strobe 51

4 Functionality

e x t e r n a l t r i g g e r p u l s e i n p u t

t r i g g e r a f t e r i s o l a t o r

t r i g g e r p u l s e i n t e r n a l c a m e r a c o n t r o l

d e l a y e d t r i g g e r f o r s h u t t e r c o n t r o l

i n t e r n a l s h u t t e r c o n t r o l

d e l a y e d t r i g g e r f o r s t r o b e c o n t r o l

i n t e r n a l s t r o b e c o n t r o l

e x t e r n a l s t r o b e p u l s e o u t p u t

d - i s o - i n p u t

j i t t e r

t r i g g e r - d e l a y

e x p o s u r e

s t r o b e - d e l a y

d - i s o - o u t p u t

s t r o b e - d u r a t i o n

t r i g g e r - o f f s e t

s t r o b e - o f f s e t

d e l a y e d t r i g g e r f o r b u r s t t r i g g e r e n g i n e

b u r s t - t r i g g e r - d e l a y

b u r s t - p e r i o d - t i m e

Figure 4.32: Timing diagram for the burst trigger mode

SM2-D1312(IE)-TI6455-80 SM2-D1312(IE)-TI6455-80

Timing Parameter Minimum Maximum

d−iso−input

45 ns 60 ns

jitter

0 50 ns

trigger−delay

0 0.84 s

burst−trigger−delay

0 0.84 s

burst−period−time

depends on camera settings 0.84 s

trigger−oﬀset

(non burst mode) 200 ns 200 ns

trigger−oﬀset

(burst mode) 250 ns 250 ns

exposure

10 µs 0.84 s

strobe−delay

600 ns 0.84 s

strobe−oﬀset

(non burst mode) 200 ns 200 ns

strobe−oﬀset

(burst mode) 250 ns 250 ns

strobe−duration

200 ns 0.84 s

d−iso−output

45 ns 60 ns

trigger−pulsewidth

200 ns n/a

Number of bursts n 1 30000

Table 4.8: Summary of timing parameters relevant in the external trigger mode using camera (SM2D1312(IE)-TI6455-80)

4.4 Trigger and Strobe 53

4 Functionality

SM2-D1312(IE)-TI6455-160 SM2-D1312(IE)-TI6455-160

Timing Parameter Minimum Maximum

d−iso−input

45 ns 60 ns

jitter

0 25 ns

trigger−delay

0 0.42 s

burst−trigger−delay

0 0.42 s

burst−period−time

depends on camera settings 0.42 s

trigger−oﬀset

(non burst mode) 100 ns 100 ns

trigger−oﬀset

(burst mode) 125 ns 125 ns

exposure

10 µs 0.42 s

strobe−delay

0 0.42 s

strobe−oﬀset

(non burst mode) 100 ns 100 ns

strobe−oﬀset

(burst mode) 125 ns 125 ns

strobe−duration

200 ns 0.42 s

d−iso−output

45 ns 60 ns

trigger−pulsewidth

200 ns n/a

Number of bursts n 1 30000

Table 4.9: Summary of timing parameters relevant in the external trigger mode using camera (SM2D1312(IE)-TI6455-160)

4.4.6 Software Trigger

The software trigger enables to emulate an external trigger pulse by the camera software through the serial data interface. It works with both burst mode enabled and disabled. As soon as it is performed via the camera software, it will start the image acquisition(s), depending on the usage of the burst mode and the burst conﬁguration. The software trigger is not working FreeRunning mode.

4.4.7 Strobe Output

The strobe unit is implemented in the form of two interfaces:

• RS422 compatible interface

• Opto-isolated interface.

Each interface has 3 output channels OUT[0..2]. Channel OUT0 is dedicated for very fast strobes and is a FPGA output signal. Channel OUT1 and OUT2 are used for the slow strobe outputs and are connected with DSP output signals. Fig. 4.33 shows the different kinds of interfaces in a simpliﬁed manner. The pinout of the interface connectors are given in Appendix Appendix A. For further hardware details see Section 5. The strobe output can be used both in free-running and in trigger mode. There is a programmable delay available to adjust the strobe pulse to your application.

The opto isolated strobe outputs OPTO_OUT[0..2] need a separate power supply. Please see Appendix Appendix A for more information.

C a m e r a

T X R S 4 2 2

1 4 p o l e C o n n e c t o r

1 2 p o l e C o n n e c t o r

O p t o c o u p l e r

D S P

F P G A

S e n s o r

O P T O _ O U T [ 0 . . 2 ]

P D I G _ O U T [ 0 . . 2 ]

N D I G _ O U T [ 0 . . 2 ]

F l a s h

D I G _ O U T [ 1 . . 2 ]

D I G _ O U T 0

O P T O _ O U T [ 1 . . 2 ]

O P T O _ O U T 0

Figure 4.33: Strobe output of the SM2-D1312(IE)-TI6455

4.4 Trigger and Strobe 55

4 Functionality

4.5 Data Path Overview

The data path is the path of the image from the output of the image sensor to the output of the camera. The sequence of blocks is shown in ﬁgure Fig. 4.34.

I m a g e S e n s o r

F P N C o r r e c t i o n

D i g i t a l O f f s e t

D i g i t a l G a i n

L o o k - u p t a b l e ( L U T )

3 x 3 C o n v o l v e r

C r o s s h a i r s i n s e r t i o n

S t a t u s l i n e i n s e r t i o n

T e s t i m a g e s i n s e r t i o n

A p p l y d a t a r e s o l u t i o n

I m a g e o u t p u t

M o n o c h r o m e c a m e r a s

I m a g e S e n s o r

F P N C o r r e c t i o n

D i g i t a l O f f s e t

D i g i t a l G a i n /

R G B F i n e G a i n

L o o k - u p t a b l e ( L U T )

S t a t u s l i n e i n s e r t i o n

T e s t i m a g e s i n s e r t i o n

A p p l y d a t a r e s o l u t i o n

I m a g e o u t p u t

C o l o u r c a m e r a s

Figure 4.34: camera data path

4.6 Image Correction

4.6.1 Overview

The camera possesses image pre-processing features, that compensate for non-uniformities caused by the sensor, the lens or the illumination. This method of improving the image quality is generally known as ’Shading Correction’ or ’Flat Field Correction’ and consists of a combination of offset correction, gain correction and pixel interpolation.

