Point Grey Grasshopper Technical Reference Manual

Grasshopper®

Technical Reference Manual

Version 1.5 Revised November 26, 2010

12051 Riversi de Way • Richmond, BC • Canada • V6W 1K7 • T (604) 242-9937 • www.ptgrey.com

Point Grey Research® Inc.

Point Grey Research Grasshopper Technical Reference

Table of Contents

FCC Compliance Information

This equipment has been tested and found to comply with the l imits for a Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful inte rference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accor dance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment i n a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

You are cautioned that any changes or modifications not expr ess ly appro ved in this manual could void your authority to operate this equipment.

Hardware Warranty

Poin t Grey Rese ar ch® In c. (Point Grey) warra nts to the Origin al Purchaser that the Camera Module provided with this package is guaranteed to be free from m aterial and manufacturing defects for a period of two (2) years. Should a unit fail d uring this period, Point Grey will, at its op ti on, repair or repl ace th e damaged unit. Repai r ed or replaced unit s will be cover ed for th e remainder of the original equipment warranty period. This warranty does not apply to units that, aft er bei ng exami ned by Po int Grey, ha ve been fou nd to have fai led due t o cus t om er ab us e, mis h andl ing, alteration , impro per in s tal la tio n or ne glig enc e . If th e or i g ina l camer a mod ule is housed within a case, rem oving the case for any purpose voids this wa rrant y.

Point Grey Research, Inc. expressly disclaim s and excludes all other warranties, express, im plied and statutory, including, but without limitation, warranty of merchantability and fitness for a

particu lar app lication or purpose. In no event shall Point Grey Research, Inc. be liable to t he Original Purchaser or any third party f or direct, indirect, incidental , consequ entia l, s pecial or accidental damages, including without limitation damages for business interruption, loss of profits, revenue, data or bodily injury or death.

WEEE

The symbol indicates that this product may not be treated as household waste. Please ensure this product is properly disposed as inappropriate waste handling of this product may cause potential hazards to the environment and human health. For more detailed information about recycling of this product, please contact Po int Grey Research.

Trademarks

Point Grey Research, PGR, the Point Grey Research, Inc. logo, Chameleon, Digiclops, Dragonfly, Dragonfly Express, Firefly, Flea, FlyCapture, Gazelle, Grasshopper, Ladybug, and Triclop s are trademarks or registered trademarks of Point Grey Research, Inc. in Canada and other countries.

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Point Grey Research Grasshopper Technical Reference

Table of Contents

Table of Contents.....................................................................................3

List of Figures ..........................................................................................5

List of Tables............................................................................................5

1 Introduction......................................................................................6

1.1. Grasshopper Overview............................................................................... 6

1.1.1. Image Acquisition...........................................................................6

1.1.2. Image Processing ..........................................................................6

1.1.3. Camera and Device Control...........................................................7

1.1.4. Mechanics and Form Factor...........................................................7

1.2. Using This Manual......................................................................................7

1.3. Camera Specifications................................................................................8

1.3.1. Spectral Response......................................................................... 9

1.3.2. Common CCD Artifacts................................................................10

1.3.3. Dual Tap Sensor Information........................................................10

1.4. System Requirem ents...............................................................................10

1.4.1. Laptop / Notebook Consider ations ...............................................11

1.4.2. Macintosh and Linux OS Support.................................................11

1.5. Contro llin g th e Camera.............................................................................11

1.5.1. FlyCap Demo Program ................................................................11

1.5.2. Custom Applications Built with the FlyCapture API.......................11

1.5.3. Third-Pa rty Software App l ica t io n s................................................11

1.6. Camera Control Command Registers........................................................12

1.7. Handling Prec autions and Camera Care...................................................12

1.7.1. Case Temperature and Heat Dissipation......................................12

1.8. Camera Accessories.................................................................................13

Table of Contents

2 Camera Physical Properties.........................................................14

2.1. Physical Description..................................................................................14

2.2. Camera Dimensions.................................................................................15

2.3. Lens Setup and Compatibility....................................................................15

2.4. Dust Protection.........................................................................................16

2.5. Mounting...................................................................................................16

2.5.1. Using the Case............................................................................16

2.5.2. Using the Tripod Mounti ng B r ac k et...............................................16

2.6. Infrared Cut-Off Filters..............................................................................17

3 Camera Interface ...........................................................................18

3.1. IEEE-1394b Connector.............................................................................18

3.1.1. Daisy Chaining.............................................................................18

3.2. Cables......................................................................................................19

3.3. Host Adapter Card....................................................................................19

3.4. Camera Power..........................................................................................19

3.5. General Purpose I nput/Output (GPIO)....................................................... 20

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3.5.1. GPIO Electrical Characteri stics....................................................21

