Getting Started
Bumblebee
®
2
IEEE-1394a Stereo Vision Digital Camera System
The following items are included with your Bubblebee2
Development Accessory Kit
All Development Kits
• 4.5 meter, 6-pin to 6-pin IEEE-1394 cable
• IEEE-1394 OHCI PCI Host Adapter 3-port 400Mb/s card
• Hirose HR10 12-pin male GPIO connector pre-wired for easy triggering
• FlyCapture
®
SDK and Triclops SDK (C/C++ API and device drivers)
BumBleBee
®
2 SpecificationS
IEEE-1394 Connector
The Bumblebee
®
2 has a standard 6-pin IEEE-1394 connector that is used for data transmission, camera control and powering
the camera. The maximum 1394 cable length between any 1394 node (e.g. camera to PCI card, card to hub, etc.) is 4.5m, as
specified by the IEEE-1394 standard. Use standard, shielded twisted pair copper cables.
General Purpose Input/Output (GPIO)
The Bumblebee2 has a 12-pin Hirose HR10 (Mfg P/N: HR10A-10R-12SB) female circular connector on the back
of the case. Camera KIT contents include a pre-wired male connector; refer to the diagram below for wire color-
coding. Additional male counterparts (Mfg P/N: HR10A-10P-12P) can be purchased from Digi-Key (P/N: HR112-ND).
camera interface
Stereo image formatS
technical drawingS
Steady on
Receiving power and successful camera initialization
Steady on and very bright
Acquiring / transmitting images
Flashing bright, then brighter
Camera registers being accessed (no image acquisition)
Steady or slow flashing on and off
Camera firmware updated (requires power cycle),
or possible camera problem
StatuS led
12 PIN GPIO CONNECTOR
REAR VIEW
IEEE 1394A CONNECTOR
2-M3x4 DEEP
BOTTOM VIEW
1/4-20x6 DEEP
TRIPOD MOUNTING HOLE
66.0
47.4
22.3
WITH PROTECTIVE GLASS
3.8mm OR 6mm MICROLENS
STATUS LED
FRONT VIEW
157.0
120.0
36.0
Spectral reSponSe (Qe)
Color
Monochrome
For full sensor datasheets, visit
www.ptgrey.com/support/kb/index.asp?a=4&q=23
Diagram
Pin
Function
Description
1
IO0
Input / Output (default Trigger_Src)
2
IO1
Input / Output
3
IO2
Input / Output / RS232 Transmit (TX)
4
IO3
Input / Output / RS232 Receive (RX)
5
RTS
RS-232 Request to Send
6
CTS
RS-232 Clear to Send
7
TX
RS-232 Transmit (Output)
8
RX
RS-232 Receive (Input)
9, 10
GND
11
V
EXT
Voltage limit: 8-30V; Current limit: 1A
12
+3.3V
Power external circuitry up to a total of 150mA
To configure the GPIO pins, consult the “General Purpose Input / Output” section of the
PGR IEEE-1394 Digital Camera Register Reference
.
The Bumblebee2
GPIO pins are TTL 3.3V pins.
Inputs
can be configured to accept external trigger signals. When
configured as inputs, the pins are internally pulled high using weak pull-up resistors to allow easy triggering of the
camera by simply shorting the pin to ground (GND). The inputs are protected from both over and under voltage.
It is recommended, however, that they only be connected to 5V or 3.3V digital logic signals.
Outputs
can be
configured to send an output signal or strobe pulse. When configured as outputs, each line can sink 10mA of current.
1
2
3
4
5
6
7
8
9
10
11
12
The Bumblebee2 can be configured to output images from both sensors at the same time as pixel (byte) interleaved
stereo pairs using Format_7. Pixel interleaved images use a raw 16bit/pixel format, where the first byte is from the
left camera and the second from the right.
BB2-HIxxx
Mode
Pixel Format
Max Size
FPS
Description
3
Raw16 (16bpp)
1024x768
20
Pixel interleaved stereo image
BB2-xxx
3
Raw16 (16bpp)
640x480
48
Pixel interleaved stereo image
1
Use the PAN control to select the camera that is outputting images
Mode
Description
Frames Per Second
1.875
3.75
7.5
15
30
60
640x480 YUV411
•
•
•
•
•
•
640x480 YUV422
•
•
•
•
•
640x480 RGB
•
•
•
•
•
640x480 Y8
•
•
•
•
•
•
•
•
•
•
•
•
640x480 Y16
•
•
•
•
•
•
•
•
•
•
1024x768 YUV422
•
•
•
•
1024x768 RGB
•
•
•
1024x768 Y8
•
•
•
•
•
•
•
•
•
•
1024x768 Y16
•
•
•
•
•
•
•
•
•
•
BB2-COL
•
BB2-BW
•
BB2-HICOL
•
BBS-HIBW
Standard image formatS
SpECIfICatIon
BB2-03S2
BB2-08S2
Imaging Sensor
Sony
®
1/3” progressive scan CCD
ICX424 (648x488 max pixels)
ICX204 (1032x776 max pixels)
7.4μm square pixels
4.65μm square pixels
Baseline
12cm
Lens focal Length
2.5mm with 97° HFOV or 3.8mm with 66° HFOV or 6mm with 43° HFOV
a/D Converter
12-bit analog-to-digital converter
Video Data output
8, 16 and 24-bit digital data (see Supported Data Formats below)
frame Rates
48, 30, 15, 7.5, 3.75, 1.875 FPS
18, 15, 7.5, 3.75, 1.875 FPS
Interfaces
6-pin IEEE-1394a for camera control and video data transmission
Voltage Requirements
8-30V via IEEE-1394 interface or GPIO connector
power Consumption
2.5W at 12V
Gain
Automatic/Manual
Shutter
Automatic/Manual, 0.01ms to 66.63ms at 15 FPS
Gamma
0.50 to 4.00
trigger Modes
DCAM v1.31 Trigger Modes 0, 1, 3, and 14
Signal to noise Ratio
Greater than 60dB at 0dB gain
Dimensions
157mm x 36mm x 47.4mm
Mass
342 grams
Camera Specification
IIDC 1394-based Digital Camera Specification v1.31
Emissions Compliance
Complies with CE rules and Part 15 Class A of FCC Rules
operating temperature
Commercial grade electronics rated from 0° to 45°C
Storage temperature
-30° to 60°C
automatic Synchronization
Multiple Bumblebee2’s on the same 1394 bus automatically sync
fast frame Rates
Faster standard frame rates
Multiple trigger Modes
Bulb-trigger mode, overlapped trigger/transfer
Color Conversion
On-camera conversion to YUV411, YUV422 and RGB formats
Image processing
On-camera control of sharpness, hue, saturation, gamma, LUT
Embedded Image Info
Pixels contain frame-specific info (e.g. shutter, 1394 cycle time)
frame Rate Control
Fine-tune frame rates for video conversion (e.g. PAL @ 24 FPS)
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 settings
temperature Sensor
Reports the temperature near the imaging sensor
Camera Upgrades
Firmware upgradeable in field via IEEE-1394 interface.
Lens System
High quality microlenses protected by removeable glass system
accurate pre-Calibration
For lens distortions and camera misalignments
Stereo pair alignment
Left and right images aligned to within 0.1
1
pixel RMS error
Calibration Retention
Minimizes loss of calibration due to shock and vibration
1
Based on a stereo resolution of 640x480 and is valid for all camera models. Calibration accuracy will vary from camera to camera.
image acQuiSition
camera and deVice control
caliBration and mechanicS
