Technical Application Notes
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Technical Application Notes


 

 

Transitioning from Ladybug3 to Ladybug5

Transitioning from Ladybug3 to Ladybug5
Technical Application Note TAN2012008
Revised March 7, 2013

 

Subject

Technical Application Note (TAN2012008): Transitioning from Ladybug3 to Ladybug5

10362

Applicable Product(s)

  • Ladybug3
  • Ladybug5

 

Application Note Description

The purpose of this application note is to:

1. Answer some frequently-asked questions about transitioning from Ladybug3 to Ladybug5.

2. Outline the primary similarities and differences between the two cameras

3. Offer suggestions and pointers to users for migrating their custom applications from Ladybug3 to Ladybug5.

 

Questions about Upgrading from Ladybug3 to Ladybug5

Is Ladybug3 being discontinued?
No, there are no plans to discontinue Ladybug3 at this time. The new Ladybug5 provides the advantages of USB 3.1 and next-generation functionality.

What other hardware is needed to use Ladybug5?

Interface Card—The Ladybug5 requires a USB 3.1 PCIe host controller card compliant with the SuperSpeed USB Specification and the xHCI Specification. A host controller card is provided with the camera.

Cable—The Ladybug5 requires a USB 3.1 Type-A to Micro-B cable with locking screws. A 5 m cable is provided with the camera.

Power supply—Power must be provided through the 12-pin GPIO interface. The required input voltage is 12-24 V. A power supply and wiring harness is provided with the camera.

Mounting—Both a desktop and a tripod mount are provided with the camera.

Can I run Ladybug5 with my existing application?
The Ladybug SDK version 1.7 is required to run Ladybug5. This version of the SDK contains the following new features and enhancements:

  • Added support for USB3 drivers
  • Added ladybugGetGrabTimeout() call to API
  • Added PNG quick save option to toolbar in LadybugCapPro
  • Added support for Auto Shutter Range control
  • Added support for three Auto Exposure preset modes
  • Added keyboard shortcuts for zoom/pan functionality in LadybugCapPro
  • Added memory channel save/restore to API
  • Added environmental sensor support for Ladybug5
  • User interface modifications to new features

 

Using an earlier version of the Ladybug SDK with Ladybug5 is not supported.

Additionally, the Ladybug SDK contains several new example programs to support new the features of Ladybug5, including:

  • ladybugEnvironmentalSensors
  • ladybugPostProcessing
  • ladybugTranslate2dTo3d

How easy is it to migrate from FireWire to USB 3.1?
The Ladybug3 is a FireWire (IIDC-1394) camera while the Ladybug5 is a USB 3.1 camera. However, the IIDC-based control and status registers in the camera firmware, which are accessed by Point Grey’s Ladybug API, remain mostly the same between the cameras. As a result, upgrading an application from the Ladybug3 FireWire to the Ladybug5 USB 3.1 should be fairly straightforward.

Among the factors to consider are supported pixels formats and modes. The Ladybug5 offers a raw image format that has no on-camera image processing; all image processing is performed on the PC. This allows users to fine tune their output settings as a separate step after image acquisition.

How does the performance compare?
Data throughput on the IIDC-1394b bus is 800 Mb/s while on the USB 3.1 network it is 5 Gbit/s.

 

Ladybug5 Image Processing Pipeline

Image Processing

For both Ladybug3 and Ladybug5, when using Raw8 or JPEG8 pixel formats, some image processing is done on the camera during capture before being output to the PC. Additional post processing is then performed on the PC.

For Ladybug5 when using Raw12, RAW16, or JPEG12 pixel formats, most of the image processing is done on the PC. This processing is done as part of ladybugConvertImage(). This allows users to fine tune the output settings independently from image capture.

User access to adjusting the parameters for image processing is available in LadybugCapPro or via CSRs.

Description

Ladybug3

Ladybug5

8-bit Pixel Formats

On-Camera Processing

  • Gain
  • Black Level
  • Pixel Correction
  • White Balance
  • Gamma
  • Gain
  • Black Level
  • Pixel Correction
  • White Balance
  • Gamma

Post Processing on PC

  • Stitching
  • Fall off correction
  • Sharpening
  • Tone Mapping
  • Stitching
  • Fall off correction
  • Sharpening
  • Tone Mapping

12- or 16-bit Pixel Formats

On-Camera Processing

Not Supported

  • Pixel Correction

Post Processing on PC

Not Supported

  • Stitching
  • Fall off correction
  • Sharpening
  • Tone Mapping
  • Bayer Decoding
  • Gain
  • Black Level
  • White Balance
  • Gamma
  • EV Compensation

Data Format

Description

Ladybug3

Ladybug5

Image Data Formats

Raw8, Mono8, JPEG8

Raw8, Raw12, Raw16, JPEG8, JPEG12

Video Data Output

8-bit Raw Bayer digital data

8-, 12-, or 16-bit Raw or JPEG compressed

Resolution Full

1616 x 1232

2448 x 2048

Resolution Half

1616 x 616

2448 x 1024

Formats, Frame Rates, Image Sizes

Pixel Format

Ladybug3

Ladybug5

Frame Rate

Image Size

Frame Rate

Image Size

Full 
1616x1232

Half
1616x616

Full 
1616x1232

Half 
1616x616

Full 
2448x2048

Half 
2448x1024

Full 
2448x2048

Half 
2448x1024

Raw8

6.5

13

12 MB

6 MB

8

16

30 MB

15 MB

JPEG8 Comp

16

32

Variable

Variable

10

16

Variable

Variable

Raw12

 N/A

 N/A 

  N/A

 N/A 

5

10.5

45 MB

22.5 MB

JPEG12 Comp

  N/A

  N/A

  N/A

  N/A

10

16

Variable

Variable

Raw16

  N/A

 N/A 

 N/A 

  N/A

4

8

60 MB

30 MB

Shutter Range

Both Ladybug3 and Ladybug5 offer three preset shutter range modes to set the maximum shutter value:

  • Motion—maximum shutter is set to as short as possible to prevent motion blur. Best used outdoors or images may be too dark. This is the default.
  • Indoor—maximum shutter is slightly longer than the motion mode, for use in indoor applications.
  • Low Noise—maximum shutter is not restricted.

Auto Exposure Modes

Ladybug5 offers three preset modes for the auto exposure algorithm:

  • Bottom 50%—uses only the bottom 50% of the five side cameras and excludes the top camera from its calculations.
  • Top 50%—uses only top 50% of the five side cameras and includes the top camera in its calculations. This is the upside down version of the first mode, used when the camera is mounted upside down (for example, on a helicopter).
  • Full Image—uses the entire image of all six cameras for its calculations. This is the default.

For 8-bit pixel formats, the auto exposure modes are set for image capture. For 12- and 16-bit pixel formats, the auto exposure modes are set both for image capture and post processing on the PC.

 

Software Workflow

Image Acquisition

The Ladybug5 can be started and controlled in the same way as Ladybug3.

Stream Recording

The Ladybug5 has a much greater maximum bandwidth and the amount of data written to disk per second is substantially greater than Ladybug3. It is possible to greatly reduce the amount of data sent in JPEG modes by reducing the compression quality.

Image Processing and Stitching

The workflow for data formats with on-camera image processing remains the same. See the LadybugPanoStitch example for an example.

For data formats that do not perform image processing on-camera, see ladybugImageAdjustment.h in the \include directory for image processing parameters as well as usage instructions. In addition, the LadybugCapPro application provides a graphical interface to these parameters.

In both cases, ladybugConvertImage() prepares the image for output purposes, including JPEG decompression, Bayer demosaicing as well as image post processing.

Image Output

The image output functionality remains the same as LadybugCapPro 1.6. If a full resolution panoramic image is desired, it is recommended that an output size of 10000 x 5000 is used.

Image Size

For Ladybug3, the size of a single camera image after image conversion is 1616 x 1232.

For Ladybug5, the size of a single camera image after image conversion is 2448 x 2048.

If your software allocates its own memory for image conversion and texture updating, the amount of memory to be allocated should be 6 x W x H x (bytes per channel), where bytes per channel is 1 for 8-bit modes, 1.5 for 12-bit modes, and 2 for 16-bit modes.

For example, the memory size required to contain a JPEG8 image after conversion is:
Ladybug3 = 6 x 1616 x 1232 x 1 = 11945472 bytes
Ladybug5 = 6 x 2448 x 2048 x 1 = 30081024 bytes

 

Detailed Comparison between the Ladybug3 and Ladybug5

Mechanical Properties

Description

Ladybug3

Ladybug5

Digital Interface

9-pin 1394b 800 Mbit/s interface for camera control, power, and video data, with locking screws for secure connection

USB 3.1 for camera control and video data, with locking screws for secure connection

General Purpose I/O Ports

8-pin GPIO connector for external trigger, strobe output, serial port, or power

12-pin GPIO connector for external trigger input, strobe output, and power

IR Filter

The infrared cut-off filter used has the same transmittance properties

Dimensions

122 mm x 141 mm

149 mm x 179 mm

Optics

Six high quality 3.3 mm focal length lenses

Six high quality 4.4 mm focal length lenses

Case

Machined aluminum housing, anodized red or black; single unit, water resistant

Mass

2414 g

~2900 g

Mounting

The case is equipped with five M4 X 0.7 mounting holes on the bottom that can be used to attach the camera directly to the desktop mount, tripod adapter, or a custom mount

Desiccant

Not available

Desiccant plug to minimize moisture in the enclosure and prevent lens fogging

Transfer Rates

800 Mbit/s

5 Gbit/s

GPIO Properties

Pin

Ladybug3

Ladybug5

Function

Description

Function

Description

1

I1

Opto-isolated Input 
(default Trigger in)

OPTO_GND

Ground for opto-isolated IO pins

2

O1

Opto-isolated Output

I1

Opto-isolated Input 
(default Trigger in)

3

IO2

Input/Output/RS232 Transmit (TX)

O1

Opto-isolated Output

4

IO3

Input/Output/RS232 Receive (RX)

IO2

Input/Output

5

GND

Ground for bi-directional IO, VEXT, +3.3 V

+3.3 V

Power external circuitry up to 150 mA

6

OPTO_GND

Ground for opto-isolated IO pins

GND

Ground pin for bi-directional IO, VEXT, +3.3 V

7

VEXT

Allows camera to be powered externally

VEXT

Allows camera to be powered externally

8

+3.3 V

Power external circuitry up to 150 mA

VEXT

Allows camera to be powered externally

9

Not applicable

VEXT

Allows camera to be powered externally

10

Not applicable

OPTO_GND

Ground for opto-isolated IO pins

11

Not applicable

IO3

Input/Output

12

Not applicable

GND

Ground for bi-directional IO, VEXT, +3.3 V

Hardware/Electronics

Description

Ladybug3

Ladybug5

Sensors

Sony ICX274 CCD x 6

Sony ICX655 CCD x 6

Power Interface

via GPIO or FireWire interface

via GPIO

Power Consumption

7.2 W at 12 V

12-24 V, 13 W

A/D Converter

12-bit

Environmental Sensors

Temperature

Temperature, Barometer, Humidity, Accelerometer, Compass

LED

One general purpose status LED for monitoring camera power, initialization, and FireWire activity

One general purpose status LED for monitoring camera power, initialization, and USB 3.1 activity

Operating Temperature

0° to 45°C

Storage Temperature

-30° to 60°C

Relative humidity Operating

20 to 80% (no condensation)

Relative humidity Storage

20 to 95% (no condensation)

Field of view

>80% of full sphere

~90% of full sphere

Spherical Distance

Calibrated at 20 m

Calibrated from 2 m to infinity

Focus Distance

~200 cm. Objects have an acceptable sharpness from ~60 cm to infinity

Firmware

Description

Ladybug3

Ladybug5

Camera Specifications

IIDC v1.31

IIDC  v1.32

High Dynamic Range

Cycle 4 gain and exposure presets

External Trigger Modes

Trigger Modes 0, 1, 3, 14, 15

Gain

0 dB to 24 dB

0 dB to 18 dB

Gamma

0.50 to 4.00

Shutter Speed

0.01 ms to 4.2 seconds 
(extended shutter mode)

0.02 ms to 2 seconds 
(extended shutter mode)

Shutter Type

Global Shutter

Memory Channels

2 memory channels for custom camera settings

Flash Memory

512 KB

1 MB

Software, Driver, and System Support

Description

Ladybug3

Ladybug5

Driver Options

Point Grey FirePRO driver  or
Point Grey PGRCAM driver

Point Grey PGRxHCI driver

Bandwidth Management

Guaranteed bandwidth for all cameras on bus

USB 3.1 does not automatically manage bandwidth allocation

Camera Enumeration

Enumeration on the FireWire bus is supported natively by the OS

Enumeration on the Universal Serial Bus is supported natively by the OS

Ladybug SDK versions

1.3 Alpha 08+

1.7 Release X+

Recommended Operating Systems

Windows XP 32- or 64-bit
Windows Vista 32- or 64-bit
Windows 7 32- or 64-bit
Linux is not supported

Windows 7 64-bit
Linux is not supported

Software Requirements for Ladybug SDK

Microsoft Visual Studio 2005

CPU (recommended)

2 GHz Dual/Quad Core

3 GHz Dual/Quad Core

RAM (recommended)

2 GB

8 GB

 

Dimensions

Ladybug3 Dimensional Diagram

 

Ladybug5 Dimensional Diagram