3.6. Status Indicator LED.................................................................................21

4 Camera Operations and Features................................................22

4.1. General Camera Proper ties ......................................................................23

4.2. Standard Data Formats, Modes and Frame Rates.....................................23

4.3. Frame Rates and Camera Bandwidth .......................................................25

4.3.1. Maximum Number of Cameras on a Single Bus...........................25

4.3.2. Exceeding Bandwidth Limitations Using Format_7 with Multiple

Cameras...................................................................................................

4.3.3. Calculating Maximum Pos sible Frame Rate.................................26

4.3.4. Dual Packet Mode........................................................................26

4.4. Customizable Data Formats and Modes....................................................27

4.4.1. Calculating Format_7 Frame Rate s..............................................34

4.4.2. Subsampli ng and Bi nning in Format_7.........................................34

4.5. Image Acquisiti on .....................................................................................35

4.5.1. Camera Power.............................................................................35

4.5.2. Shutter.........................................................................................35

4.5.3. Gain.............................................................................................36

4.5.4. Auto Exposure.............................................................................36

4.5.5. Extended Shutter Tim es............................................................... 37

4.5.6. Auto mat ic In te r -C amera Synchron iza tion .....................................38

4.5.7. Frame Rate Control .....................................................................38

4.5.8. Pixel Binning and Region of I nterest Modes .................................38

4.5.9. Y16 (16-bit Mono) Image Ac quisition............................................39

4.5.10. Asynchronous (Ex ternal) Trigger Modes.....................................39

4.5.11. On-Cam era Frame Buffer...........................................................41

4.5.12. High Dynamic Range (HDR) Mode.............................................42

4.6. Image Processing.....................................................................................42

4.6.1. Color and Greyscale Conversion..................................................42

4.6.2. Lookup Table and Gamma...........................................................43

4.6.3. Saturation....................................................................................44

4.6.4. Sharpness ...................................................................................44

4.6.5. White Balance..............................................................................44

4.6.6. Image Flip / Mirror........................................................................45

4.6.7. Test Pattern.................................................................................45

4.6.8. Embedded Image Inf ormation......................................................46

4.7. Camera and Device Cont rol......................................................................46

4.7.1. Voltage Sensor ............................................................................46

4.7.2. Programmable Str obe Output.......................................................46

4.7.3. RS-232 Serial Port.......................................................................46

4.7.4. Memory Channel Storage of Camera Settings..............................47

4.7.5. User Data Flash...........................................................................47

4.7.6. Camera Upgrades........................................................................47

Table of Contents

Appendix A: Spectral Response Curves..............................................48

Appendix B: Memory Channel Registers.............................................54

Appendix C: Glossary............................................................................55

Appendix D: Technical Support Resources.........................................57

Appendix E: Contacting Point Grey Research ....................................58

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Appendix F: Revision History...............................................................59

List of Figures

Figure 1: Dimensional drawing......................................................................................15

Figure 2: IEEE-1394b connector pin configuration.........................................................18

Figure 3: GPIO schem atic.............................................................................................20

Figure 4: Grasshopper external trigger timing characteristics.........................................40

Figure 5: Relationshi p between video mode change and triggering................................41

Figure 6: Test patt er n sample image (Mono and YUV formats)......................................45

List of Tables

List of Figures

Table 1: IEEE-1394b connector pin configuration..........................................................19

Table 2: GPIO pin assignments.....................................................................................20

Table 3: Status indicator LED descriptions....................................................................21

Table 4: Supported video formats, modes and frame rates............................................24

Table 5: Suppor ted partial image (Format 7) video form ats and modes for G RAS-03K2C

.............................................................................................................................