Since the correction is performed in hardware, there is no performance limitation of the cameras for high frame rates.

The offset correction subtracts a conﬁgurable positive or negative value from the live image and thus reduces the ﬁxed pattern noise of the CMOS sensor. In addition, hot pixels can be removed by interpolation. The gain correction can be used to ﬂatten uneven illumination or to compensate shading effects of a lens. Both offset and gain correction work on a pixel-per-pixel basis, i.e. every pixel is corrected separately. For the correction, a black reference and a grey reference image are required. Then, the correction values are determined automatically in the camera.

Do not set any reference images when gain or LUT is enabled! Read the following sections very carefully.

Correction values of both reference images can be saved into the internal ﬂash memory, but this overwrites the factory presets. Then the reference images that are delivered by factory cannot be restored anymore.

4.6.2 Offset Correction (FPN, Hot Pixels)

The offset correction is based on a black reference image, which is taken at no illumination (e.g. lens aperture completely closed). The black reference image contains the ﬁxed-pattern noise of the sensor, which can be subtracted from the live images in order to minimise the static noise.

Offset correction algorithm

After conﬁguring the camera with a black reference image, the camera is ready to apply the offset correction:

1. Determine the average value of the black reference image.

2. Subtract the black reference image from the average value.

3. Mark pixels that have a grey level higher than 1008 DN (@ 12 bit) as hot pixels.

4. Store the result in the camera as the offset correction matrix.

5. During image acquisition, subtract the correction matrix from the acquired image and

interpolate the hot pixels (see Section 4.6.2).

4.6 Image Correction 57

4 Functionality

3 1

4 32

2 4 14

b l a c k r e f e r e n c e i m a g e

- 1

- 2

- 1

- 2

- 2 - 2

a v e r a g e

o f b l a c k

r e f e r e n c e

p i c t u r e

o f f s e t c o r r e c t i o n m a t r i x

Figure 4.35: Schematic presentation of the offset correction algorithm

How to Obtain a Black Reference Image

In order to improve the image quality, the black reference image must meet certain demands.

The detailed procedure to set the black reference image is described in Section

6.1.5.

• The black reference image must be obtained at no illumination, e.g. with lens aperture closed or closed lens opening.

• It may be necessary to adjust the black level offset of the camera. In the histogram of the black reference image, ideally there are no grey levels at value 0 DN after adjustment of the black level offset. All pixels that are saturated black (0 DN) will not be properly corrected (see Fig. 4.36). The peak in the histogram should be well below the hot pixel threshold of 1008 DN @ 12 bit.

• Camera settings may inﬂuence the grey level. Therefore, for best results the camera settings of the black reference image must be identical with the camera settings of the image to be corrected.

0 200 400 600 800 1000 1200 1400 1600

0.2

0.4

0.6

0.8

Histogram of the uncorrected black reference image

Grey level, 12 Bit [DN]

Relative number of pixels [−]

black level offset ok black level offset too low

Figure 4.36: Histogram of a proper black reference image for offset correction

Hot pixel correction

Every pixel that exceeds a certain threshold in the black reference image is marked as a hot pixel. If the hot pixel correction is switched on, the camera replaces the value of a hot pixel by an average of its neighbour pixels (see Fig. 4.37).

h o t

p i x e l

n - 1

n + 1

n - 1

+ p

n + 1

Figure 4.37: Hot pixel interpolation

4.6.3 Gain Correction

The gain correction is based on a grey reference image, which is taken at uniform illumination to give an image with a mid grey level.

Gain correction is not a trivial feature. The quality of the grey reference image is crucial for proper gain correction.

Gain correction algorithm

After conﬁguring the camera with a black and grey reference image, the camera is ready to apply the gain correction:

1. Determine the average value of the grey reference image.

2. Subtract the offset correction matrix from the grey reference image.

3. Divide the average value by the offset corrected grey reference image.

4. Pixels that have a grey level higher than a certain threshold are marked as hot pixels.

5. Store the result in the camera as the gain correction matrix.

6. During image acquisition, multiply the gain correction matrix from the offset-corrected acquired image and interpolate the hot pixels (see Section 4.6.2).

Gain correction is not a trivial feature. The quality of the grey reference image is crucial for proper gain correction.

4.6 Image Correction 59

4 Functionality

1 0

7 9

4 32

9 6 84

1 0

g r a y r e f e r e n c e p i c t u r e

a v e r a g e

o f g r a y

r e f e r e n c e

p i c t u r e

)

1 . 2

0 . 9

1 . 2

- 2

0 . 9 1

- 1

0 . 8

1 . 3

0 . 8

- 2

- 2 - 2

- 1

- 2

- 1

- 2

- 2 - 2

)

o f f s e t c o r r e c t i o n m a t r i x

g a i n c o r r e c t i o n m a t r i x

Figure 4.38: Schematic presentation of the gain correction algorithm

Gain correction always needs an offset correction matrix. Thus, the offset correction always has to be performed before the gain correction.

How to Obtain a Grey Reference Image

In order to improve the image quality, the grey reference image must meet certain demands.

The detailed procedure to set the grey reference image is described in Section

6.1.5.

• The grey reference image must be obtained at uniform illumination.

Use a high quality light source that delivers uniform illumination. Standard illumination will not be appropriate.

• When looking at the histogram of the grey reference image, ideally there are no grey levels at full scale (4095 DN @ 12 bit). All pixels that are saturated white will not be properly corrected (see Fig. 4.39).

• Camera settings may inﬂuence the grey level. Therefore, the camera settings of the grey reference image must be identical with the camera settings of the image to be corrected.

4.6.4 Corrected Image

Offset, gain and hot pixel correction can be switched on separately. The following conﬁgurations are possible:

• No correction

• Offset correction only

• Offset and hot pixel correction

• Hot pixel correction only

• Offset and gain correction

• Offset, gain and hot pixel correction

2400 2600 2800 3000 3200 3400 3600 3800 4000 4200

0.2

0.4

0.6

0.8

Histogram of the uncorrected grey reference image

Grey level, 12 Bit [DN]

Relative number of pixels [−]

grey reference image ok grey reference image too bright

Figure 4.39: Proper grey reference image for gain correction

5 6

4 37

7 4 64

c u r r e n t i m a g e

)

5 4

4 37

7 4 64

)

- 1

- 2

- 1

- 2

- 2 - 2

o f f s e t c o r r e c t i o n m a t r i x

1 . 2

0 . 9

1 . 2

- 2

0 . 9

- 1

0 . 8

1 . 3

0 . 8

- 2 - 2 - 2

g a i n c o r r e c t i o n m a t r i x

c o r r e c t e d i m a g e

)

Figure 4.40: Schematic presentation of the corrected image using gain correction algorithm

In addition, the black reference image and grey reference image that are currently stored in the camera RAM can be output. Table 4.10 shows the minimum and maximum values of the correction matrices, i.e. the range that the offset and gain algorithm can correct.

Minimum Maximum

Offset correction -1023 DN @ 12 bit +1023 DN @ 12 bit

Gain correction 0.42 2.67

Table 4.10: Offset and gain correction ranges

4.6 Image Correction 61

4 Functionality

4.7 Digital Gain and Offset

There are two different gain settings on the camera:

Gain (Digital Fine Gain) Digital ﬁne gain accepts fractional values from 0.01 up to 15.99. It is

implemented as a multiplication operation. Colour camera models only: There is additionally a gain for every RGB colour channel. The RGB channel gain is used to calibrate the white balance in an image, which has to be set according to the current lighting condition.

Digital Gain Digital Gain is a coarse gain with the settings x1, x2, x4 and x8. It is implemented

as a binary shift of the image data where ’0’ is shifted to the LSB’s of the gray values. E.g. for gain x2, the output value is shifted by 1 and bit 0 is set to ’0’.

The resulting gain is the product of the two gain values, which means that the image data is multiplied in the camera by this factor.

Digital Fine Gain and Digital Gain may result in missing codes in the output image data.

A user-deﬁned value can be subtracted from the gray value in the digital offset block. If digital gain is applied and if the brightness of the image is too big then the interesting part of the output image might be saturated. By subtracting an offset from the input of the gain block it is possible to avoid the saturation.

4.8 Grey Level Transformation (LUT)

Grey level transformation is remapping of the grey level values of an input image to new values. The look-up table (LUT) is used to convert the greyscale value of each pixel in an image into another grey value. It is typically used to implement a transfer curve for contrast expansion. The camera performs a 12-to-8-bit mapping, so that 4096 input grey levels can be mapped to 256 output grey levels. The use of the three available modes is explained in the next sections. Two LUT and a Region-LUT feature are available in the SM2-D1312(IE)-TI6455 camera series (see Section 4.8.4).

The output grey level resolution of the look-up table (independent of gain, gamma or user-deﬁnded mode) is always 8 bit.

There are 2 predeﬁned functions, which generate a look-up table and transfer it to the camera. For other transfer functions the user can deﬁne his own LUT ﬁle.

Some commonly used transfer curves are shown in Fig. 4.41. Line a denotes a negative or inverse transformation, line b enhances the image contrast between grey values x0 and x1. Line c shows brightness thresholding and the result is an image with only black and white grey levels. and line d applies a gamma correction (see also Section 4.8.2).

4.8.1 Gain

The ’Gain’ mode performs a digital, linear ampliﬁcation with clamping (see Fig. 4.42). It is conﬁgurable in the range from 1.0 to 4.0 (e.g. 1.234).

y = f ( x )

m a x

Figure 4.41: Commonly used LUT transfer curves

0 200 400 600 800 1000 1200

100

150

200

250

300

Grey level transformation − Gain: y = (255/1023) ⋅ a ⋅ x

x: grey level input value (10 bit) [DN]

y: grey level output value (8 bit) [DN]

a = 1.0 a = 2.0 a = 3.0 a = 4.0

Figure 4.42: Applying a linear gain with clamping to an image

4.8 Grey Level Transformation (LUT) 63

4 Functionality

4.8.2 Gamma

The ’Gamma’ mode performs an exponential ampliﬁcation, conﬁgurable in the range from 0.4 to 4.0. Gamma > 1.0 results in an attenuation of the image (see Fig. 4.43), gamma < 1.0 results in an ampliﬁcation (see Fig. 4.44). Gamma correction is often used for tone mapping and better display of results on monitor screens.

0 200 400 600 800 1000 1200

100

150

200

250

300

Grey level transformation − Gamma: y = (255 / 1023γ) ⋅ xγ (γ ≥ 1)

x: grey level input value (10 bit) [DN]

y: grey level output value (8 bit) [DN]

γ = 1.0 γ = 1.2 γ = 1.5 γ = 1.8 γ = 2.5 γ = 4.0

Figure 4.43: Applying gamma correction to an image (gamma > 1)

0 200 400 600 800 1000 1200

100

150

200

250

300

Grey level transformation − Gamma: y = (255 / 1023γ) ⋅ xγ (γ ≤ 1)

x: grey level input value (10 bit) [DN]

y: grey level output value (8 bit) [DN]

γ = 1.0 γ = 0.9 γ = 0.8 γ = 0.6 γ = 0.4

Figure 4.44: Applying gamma correction to an image (gamma < 1)

4.8.3 User-deﬁned Look-up Table

In the ’User’ mode, the mapping of input to output grey levels can be conﬁgured arbitrarily by the user. There is an example ﬁle in the PFRemote folder. LUT ﬁles can easily be generated with a standard spreadsheet tool. The ﬁle has to be stored as tab delimited text ﬁle.

U s e r L U T

y = f ( x )

1 2 b i t

8 b i t

Figure 4.45: Data path through LUT

4.8.4 Region LUT and LUT Enable

Two LUTs and a Region-LUT feature are available in the SM2-D1312(IE)-TI6455 camera series. Both LUTs can be enabled independently (see 4.11). LUT 0 superseds LUT1.

Enable LUT 0 Enable LUT 1 Enable Region LUT Description

- - - LUT are disabled.

X don’t care - LUT 0 is active on whole image.

- X - LUT 1 is active on whole image.

X - X LUT 0 active in Region 0.

X X X LUT 0 active in Region 0 and LUT 1 active

in Region 1. LUT 0 supersedes LUT1.

Table 4.11: LUT Enable and Region LUT

4.8 Grey Level Transformation (LUT) 65

4 Functionality

When the Region-LUT feature is enabled, then the LUTs are only active in a user deﬁned region. Examples are shown in Fig. 4.46 and Fig. 4.47. Fig. 4.46 shows an example of overlapping Region-LUTs. LUT 0, LUT 1 and Region LUT are enabled. LUT 0 is active in region 0 ((x00, x01), (y00, y01)) and it supersedes LUT 1 in the overlapping region. LUT 1 is active in region 1 ((x10, x11), (y10, y11)).

L U T 0

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

L U T 1

x 0 0 x 1 0 x 0 1 x 1 1

y 1 0 y 0 0

y 0 1

y 1 1

Figure 4.46: Overlapping Region-LUT example

Fig. 4.47 shows an example of keyhole inspection in a laser welding application. LUT 0 and LUT 1 are used to enhance the contrast by applying optimized transfer curves to the individual regions. LUT 0 is used for keyhole inspection. LUT 1 is optimized for seam ﬁnding.

L U T 0

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

L U T 1

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

L U T 1

L U T 0

Figure 4.47: Region-LUT in keyhole inspection

Fig. 4.48 shows the application of the Region-LUT to a camera image. The original image without image processing is shown on the left-hand side. The result of the application of the Region-LUT is shown on the right-hand side. One Region-LUT was applied on a small region on the lower part of the image where the brightness has been increased.

Figure 4.48: Region-LUT example with camera image; left: original image; right: gain 4 region in the are of the date print of the bottle

4.8 Grey Level Transformation (LUT) 67

4 Functionality

4.9 Convolver (monochrome models only)

4.9.1 Functionality

The "Convolver" is a discrete 2D-convolution ﬁlter with a 3x3 convolution kernel. The kernel coefﬁcients can be user-deﬁned. The M x N discrete 2D-convolution p

out

(x,y) of pixel pin(x,y) with convolution kernel h, scale s

and offset o is deﬁned in Fig. 4.49.

Figure 4.49: Convolution formula

4.9.2 Settings

The following settings for the parameters are available:

Offset Offset value o (see Fig. 4.49). Range: -4096 ... 4095

Scale Scaling divisor s (see Fig. 4.49). Range: 1 ... 4095

Coefﬁcients Coefﬁcients of convolution kernel h (see Fig. 4.49). Range: -4096 ... 4095.

Assignment to coefﬁcient properties is shown in Fig. 4.50.

Figure 4.50: Convolution coefﬁcients assignment

4.9.3 Examples

Fig. 4.51 shows the result of the application of various standard convolver settings to the original image. shows the corresponding settings for every ﬁlter.

Figure 4.51: 3x3 Convolution ﬁlter examples 1

Figure 4.52: 3x3 Convolution ﬁlter examples 1 settings

4.9 Convolver (monochrome models only) 69

4 Functionality

A ﬁlter called Unsharp Mask is often used to enhance near infrared images. Fig. 4.53 shows examples with the corresponding settings.

Figure 4.53: Unsharp Mask Examples

4.10 Crosshairs (monochrome models only)

4.10.1 Functionality

The crosshairs inserts a vertical and horizontal line into the image. The width of these lines is one pixel. The grey level is deﬁned by a 12 bit value (0 means black, 4095 means white). This allows to set any grey level to get the maximum contrast depending on the acquired image. The x/y position and the grey level can be set via the camera software. Figure Fig. 4.54 shows two examples of the activated crosshairs with different grey values. One with white lines and the other with black lines.

Figure 4.54: Crosshairs Example with different grey values

4.10 Crosshairs (monochrome models only) 71

4 Functionality

The x- and y-positon is absolute to the sensor pixel matrix. It is independent on the ROI, MROI or decimation conﬁgurations. Figure Fig. 4.55 shows two situations of the crosshairs conﬁguration. The same MROI settings is used in both situations. The crosshairs however is set differently. The crosshairs is not seen in the image on the right, because the x- and y-position is set outside the MROI region.

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

( x

a b s o lu t

, y

a b s o lu t

, G r e y L e v e l )

M R O I 0

M R O I 1

( 0 , 0 )

( 1 3 1 1 , 1 0 8 1 )

M R O I 0

M R O I 1

( x

a b s o lu t

, y

a b s o lu t

, G r e y L e v e l )

M R O I 0

M R O I 1

M R O I 0

M R O I 1

Figure 4.55: Crosshairs absolute position

4.11 Image Information and Status Line

There are camera properties available that give information about the acquired images, such as an image counter, average image value and the number of missed trigger signals. These properties can be queried by software. Alternatively, a status line within the image data can be switched on that contains all the available image information.

4.11.1 Counters and Average Value

Image counter The image counter provides a sequential number of every image that is output.

After camera startup, the counter counts up from 0 (counter width 24 bit). The counter can be reset by the camera control software.

Real Time counter The time counter starts at 0 after camera start, and counts real-time in units

of 1 micro-second. The time counter can be reset by the software in the SDK (Counter width 32 bit).

Missed trigger counter The missed trigger counter counts trigger pulses that were ignored by

the camera because they occurred within the exposure or read-out time of an image. In free-running mode it counts all incoming external triggers (counter width 8 bit / no wrap around).

Missed burst trigger counter The missed burst trigger counter counts trigger pulses that were

ignored by the camera in the burst trigger mode because they occurred while the camera still was processing the current burst trigger sequence.

Average image value The average image value gives the average of an image in 12 bit format

(0 .. 4095 DN), regardless of the currently used grey level resolution.

4.11.2 Status Line

If enabled, the status line replaces the last row of the image with camera status information. Every parameter is coded into ﬁelds of 4 pixels (LSB ﬁrst) and uses the lower 8 bits of the pixel value, so that the total size of a parameter ﬁeld is 32 bit (see Fig. 4.56). The assignment of the parameters to the ﬁelds is listed in 4.12.

The status line is available in all camera modes.

4 8 1 2 1 6 2 0

P r e a m b l e

F i e l d 0

0P i x e l :

1 2 3 5 6 7 9 1 0 1 1 1 3 1 4 1 5 1 7 1 8 1 9 2 1 2 2 2 3

L S B

M S B

F F 0 0 A A 5 5

F i e l d 1 F i e l d 2 F i e l d 3 F i e l d 4

L S B L S B L S B L S B L S B

M S B M S B M S B M S B M S B

Figure 4.56: Status line parameters replace the last row of the image

4.11 Image Information and Status Line 73

4 Functionality

Start pixel index Parameter width [bit] Parameter Description

0 32 Preamble: 0x55AA00FF

4 24 Image Counter (see Section 4.11.1)

8 32 Real Time Counter (see Section 4.11.1)

12 8 Missed Trigger Counter (see Section 4.11.1)

16 12 Image Average Value (see Section 4.11.1)

20 24 Integration Time in units of clock cycles (see Table 3.3)

24 16 Burst Trigger Number

28 8 Missed Burst Trigger Counter

32 11 Horizontal start position of ROI (Window.X)

36 11 Horizontal end position of ROI

(= Window.X + Window.W - 1)

40 11 Vertical start position of ROI (Window.Y).

In MROI-mode this parameter is 0.

44 11 Vertical end position of ROI (Window.Y + Window.H - 1).

In MROI-mode this parameter is the total height - 1.

48 2 Trigger Source

52 2 Digital Gain

56 2 Digital Offset

60 16 Camera Type Code (see 4.13)

64 32 Camera Serial Number

Table 4.12: Assignment of status line ﬁelds

Camera Model Camera Type Code

SM2-D1312-80-TI6455-GB-12 TBD

SM2-D1312-160-TI6455-GB-12 TBD

SM2-D1312IE-80-TI6455-GB-12 TBD

SM2-D1312IE-160-TI6455-GB-12 TBD

Table 4.13: Type codes of SM2-D1312(IE)-TI6455 camera series

4.12 Test Images

Test images are generated in the camera FPGA, independent of the image sensor. They can be used to check the transmission path from the camera to the frame grabber. Independent from the conﬁgured grey level resolution, every possible grey level appears the same number of times in a test image. Therefore, the histogram of the received image must be ﬂat.

A test image is a useful tool to ﬁnd data transmission errors that are caused most often by a defective cable between camera and frame grabber in CameraLink

cameras. In Gigabit Ethernet cameras test images are mostly useful to test the grabbing software.

The analysis of the test images with a histogram tool gives the correct result at a resolution of 1024 x 1024 pixels only.

4.12.1 Ramp

Depending on the conﬁgured grey level resolution, the ramp test image outputs a constant pattern with increasing grey level from the left to the right side (see Fig. 4.57).

Figure 4.57: Ramp test images: 8 bit output (left), 10 bit output (middle),12 (right)

4.12.2 LFSR

The LFSR (linear feedback shift register) test image outputs a constant pattern with a pseudo-random grey level sequence containing every possible grey level that is repeated for every row. The LFSR test pattern was chosen because it leads to a very high data toggling rate, which stresses the interface electronic. In the histogram you can see that the number of pixels of all grey values are the same. Please refer to application note [AN026] for the calculation and the values of the LFSR test image.

4.12.3 Troubleshooting using the LFSR

To control the quality of your complete imaging system enable the LFSR mode, set the camera window to 1024 x 1024 pixels (x=0 and y=0) and check the histogram. If your frame grabber application does not provide a real-time histogram, store the image and use a graphic software tool to display the histogram. In the LFSR (linear feedback shift register) mode the camera generates a constant pseudo-random test pattern containing all grey levels. If the data transmission is error free, the histogram of the received LFSR test pattern will be ﬂat (Fig. 4.59). On the other hand, a

4.12 Test Images 75

4 Functionality

Figure 4.58: LFSR (linear feedback shift register) test image

non-ﬂat histogram (Fig. 4.60) indicates problems, that may be caused either by the a defective camera or by problems in the grabbing software.

Figure 4.59: LFSR test pattern received and typical histogram for error-free data transmission

Figure 4.60: LFSR test pattern received and histogram containing transmission errors

In robots applications, the stress that is applied to the camera cable is especially high due to the fast movement of the robot arm. For such applications, special drag chain capable cables are available. Please contact the Photonfocus Support for consulting expertise. .

4.12 Test Images 77

4 Functionality

Hardware Interface

5.1 GigE Connector

The GigE cameras are interfaced to external components via

• an Ethernet jack (RJ45) to transmit conﬁguration, image data and trigger.

• a 12 pin subminiature connector for the power supply, Hirose HR10A-10P-12S (female) .

The connectors are located on the back of the camera. Fig. 5.1 shows the plugs and the status LED which indicates camera operation.

Figure 5.1: Rear view of the GigE camera

5.2 Power Supply Connector

The camera requires a single voltage input (see Table 3.4). The camera meets all performance speciﬁcations using standard switching power supplies, although well-regulated linear power supplies provide optimum performance.

It is extremely important that you apply the appropriate voltages to your camera. Incorrect voltages will damage the camera.

A suitable power supply can be ordered from your Photonfocus dealership.

For further details including the pinout please refer to Appendix A.

5 Hardware Interface

5.3 Trigger Connector

The RS422 Trigger and Strobe connector is a MDR-14. This interface supports:

• 3 RS422 differential inputs

• 3 RS422 differential outputs

For further details including the pinout please refer to Appendix A.

5.4 Status Indicator (SM2 cameras)

Two dual-color LEDs on the back of the camera gives information about the current status of the DSP camera.

Figure 5.2: Status LED

LED 1 Red, Status 1 Indicates status of hardware conﬁguration: lights red if the boot

process of the camera was successful.

LED 1 Green, Status 2 VIB_SetLED (Bit2(value)) The status can be deﬁned by the user to

indicate the status of the user’s application software.

LED 2 Red, Status 1 VIB_SetLED (Bit1(value)) The status can be deﬁned by the user to

indicate the status of the user’s application software.

LED 2 Green, Status 2 VIB_SetLED(Bit0(value)) The status can be deﬁned by the user to

indicate the status of the user’s application software.

Table 5.1: Meaning of the LEDs of the DSP camera

5.5 Power and Ground Connection for SM2 Cameras

The interface electronics of the power connector is isolated from the camera electronics and the power supply including the line ﬁlters and camera case. Fig. 5.3 shows a schematic of the power and ground connections.

P o w e r S u p p l y

G N D

C A S E

G N D

I n t e r n a l P o w e r S u p p l y

D C / D C

V C C _ 3

V D D

I s o l a t e d I n t e r f a c e

C a m e r a E l e c t r o n i c

I S O L A T O R

I S O _ G N D

I S O _ P W R

1 2

1 2 p o l . H i r o s e C o n n e c t o r

I / O a n d T r i g g e r I n t e r f a c e

D C / D C

V C C _ 2

V C C _ 1

E S D

P r o t e c t i o n

E S D

P r o t e c t i o n

C a m e r a E l e c t r o n i c

L i n e

F i l t e r

I N _ G N D

O U T _ V C C

H i r o s e C o n n e c t o r

C A S E

G N D

C a m e r a

1 4 p o l . M D R C o n n e c t o r

G N D

V D D

G N D

N o I s o l a t o r ( V D D = 5 V )

Figure 5.3: Schematic of power and ground connections

Do NOT connect 14pol MDR GND to camera ground (internal line ﬁlter will be short-circuited)

5.5 Power and Ground Connection for SM2 Cameras 81

5 Hardware Interface

5.6 Trigger and Strobe Signals for SM2 Cameras

5.6.1 Overview

The 12-pol. Hirose power connector contains three external trigger inputs and tree strobe outputs. The 14-pol MDR connector contains and three differential RS-422 inputs and three differential RS-422 outputs.

The pinout of the power connector is described in Section A.1.

The pinout of the RS422 connector is described in Section A.2.

A suitable trigger breakout cable for the Hirose 12-pol. connector and the MDR 14-pol connector can be ordered from your Photonfocus dealership.

5.6.2 Opto-isolated Interface (power connector)

The opto-isolated interface is implemented with optocouplers. The inputs are implemented with the VO0631T from VISHAY. The VO0631T is a dual channel 10 MBaud optocoupler utilizing a high efﬁcient input LED coupled with an integrated optical photodiode IC detector. The internal shield provides a guaranteed common mode transient immunity of 5 kV/µs. The input is designed for 12 V to 24 V input level.

Fig. 5.4 shows the schematic details for one input channel. The pinout of the 12 pole interface connector and the signal names are given in Appendix Appendix A.

O P T O _ I N [ 0 . . 2 ]

I N [ 0 . . 2 ]

I N _ G N D

1 k 8

G N D

Figure 5.4: Circuit for the trigger input signals

The outputs are implemented with the ILD213 from SIEMENS. The ILD213 are optically coupled pairs with a gallium arsenide infrared LED and a silicon NPN phototransistor. The high BV

CEO

of 70 volts gives a higher safety margin compared to the industry standard of 30 volts. Please refer to the datasheet when designing the interface electronic.

Fig. 5.5 shows the schematic details for one output channel. The pinout of the 12 pole interface connector and the signal names are given in Appendix Appendix A.

O P T O _ O U T [ 0 . . 2 ]

O U T [ 0 . . 2 ]

O U T _ V C C

G N D

Figure 5.5: Circuit for the strobe output signals

5.6 Trigger and Strobe Signals for SM2 Cameras 83

5 Hardware Interface

5.6.3 RS422 Interface

In the RS422 interface standard industry RS422 transmitters and receivers are used. Special care has been taken regarding the ESD protection.

In the inputs the MAX3096, a pin-compatible, low-power upgrade to the industry-standard "26LS32", is used. The protection levels are:

• + / - 15 kV - IEC 1000-4-2, air-gap discharge,

• + / - 8 kV - IEC 1000-4-2, contact discharche and

• + / - 15 kV - human body model.

Additionally to the fail safe feature of the receiver an external fail safe circuitry was implemented for a very robust interface.

The RS422 outputs are implemented with a MAX3045 which is an ESD-protected pin-compatible, low-power upgrade to the industry-standard "26LS31". The MAX3045 feature a hot-swap capability that eliminates false transitions on the data cable during power-up or hot insertion. The protection levels are:

• + / - 10 kV - human body model,

• + / - 4 kV - EFT fast transient burst immunity per IEC 1000-4-4,

• Level 2 surge immunity per IEC 1000-4-5, unshielded cable model and

• Hot-swappable for telecom applications.

Framework Functionalities

6.1 Web Server

The SM2 camera has a built-in web server. The web server is used to conﬁgure the camera parameters such as region of interest (ROI) or exposure time. It is also possible to save a live image on the microSD card of the SM2 camera.

6.1.1 Access to the Web Server

Use the JavaApplet (tcpdisplay.jar) to connect to the camera. There are differnet ways to get the JavaApplet.

• If you have already the JavaApplet and you know the camer IP address, doubleclick the JavaApplet and enter camera IP address.

• You can ﬁnd the JavaApplet in the Photonfocus\SM2 folder, when you have installed PFInstaller and selected the SM2 package during installation.

• If you don’t know the camera IP address, use the VIBFinder.exe tool (you can ﬁnd it also in the Photonfocus\SM2 folder of the PFInstaller installation). Click to "Find Devices", select the camera and click to "Show Properties". Now you can click to "Open TCP Display".

• The JavaApplet (tcpdisplay.jar) is also on the microSD card of the camera. Unplug the microSD card and connect it to a computer or download the JavaApplet directly over FTP (ftp://192.168.1.240, username, password)

The default camera IP-Address: 192.168.1.240.

The IP address of the camera can be changed in the "ethernet.ini" ﬁle on the microSD card.

The main window of the web server displays the live image of the camera and the menu items for conﬁguration of the camera settings.

6 Framework Functionalities

Figure 6.1: Main window of the web server

On the left side of the main window are the buttons for the conﬁguration menu. The right side of the main window displays the live image and the information part.

6.1.2 Information about the Camera

In the information area of the web server the following attributes are shown.

Graph

Figure 6.2: Display of CPU load in the information area of the web browser

The CPU load shows the workload of the DSP CPU. If the web server is running the CPU load will be increased, because the transfer over the ethernet requires additional CPU power.

Figure 6.3: Display of temperature in the information area of the web browser

The temperature graph shows the actual temperature of the DSP CPU. The temperature should not exceed 70° Celsius.

Figure 6.4: Display of the frame rate in the information area of the web browser

Graph of frame rate. The frame rate grabbed by the camera and processed by application is shown in magenta. It is marked with C. The frame rate displayed over Ethernet is shown in cyan. It is marked with D.

Figure 6.5: Display of Info in the information area of the web browser

Average The average image value gives the average of an image in 12 bit format (0 .. 4095

DN), regardless of the currently used grey level resolution.

Missed Trigger Counter The missed trigger counter counts trigger pulses that were ignored by

the camera because they occurred within the exposure or read-out time of an image. In

6.1 Web Server 87

6 Framework Functionalities

free-running mode it counts all incoming external triggers (counter width 8 bit / no wrap around).

View

Camera live image. The imaging application can draw into it.

Info

Figure 6.6: Details of the info button in the web browser

The Log viewer shows the last entries of the log.

Figure 6.7: Display of the histogramer in the web browser in linear mode

Figure 6.8: Display of the histogramer in the web browser in logarithmic mode

To setup the camera, the viewer has a histogramer with a display selectable either in linear mode (see Fig. 6.7) or in logarithmic mode (see Fig. 6.8).

6.1.3 Conﬁguration of the Camera

The following sections describe the function of the buttons accessible from the main dialog window. (see Fig. 6.9)

Figure 6.9: Camera conﬁguration buttons of the main dialog window in the web browser

6.1.4 Sensor

Figure 6.10: Camera conﬁguration button SENSOR in the web browser

This menu is only available for SDK users. Please do not use this menu.

6.1.5 Camera

Figure 6.11: Camera conﬁguration button CAMERA in the web browser

This menu is used to change the camera settings such as exposure time, region of interest, LinLog®and trigger signals.

6.1 Web Server 89

6 Framework Functionalities

Exposure

Figure 6.12: Accessible parameters in the conﬁguration button EXPOSURE of the web browser

Exposure time (ms): Conﬁgure the exposure time in milliseconds.

Constant Frame Rate: When the Constant Frame Rate (CFR) is switched on, the frame rate

(number of frames per second) can be varied from almost 0 up to the maximum frame rate. Thus, fewer images can be acquired than would otherwise be possible. When Constant Frame Rate is switched off, the camera delivers images as fast as possible, depending on the exposure time and the readout time.

Frame time [ms]: Conﬁgure the frame time in milliseconds. Only available if Constant Frame

Rate is enabled. The minimum frame time depends on the exposure time and readout time.

Trigger

Figure 6.13: Accessible parameters in the conﬁguration button TRIGGER of the web browser

Trigger Source:

Free running: The camera continuously delivers images with a certain conﬁgurable frame rate.

Opto In 0: The trigger signal is applied directly to the camera on the power supply connector.

RS422 In 0: The trigger signal is applied directly to the camera on the trigger connector.

RS422 Encoder: Use all 3 RS422 inputs as shaft encoder.

Exposure time deﬁned by:

Camera: The exposure time is deﬁned by the property ExposureTime.

Trigger Pulse Width: The exposure time is deﬁned by the pulse width of the trigger signal

(level-controlled exposure).

This property disables LinLog and simultaneous readout mode.

Further trigger settings:

Trigger Delay: Programmable delay in milliseconds between the incoming trigger edge and

the start of the exposure.

Trigger signal active low: Deﬁne the trigger signal to be active high (default) or active low.

The simultaneous readout mode allows higher frame rates.

Simultaneous readout (Interleave): Enable the simultaneous readout mode.

Combination of property Trigger.Interleave and property Skim is not available! Combination of property Trigger.Interleave and property Trig- ger.LevelControlled is not available!

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Strobe

Figure 6.14: Accessible parameters in the conﬁguration button STROBE of the web browser

The camera generates a strobe output signal that can be used to trigger a ﬂash. The delay, pulse width and polarity can be deﬁned by software. To turn off strobe output, set StrobePulseWidth to 0.

Strobe Delay [ms]: Delay in milliseconds from the input trigger edge to the rising edge of the

strobe output signal.

Strobe Pulse Width [ms]: The pulse width of the strobe trigger in milliseconds.

Strobe signal active low: Deﬁne the strobe output to be active high (default) or active low.

Output:

Disabled: No Strobe out.

Opto Out 0: The strobe signal is available on the power supply connector.

Differential Out 0: The strobe signal is available on the trigger connector.

Data Format

Figure 6.15: Accessible parameters in the conﬁguration button DATA FORMAT of the web browser

Output Mode:

Normal: Normal mode.

LFSR: Test image. Linear feedback shift register (pseudo-random image). The pattern depends

on the grey level resolution.

Ramp: Test image. Values of pixel are incremented by 1, starting at each row. The pattern

depends on the grey level resolution.

Resolution:

8 Bit: Grey level resolution of 8 bit.

10 Bit: Grey level resolution of 10 bit.

12 Bit: Grey level resolution of 12 bit.

Digital Gain:

1x: No digital gain, normal mode.

2x: Digital gain 2.

4x: Digital gain 4.

8x: Digital gain 8.

Digital Offset and FineGain:

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LUT

Figure 6.16: Accessible parameters in the conﬁguration button LUT of the web browser

LUT:

LUT0 Enable: Enable LUT0.

LUT0 Mode: Change between the LUT mode, to generate the LUT values automatically.

LUT0 Value: With this value the LUT will be calculated, depending on the LUT Mode.

LUT1 Enable: Enable LUT1.

LUT1 Mode: Change between the LUT mode, to generate the LUT values automatically.

LUT1 Value: With this value the LUT will be calculated, depending on the LUT Mode.

Lut Mode:

Gain: Linear function. Y = 255 / 4095 * value * X; Valid range for value [1...4].

Gamma: Gamma function. Y = 255 / 4095^value * X ^ value; Valid range for value [0.4...4].

Load File...: Load a user deﬁned LUT - ﬁle into the camera (*.txt tab delimited).

Save File...: Save LUT from camera into a ﬁle.

It is also possible to load a user LUT-ﬁle with missing input values (LUT-addresses). Then only pixel values corresponding to listed LUT entries will be overwritten.

LUT ROI

Figure 6.17: Accessible parameters in the conﬁguration button LUT ROI of the web browser

LUT ROI: Both LUT can be conﬁgured with ROI vlaues. The LUT is only workind inside the the ROI values. Overlapping is possible. LUT0 has higher priority.

Enable Region LUT: Enable the region LUT functionality.

X: X - coordinate of region LUT, starting from 0 in the upper left corner.

Y: Y - coordinate of region LUT, starting from 0 in the upper left corner.

W: Region LUT window width.

H: Region LUT window height.

Set ROII to max: Set Region LUT window to maximal ROI (X=0; Y=0; W=1312; H=1082).

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Region of interest

Figure 6.18: Accessible parameters in the conﬁguration button REGION OF INTEREST of the web browser

Line Scan Mode:

Line Scan Mode: Enables Line scan mode.

Line Scan Height: Set heigt of the resulting image.

Region of Interest: The region of interest (ROI) is deﬁned as a rectangle (X, Y), (W, H) where

X: X - coordinate, starting from 0 in the upper left corner.

Y: Y - coordinate, starting from 0 in the upper left corner.

W: Window width (in steps of 4 pixel).

H: Window height.

Window width is only available in steps of 4 pixel.

Decimation: Decimation reduces the number of pixels in y-direction. Decimation can also be used together with a ROI or MROI. Decimation in y-direction transfers every n-th row only and directly results in reduced read-out time and higher frame rate respectively.

Decimation Y: Decimation value for y-direction. Example: Value = 4 reads every fourth row

only.

MROI: This camera can handle up to 16 different regions of interest. The multiple ROIs are joined together and form a single image, which is transferred to the frame grabber. An ROI is deﬁned by its starting value in y-direction and its height. The width and the horizontal offset are speciﬁed by X and W settings. The maximum frame rate in MROI mode depends on the number of rows and columns being read out. Overlapping ROIs are allowed, and the total height may exceed 1024 rows.

Enable MROI: Enable MROI. If MROI is enabled, the ROI and MROI settings cannot be changed.

MROI Index: Select one of the MROI settings.

Y: Y - coordinate of the selected MROI. If Y is set to 1023, this and all further MROI settings will

be ignored.

H: Height of the selected MROI.

H tot: Shows the sum of all MROIs as the total image height.

After changing a property, always press Enter in order to make the change active.

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LinLog

Figure 6.19: Parameter settings in the conﬁguration button LinLog of the web browser

LinLog: The LinLog technology from Photonfocus allows a logarithmic compression of high light intensities. In contrast to the classical non-integrating logarithmic pixel, the LinLog pixel is an integrating pixel with global shutter and the possibility to control the transition between linear and logarithmic mode (Section 4.2.2). There are 3 predeﬁned LinLog settings available. Alternatively, custom settings can be deﬁned in the User deﬁned Mode.

LinLog Mode: Off: LinLog is disabled. Low/Normal/High compression: Three LinLog

presettings. User deﬁned: Value1, Time1, Value2 and Time2. The Linlog times are per thousand of the exposure time. Time 800 means 80% of the exposure time.

It may be necessary to adjust the black level offset of the camera.

Black Level Offset: Black level offset value. Use this to adjust the black level.

Photon Focus SM2-D1312-TI6455, VisionCam PS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual