®

STEREO VISION CAMERA SYSTEMS

1/3” Sony ® CCDs, BW or Color Pre-calibrated against distortion and misalignment

GPIO pins for trigger and strobe IEEE-1394 FireWire interface North America T +604.242.9937 E sales@ptgrey.com Europe T + 49 7141 488817-0 E eu-sales@ptgrey.com www.ptgrey.com

Software for plug and play use The Triclops Stereo SDK included with the Bumblebee2 and Bumble-bee XB3 supplies an assembly-optimized fast-correlation stereo core that performs Sum of Absolute Differences (SAD) stereo correlation. This method is known for its speed, simplicity and robustness, and generates dense disparity images. The Triclops SDK provides fl exible access to all image stages in the stereo processing pipeline, making it ideal for custom stereo processing approaches.

Triclops TM

Stereo SDK

The FlyCapture software development kit (SDK) for image acquisition and camera control is included with the Bumblebee2 and Bumblebee XB3. It is compatible with Microsoft ® Windows ® and includes a cam-era device driver, full software library with Application Programming Interface (API), demo programs and C/C++ example source code. The FlyCapture SDK also includes the PGRPRO ™ driver, which pro-vides enhanced debuging and diagnostics and allows 1394b devices to run at 800Mb/s.

FlyCapture ® SDK

The Development Accessory Kit includes commonly used IEEE 1394 cables, connectors and adaptor cards, to make use of the camera systems as easy as possible.

• 4.5 meter 1394a (BB2) or 1394b (BB XB3) cable with ferrites • Hirose HR10 male GPIO connector prewired

• 1394a 400Mb/s (BB2) or 1394b 800Mb/s (BB XB3) OHCI PCI Host Adapter 3-port card

• Triclops SDK, FlyCapture SDK, device drivers

Development Kit:

36 mm

157 mm

47.4 mm 37 mm

277 mm

41.8 mm

• Windows XP Service Pack 1• 512MB of RAM

• Intel ® Pentium 4 2.0GHZ or compatible processor • AGP video card with MB video memory

• 32-bit standard PCI slot required for IEEE-1394 card

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

Recommended System Confi guration:

Models BB2-03S2M/03S2C-XX Sony 1/3” CCD, BW or Color 0x480 at 48 FPS BB2-08S2M/08S2C-XX Sony 1/3” CCD, BW or Color 1024x768 at 20 FPS BBX3-13S2M/13S2C-XX

Sony 1/3” CCD, BW or Color 1280x960 at 16 FPS

Bumblebee ®

2

Bumblebee ®

XB3

Bumblebee ®

Specifi cations

T h e P o i n t G r e y R e s e a r c h , I n c . L o g o , G r a s s h o p p e r a n d F l y C a p t u r e a r e t r a d e m a r k s o r r e g i s t e r e d t r a d e m a r k s o f P o i n t G r e y R e s e a r c h , I n c . i n C a n a d a a n d o t h e r c o u n t r i e s .

Feb 2009

CAD models available at www.ptgrey.com/support/downloads.

Dimensional Drawings (in mm)Specifi cation BB2-03S2 BB2-08S2 BBX3

Sony ® 1/3” progressive scan CCD

Image Sensor Type ICX424 (8x488 max pixels) ICX204 (1032x776 max pixels) ICX445 (1280x960 max pixels) 7.4μm square pixels 4.65μm square pixels 3.75μm square pixels Baseline 12 cm 12 cm and 24 cm

Focal Lengths 2.5mm with 97° HFOV (BB2 only) or 3.8mm with 66° HFOV or 6mm with 43° HFOV

A/D Converter 12-bit analog-to-digital converter

White Balance Automatic / Manual (Color model) Manual (Color model)Frame Rates 48 FPS 20 FPS 16 FPS

Interfaces

6-pin IEEE-1394a for camera control and video data transmission 2 x 9-pin IEEE-1394b for camera control and video data transmit

4 general-purpose digital input/output (GPIO) pins 4 general-purpose digital input/output (GPIO) pins

Voltage Requirements 8-30V via IEEE-1394 interface or GPIO connector

Power Consumption 2.5W at12V 4W at 12V

Gain Automatic/Manual

Shutter Automatic/Manual, 0.01ms to 66.63ms at 15 FPS

Trigger Modes DCAM v1.31 Trigger Modes 0, 1, 3, and 14 DCAM v1.31 Trigger Modes 0, 1, 3, and 14Signal To Noise Ratio 60dB 54dB Dimensions 157 x 36 x 47.4mm 277 x 37 x 41.8mm Mass

342 grams 505 grams

Camera Specifi cation IIDC 1394-based Digital Camera Specifi cation v1.31

Lens mount 2 x M12 microlens mount 3 x M12 microlens mount

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

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

157.0120.0

36.0

FRONT VIEW STATUS LED

120.0

94.5

37.0

277.0

120.0

18.5

12.0

1394B CONNECTORS

GPIO CONNECTOR BACK VIEW

M3 CASE SCREWS

38.5

11.4

24.6

200.0

48.5

1.5

TOP VIEW 1.5

41.8

6.3

BOTTOM VIEW

6.0

66.0

M3X0.5 - 6H 20.0

1/4-20 UNC 6.0Bumblebee2

Bumblebee XB3

North America T +604.242.9937 E sales@ptgrey.com Europe T + 49 7141 488817-0 E eu-sales@ptgrey.com www.ptgrey.com下载本文