Table 6: Support ed partial image (Form at 7) video formats and modes for GRAS-03S3M

.............................................................................................................................

Table 7: Suppor ted partial image (Format 7) video form ats and modes for G RAS-14S3C

.............................................................................................................................

Table 8: Suppor ted partial image (Format 7) video form ats and modes for G RAS-14S5C

.............................................................................................................................

Table 9: Suppor ted partial image (Format 7) video form ats and modes for G RAS-20S4C

.............................................................................................................................

Table 10: Suppor ted partial image (Format 7) video formats and modes for GRAS - 50S 5C

.............................................................................................................................

Table 11: Extended shutter m inimum and maximum times............................................37

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Introduction

1 Introduction

1.1. Grasshopper Overview

The Grasshopper digital camera line offers high megapixel resolution and an ultra fast IEEE1394b 800Mb/s digit al interf ace. Attr activ e pricing makes the se powerf ul cameras ideal for OEMs and system int egrators who need compact systems that deliv er 1.4M, 2.0M or 5.0M im ages at high frame rates. The Grasshopper cameras are particularly effective in demanding imaging applications such as those used in electronics manufacturing, life sciences and microscopy, surveillance and security, and ITS.

Users are encouraged to download detailed information on how to transition applications from the Scorpion to the Grasshopper. Refer to IEEE-1394b standard.

Knowledge Base Arti cle 206 for a c omplete overv iew of the features and benefi ts of the

TAN2007004 from www.ptgrey.com/products/grasshopper for

All model-specific information presented in this manual reflects

functionality av ailable in firmware vers ion 0.9.1.48. To check the cam era firmware version, c onsult our knowledge base:

www.ptgrey.com/support/kb/index.asp?a=4&q=94.

1.1.1. Image Acquisition

Feature Description

IEEE-1394b Bandwidth 800Mb/s interface allows full color RGB output at high data rates Automatic Synchronization Multiple Grasshoppers on the same 1394b bus automatically sync Programmable Exposure User-programmable shutter, gain, and bl ack clamp settings via sof t ware Fast Frame Rates Fas ter standa rd frame rates plus pixel binning and ROI support Multiple Trigger Modes Bulb-trigger mode, multiple triggered exposures before readout Trigger at Full Frame Rate Overlapped trigger input, image acquisition and transfer

1.1.2. Image Processing

Feature Description

Color Conversion On-camera conversion to YUV411, YUV422 and RGB formats Image Processing On-camera control of sharpness, hue, saturation, gamma, LUT Image Flip / Mirror Horizontal image flip (mirr or ima ge) Embedded Image Info Pixels contain frame-specific info (e.g. shutter, 1394 cycle time) Test Pattern Continuous static image for testing and deve lop ment

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Introduction

1.1.3. Camera and Device Control

Feature Description

Auto White Balance Auto and one-push white balance for easy color balancing Frame Rate Control Fine-tune frame rates for video conv ersion (e.g. PAL @ 24 FPS) Improved Strobe Output Increased drive strength, configurable strobe pattern output RS-232 Serial Port Provides serial communication via GPIO TTL digital logic levels Memory Channels Non-volatile storage of camera default power-up set ti ngs Broadcast Properties Apply settings (e.g. shutter, gain) to all cameras on the same bus Voltage Sensor Monitors sensor voltages to ensure optimal image quality Camera Upgrades Firmware upgradeable in field via IEEE-1394 interface.

1.1.4. Mechanics and Form Factor

Feature Description

Compact Design 44mm x 29mm x 58mm, 104 grams Industry Standard Mechanics ASA/ISO-compliant mounting br acket and C-mount lens holder Jack Screw Connector 1394b cable jack scr ews provide secure connection

1.2. Using This Manual

This manual attempts to provi de the user with a detail ed specif ication of the Grasshopper camera system. The r eader sho uld be aware that the c amera system is a complex and dynami c system – if any errors or omissions are found during experiment ation, please contact us.

This document is subject to change without notice. Many of t he operati onal descript ions incl uded in t his manual are int ended as general ov erv iews,

and may not pres ent the detailed i nf ormation required f or developi ng specific applications. F or additional details and operational descriptions, refer to the following resources that can be downloaded fr om our website at

• Point Grey Digital Camer a Regis ter Reference

FlyCapture User M anual

•

• TAN2004004: Synchr onizing to an external signal using DCAM 1.31 Trigger Mode_0

• TAN2004001: Configuring and testing the RS-232 ser ial port

• TAN2005002: Setting a GPIO pin to strobe using DCAM 1.31 Strobe Signal Out put

• TAN2005003: Setting a GPIO pin to output a strobe signal pulse patter n

• TAN2005004: Buffering a GPIO pin output signal to drive an exter nal dev ic e

• TAN2007004: A guide to trans itioning from Scorpion

• TAN2007004: Acces s i ng the On-Camera Frame Buffer

www.ptgrey.com/support/downloads/:

to Grasshopper®

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Introduction

1.3. Camera Specifications

Specification 03K2 03S3 14S3 14S5 20S4 50S5

1/3”

Sony® ICX414 1/2” progressive scan CCD

Imaging Sensor

Kodak®

KAI0340ABB/CBA-CBAA-Dual

progressive scan CCD

Maximum Resolution

Sensor Pixel

640(H) x 480 (V)

648(H) x 488(V)

7.4 x 7.4µm 9.9 x 9.9µm 4.65 x 4.65µm 6.45 x

Size Maximum FPS See sections 4.2 and 4.4 for more information Digital

Interface Transfer

Dual bilingual 9-pin IEEE-1394b for camera control, video data transmission and dai sy chaining

100, 200, 400, 800 Mbit/s

Rates A/D Converter Analog Devices 14-bit analog-to-digital converter Max Pixel

40 MHz 26 MHz 40 MHz 28 MHz 67 MHz 32 MHz

Clock Video Data

8, 16 and 24 -bit digital data (see Supported Data Formats)

Output Image Data

Formats Partial Image

Y8, Y16 (all models), RGB, YUV411, YUV422, YUV444, 8-bit and 16-bit raw Bayer data (color models)

Pixel binning and r egion of interest modes available via Format_7

Modes General

Purpose I/O

Gain

8-pin Hirose HR25 general purpose input/output connect or 4 pins for external trigger, strobe or serial data / 1 pin +3.3V / 1 VEXT pin to externally power th e camer a

Automatic / manual / one-push gain modes 0dB to 24dB Automatic / manual / one-push shutter modes

Shutter

Programmable through soft ware or through input trigger signal

0.01ms to 66.63ms @ 15 FPS Extended shutter modes for exposure times longer than 5 seconds

Image Processing

On-board raw Bayer color interpolation, hue, saturation, sharpness, gamma, programmable LUT, horizontal image flip, test pattern output

Gamma 0. 50 to 4.00 Trigger Modes DCAM v1.31 Tr i gger Modes 0, 1, 3, 14, and 15 * Signal To

Noise Ratio * Peak QE

56 dB 64 dB 60 dB 65 dB 59 dB 57 dB 460 nm 500 nm 459 nm 470 nm 460 nm 520 nm

Wavelength * Peak QE

46 % 45 % 52 % 64 % 60 % 56 %

alue

* Full Well

19426 e- 31370 e- 9159 e- 16964 e- 13942 e- 6486 e-

Depth * Dark Noise 21.57 e-/s 13.61 e-/s 0.53 e-/s 6.38 e-/s 9.39 e-/s 3.19 e-/s * Dark Current 187 e-/s 331 e-/s 1.84 e-/s 175 e-/s 122 e-/s 34 e-/s * Read Noise 84 e- 41 e- 59 e- 33 e- 61 e- 78 e- * Av erage

46 °C 37 °C 45 °C 36 °C 42 °C 38 °C

Sony® ICX267 1/2” progressive scan CCD

1384(H) x 1032(V)

Sony® ICX285 2/3” progressive scan CCD

1384(H) x 1036(V)

6.45µm

Sony® ICX274 1/1.8” progressive scan CCD

1624(H) x 1224(V)

Sony® ICX625 2/3” progressive scan CCD

2448(H) x 2048(V)

4.4 x 4.4µm 3.45 x 3.45µm

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Introduction

Operating Temperature

Dimensions 44mm x 29mm x 58mm (excluding lens holder, without optics) Mass 104 grams (without optics) Lens Mount C-mount Camera

Specification Voltage

Requirements Power

Requirements (max)

Emissions Compliance

Operating Temperature

Storage Temperature

Warranty Two years Operating

Relative Humidity

Storage Relative Humidity

* Measurements ta ken under the fol lowing condi tions: Gain: 0 d B; Pixel For mat: Format_7 Mode 0; Resolution: Max; Fram e Rate: Max; Shutter: 1 ms;

IIDC 1394-based Di git al Camera Specification v1. 31

8-30V, via IEEE-1394b interface or 8-pin GPIO connect or

3.9W 2.9W 3.0W 3.1W 3.4W 3.8W

Complies with CE rules an d Part 15 Class A of FCC Rules

0° to 40°C

-30° to 60°C

20 to 80% (no condensation)

20 to 95% (no condensation)

1.3.1. Spectral Response

All color models are equipped with an optical filter that prevents

For spectral response curves, see

infrared light from reaching the image sensor. This filter is discus s ed in the section on Infrared Cut-Off Filters.

Appendix A: Spect r al Response Curves.

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1.3.2. Common CCD Artifacts

The following sec tion describes issues typical of CCD senso r s and poss ible solution s.

• Dead / Hot Pixels It is possible for one or more pixels in the CCD sensor array to stop responding. This will result in a situation where the pixel will al ways appear black (dead), or white (hot/stuck). This is generally not an issue except in very rare cases.

• Bright Pix els Cosm ic rays have the ability to cause images to have artifacts which look like hot pixels which are randomly distributed throughout the image. This is most apparent when th camera is running at a high temperature or the gain is set to a high amount. It is impossible to prevent cosmic rays from reaching the C CD.

• Vertical Smear When a strong light source is shot on the camera, there may be a vertical smear above and below the position of the actual light source. This is a byproduct of the interline transfer s ystem used to extract data from the CCD.

1.3.3. Dual Tap Sensor Information

Introduction

The Grasshopper 50S5M/C and 03K2M /C m odels feature dual tap CCDs. This means that the CCD has two outputs runni ng sim ultaneousl y i n order to prov ide a l arger data rat e, thus resul t ing in a higher frame r ate. However, the CCD i s generally unable to pr ovide the l eft and right halv es of the image at an equal int ensit y. Theref ore i n order to m ai ntai n image qual ity, the Grasshopper has been calibr ated to correct for imbalances bet ween the left and right halv es. However, there may be situati ons wher e the boundary between the lef t and right halves of the im ages can be seen, such as images with high gain values.

1.4. System Requirements

• Processor

R e c o m m ended – Intel Pe ntium Mi nimum – Int el Pent ium III 800 MHz or compatible pr oces sor

• Memory

R e c o m m ended – 2GB Minimu m - 256MB

• AGP vi deo card w ith 64 MB video me mory ( 128 MB r ecommended)

• Bus Configuration

Recommended – PCI Express (PCI-e card not included) or 64-bit PCI s lot Mi nimum – 32- bit st andard PCI slot for the IEEE -1394 card

• Mi c r os oft Windows XP Se rvic e P ac k 1

• Microsoft Visual C++ 6.0 (to compile and run example code)

4 2.0 GHz or compat ible proc ess or

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Introduction

1.4.1. Laptop / Notebook Considerations

Some 1394 PCMCIA cards for laptop / notebook computers require a 4-pin cable. A 4-pin cable does not provide powe r and will t herefore not work with Point Grey cameras, which require a 6-pin connector (the additional two pins provide power). For suggestions on how to provide power in these circumstances, con sult th e fo llowing knowledge base arti c le:

KB Article 93: www.ptgrey.com/support/kb/index.asp?a=4&q=93

1.4.2. Macintosh and Linux OS Support

Users wishing to operate their Point Grey camera on the Macintosh OS/X or Linux operating sys tems should cons ult the following kno wledge bas e art icles:

Macintosh support: www.ptgrey.com/support/kb/index.asp?a =4&q=173 Li nux s upport: www.ptgrey.com/support/kb/index.asp?a =4&q=17

1.5. Controlling the Camera

The Grasshopper c an be c ontrolled by the following types of applications:

1.5.1. FlyCap Demo Program

The FlyCap application is a generic streaming image viewer included with the FlyCapture®SDK that can be u sed to test m any of the capabilities of your c omp atible PGR IE EE-1394 c amera. It allows you to view a live video stream from the camera, save individual images or .avi movi clips, adjust the various video formats, frame rates, properties and settings of the camera, and access camera registers. It is an easy-to-use program that can be used to test many of the capabilities of your PGR IEEE-1394 camera system. Consult the PGR FlyCapture User Manua for more inf ormatio n.

1.5.2. Custom Applications Built with the FlyCapture API

PGR FlyCapture includes a full Application Programming Interface that allows customers to create custom applications to control Point Grey Imaging Products. The SDK provides a numbe of sample programs and source code that is meant to help the advanced programmer get started using the FlyCapture API. Example s range f rom simple console programs that demonstrate the basic f unctionality of th e API, such as PGRFl yCaptureTest, to more complex e xamples such as the M FC applic ation FlyCap.

1.5.3. Third-Party Software Applications

The following knowledge base article provides information on Point Grey IEEE-1394 camera compatibility with third-party software development kits, applications, camera drivers, and integrated development environm ents ( IDEs) :

KB Article 152: www.p tgrey.com/support/kb/index.asp?a=4&q=152

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Introduction

1.6. Camera Control Command Registers

For a complete description of the Camera Control Command Registers implemented on the camera, please refer to the Point Grey Research Digital Camera Register Reference, included with the FlyCapture SDK and downloadable from www.ptgrey.com/support/downloads/

1.7. Handling Precautions and Camera Care

Do not open the camera housing. Doing so voids the Hardware

[

Your Point Grey di gital camera m odule is a precisely manufactured device and should be handled with care. Here are some tips on how to care for the device.

• Avoid electrostatic charging. Pl ease consult the following knowledge base article for more details: www.ptgrey.com/support/kb/index.asp?a=4&q=42

• Users who have purchased a bare board camera should take the following additional protective measures:

o Either handle bare handed or use non-chargeable gloves, clothes or material. o Install a conduc tive mat on the floor or working table to prevent the generation of

• When handli ng the ca m era unit, avoid touching t he lenses. Fingerprints will affect the quality of the image produced by the device.

• To clean the lenses, use a standard camera lens cleaning kit or a clean dry cotton cloth. Do not apply excessi ve force.

• To clean the imaging surface of your CCD, follow the steps outlined in

www.ptgrey.com/support/kb/index.asp?a=4&q=66

• Our cameras are designed for an office environment or laboratory use. Extended exposure to bright sunlight, rain, dusty environments, etc. may cause problems with the electronics and the optics of the system.

• Avoid excessive shaking, dropping or any kind of mishandling of the device.

Warranty described at the beginning of this reference manual.

Also, use conductive shoes. static e lec tricity.

1.7.1. Case Temperature and Heat Dissipation

The Grasshopper is an ultra-c ompact camera. As a result of packing t he Grasshopper electronics into a small space, the outer case of the camera can become very warm to the touch when running in some high dat a rate vi deo modes. The case can reach t emperat ures up to 45° Celsius under normal operating condi tions. This is ex pected behavi our and will not damage the cam era electronics.

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Introduction

If reduci ng heat i s a concern, users ca n u se a cool i ng f an to set up a posi tiv e ai r fl ow around the camera, taking into consideration the following precautions:

• Mount the c amera on a heat sink, such as a camera m ounting bracket, made out of a heat-conductive material like aluminum.

• Make sure the flow of heat from the camer a case to the bracket is not bl ocked by a non- conductive m aterial like plastic.

• Make sure the camera has enough open space around it to facilitate the f r ee flow of air.

1.8. Camera Accessories

Accessories such as tripod mount s and lens ho lders are availa ble fr om PGR – contact our Sales team at sales@ptgrey.com camera accessorie s can be found in the following knowledge base article:

KB Article 131: www.p tgrey.com/support/kb/index.asp?a =4&q=131

for additional information. Links to FireWire/IEEE-1394 and digital

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6 7

Camera Physical Properties

2 Camera Physical Properties

2.1. Physical Description

1. Lens holder (Cmount)

Attach any C-mount lens or other optic al equipment. Consult the section Lens

Setup and Compatibility for full

details.

2. Glass / IR filter system

Refer to the Dust Protection and the Infrared Cut-Off Filters section for

more informati on.

3. M3x0.5 mounting holes

Refer to the Mounting section for full details.

4. General Pu rpo se I/ O connector

The 8-pin GPIO connect or is used f or exter nal triggering, strobe output or digital I/O. Refer to the General Purpose

Input/Output s e c t io n for more information.

5. Status LED

This light indic ates the current state of the Grasshopper operation. Refer to the section Status Indicator LED.

6. IEEE-1394b connector

7. IEEE-1394b connector

The camera uses standard 9-pin 1394b connectors. M3 screw holes are locat ed on either side of the connectors for secure connections to the 9-pin locking 1394b cabl e. See the IEEE-1394 Connector section for full connector details.

8. M3x0.5 mounting holes

Refer to the Mounting section for full details.

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Point Grey Research Grasshopper Technical Reference

2.2. Camera Dimensions

Camera Physical Properties

Figure 1: Dimensional drawing

2.3. Lens Setup and Compatibility

The lens holder is compatible with C-mount lenses. Lenses are not included with individual cameras. To differentiate between C- and CS-mount lenses, c onsul t the following arti cle:

KB Article 98:

www.ptgrey.com/support/kb/index.asp?a=4&q=98

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Point Grey Research Grasshopper Technical Reference

Camera Physical Properties

2.4. Dust Protection

Cameras are se aled when they are shipped. To a void contamination,

[

The case is designed to prevent dust from f alling directly onto the CCD's protective glass su rface. This is achieved by placing a pie ce of cl ear glass (monochr om e camera mo dels) o r IR cut -of f f ilt er (color models) that sits above the surface of the CCD's glass. A removable p lastic retainer keeps this glass/filter system in place. By increasing the distance betwe en the imaging surface and the l o c atio n of t he potent i al dus t partic l e s , th e l i k eliho od o f i nter fer e n c e f r o m th e d us t (a s s u m i ng noncollimated light) and the poss ibility of damage to the sensor during cleaning is reduced.

seals should not be brok en until cameras are ready for assembly at customer's site.

Do not remove the protective glass. Doing so can void the Hardware Warranty descri bed at the begi nn ing of this reference manual.

2.5. Mounting

2.5.1. Using the Case

The case is equipped with the following mounting holes:

• Two (2) M3x0.5mm mounting holes on the top of the case

• Four (4) M3x0.5mm mounting holes on the bot t om of the case that can be used to att ach

the camera directly to a custom mount or to the Grasshopper tripod mounting bracket

2.5.2. Using the Tripod Mounting Bracket

The Grasshopper tripod m ounti ng bracket comes with t he Dev elopment Kit, or can be pur chased separately by cont acting holes.

sales@ptgrey.com. The bracket i s equipped with four ( 4) M3 mounting

Revised 26-Nov-10

Point Grey Research Grasshopper Technical Reference

Camera Physical Properties

2.6. Infrared Cut-Off Filters

Point Grey Resear ch color camera m odels are equipped with an additional infrared (IR) cut-of f filter. This filter can reduce sensitivity in the visible spectrum. The properties of this filter are illustrated in the results below, which were obtained by Point Grey Research independent of camera model.

In monochrome models, the IR filter is replaced wit h a transparent piec e of glass. The following are the properties of the IR filter/protective glass

Type Material Physical Filter Size Glass Thickness Dime ns ional Tolerance Coating Filters

These properties apply to all imaging cameras except GRAS 14S5.

Point Grey Grasshopper Technical Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual