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Grasshopper
Point Grey Grasshopper User Manual
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Grasshopper
®
Te
chnical Reference M
anual
Version 1.5
Revised Novem
ber 26, 2010
Poin
t Gre
y
R
esear
c
h
®
Inc.
12051 Riv
erside
W
ay
•
Ric
hmond, BC
•
Canada
•
V6W
1K7
•
T
(604) 242-
9937
•
w
ww.ptg
rey.co
m
Copyrigh
t
© 20
10 Po
i
nt
Grey Re
se
ar
ch Inc.
All R
i
ghts
Rese
rved.
2
Table of Contents
Table of Contents
3
List of Figures
5
List of Tables
5
1 Introduction
6
Grasshopper Overview
6
Image Acquisition
6
Image Processing
6
Camera and Device Control
7
Mechanics and Form Factor
7
Using this Manual
7
Camera Specifications
8
Spectral Response
9
Common CCD Artifacts
10
Dual Tap Sensor Information
10
System Requirements
10
Laptop / Notebook Considerations
11
Macintosh and Linux os Support
11
Controlling the Camera
11
Flycap Demo Program
11
Custom Applications Built with the Flycapture API
11
Third-Party Software Applications
11
Camera Control Command Registers
12
Handling Precautions and Camera Care
12
Case Temperature and Heat Dissipation
12
Camera Accessories
13
2 Camera Physical Properties
14
Physical Description
14
Camera Dimensions
15
Lens Setup and Compatibility
15
Figure 1: Dimensional Drawing
15
Dust Protection
16
Mounting
16
Using the Case
16
Using the Tripod Mounting Bracket
16
Infrared Cut-Off Filters
17
3 Camera Interface
18
IEEE-1394B Connector
18
Daisy Chaining
18
Figure 2: IEEE-1394B Connector Pin Configuration
18
Cables
19
Host Adapter Card
19
Camera Power
19
Table 1: IEEE-1394B Connector Pin Configuration
19
General Purpose Input/Output (GPIO)
20
Figure 3: GPIO Schematic
20
Table 2: GPIO Pin Assignments
20
GPIO Electrical Characteristics
21
Status Indicator LED
21
Table 3: Status Indicator LED Descriptions
21
4 Camera Operations and Features
22
General Camera Properties
23
Standard Data Formats, Modes and Frame Rates
23
Table 4: Supported Video Formats, Modes and Frame Rates
24
Frame Rates and Camera Bandwidth
25
Maximum Number of Cameras on a Single Bus
25
Exceeding Bandwidth Limitations Using Format_7 with Multiple Cameras
26
Calculating Maximum Possible Frame Rate
26
Dual Packet Mode
26
Customizable Data Formats and Modes
27
Table 5: Supported Partial Image (Format 7) Video Formats and Modes for GRAS-03K2C
28
Table 6: Supported Partial Image (Format 7) Video Formats and Modes for GRAS-03S3M
29
Table 7: Supported Partial Image (Format 7) Video Formats and Modes for GRAS-14S3C
30
Table 8: Supported Partial Image (Format 7) Video Formats and Modes for GRAS-14S5C
31
Table 9: Supported Partial Image (Format 7) Video Formats and Modes for GRAS-20S4C
32
Calculating Format_7 Frame Rates
34
Subsampling and Binning in Format_7
34
Table 10: Supported Partial Image (Format 7) Video Formats and Modes for GRAS-50S5C
34
Image Acquisition
35
Camera Power
35
Shutter
35
Gain
36
Auto Exposure
36
Extended Shutter Times
37
Table 11: Extended Shutter Minimum and Maximum Times
37
Automatic Inter-Camera Synchronization
38
Frame Rate Control
38
Pixel Binning and Region of Interest Modes
38
Y16 (16-Bit Mono) Image Acquisition
39
Asynchronous (External) Trigger Modes
39
Figure 4: Grasshopper External Trigger Timing Characteristics
40
On-Camera Frame Buffer
41
Figure 5: Relationship between Video Mode Change and Triggering
41
High Dynamic Range (HDR) Mode
42
Image Processing
42
Color and Greyscale Conversion
42
Lookup Table and Gamma
43
Saturation
44
Sharpness
44
White Balance
44
Image Flip / Mirror
45
Test Pattern
45
Figure 6: Test Pattern Sample Image (Mono and YUV Formats)
45
Embedded Image Information
46
Camera and Device Control
46
Voltage Sensor
46
Programmable Strobe Output
46
RS-232 Serial Port
46
Memory Channel Storage of Camera Settings
47
User Data Flash
47
Camera Upgrades
47
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
Appendix F: Revision History
59
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Getting Started
2 pages
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Point Grey Grasshopper Specifications
General
Operating Temperature
0°C to 50°C
Lens Mount
C-mount
Sensor Type
CMOS
Pixel Size
5.5 µm (depending on model)
Bit Depth
8, 10, 12, or 16-bit
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