Point Grey Research's IEEE-1394 (FireWire) Stereo Vision camera systems are provided as complete hardware and software packages. Every Point Grey Stereo Vision camera system includes a free copy of the FlyCapture SDK, which is used for image acquisition and camera control, and the Triclops SDK, which performs image rectification and stereo processing. Additional stereo vision software components are available at no extra cost: the Censys3D SDK, which is ideal for people tracking; and the Multiclops software, which allows integration of multiple cameras into a single coordinate system.

The Bumblebee®2 is the next generation Bumblebee® stereo vision camera. It provides a balance between 3D data quality, processing speed, size and price. Developed as a drop-in replacement for the original Bumblebee camera, the Bumblebee2 also features double the frame rate and a GPIO connector for external trigger and strobe functionality.    

l         Sensor: Two Sony 1/3" progressive scan CCDs, Color/BW

l         Resolution and FPS : 640x480 at 48FPS or 1024x768 at 18FPS

l         Lenses: 3.8mm (70° HFOV) or 6mm (50° HFOV) focal length

l         Calibration: Pre-calibrated to within 0.05 pixel RMS error

l         General Purpose IO: GPIO pins for external trigger / strobe

Additional Features and Specifications

Image Acquisition	12-bit analog-to-digital converter Multiple cameras on the same 1394 bus automatically sync Faster standard frame rates Overlapped trigger input, image acquisition and transfer
Image Processing	On-camera conversion to YUV411, YUV422 and RGB formats On-camera control of sharpness, hue, saturation, gamma Pixels contain frame-specific info (e.g. 1394 cycle time)
Camera and Device Control	Broadcast settings to all cameras on the same bus Auto and one-push white balance for easy color balancing Reports the temperature near the imaging sensor Monitors sensor voltages to ensure optimal image quality Fine-tune frame rates for video conversion (e.g. PAL, NTSC) Non-volatile storage of camera default settings and user data General purpose input/output pins for external device control Firmware upgradeable in field via IEEE-1394 interface.
Camera Calibration	Pre-calibrated for lens distortions and camera mis- alignments. The camera works straight out of the box, as it doesn't require in-field calibration and is guaranteed to stay calibrated. Images are aligned within 0.05 pixel RMS error. The calibration information is pre-loaded on the camera, allowing the software to retrieve the image correction information. This allows seamless swapping of the cameras, or retrieving the correct information when multiple cameras are on the bus. The calibration retention system prevents the unit from losing calibration when the device is subject to mechanical shock and vibration
BW vs Color	Benefits of Black & White Speed: BW models are slightly faster than color due to the time it takes the color model to convert stippled images into color images. Higher Resolution: Color is achieved by interpolating raw pixel values. Consequently, BW has higher resolution. Higher Fidelity: Due to the light collection methods used by color cameras, BW has higher fidelity. Benefits of Color Color Differentiation: Being able to differentiate between different colors could allow a mobile robot to, for example, distinguish a red ball from its surroundings. Color Texture Mapping: Users interested in using the device for 3D modeling will probably be interested in having full color texture maps.

l         Development Kit Contents

n         4.5 meter, 6-pin to 6-pin, IEEE-1394 cable

n         IEEE-1394 OHCI PCI Host Adapter 3-port 400Mbps card

n         Hirose HR10 12-pin male GPIO connector pre-wired for easy triggering

n         FlyCapture SDK and Triclops SDK (C/C++ API and device drivers)

l         Recommended System Configuration

n         Processor

u       Recommended – Intel Pentium® 4 2.0 GHz or compatible processor

u       Minimum – Intel Pentium III 800 MHz or compatible processor

n         Memory

u       Recommended – 512 MB RAM

u       Minimum - 256 MB RAM

n         AGP video card with 64 MB video memory (128 MB recommended)

n         32-bit standard PCI slot for the IEEE-1394 card

l         Supported operating system

n         Microsoft Windows 2000,XP,Vista

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

l         Emissions and RoHS Compliance

n         FCC / CE Compliance

n         This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference 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 accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in 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.

n         You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to operate this equipment.

l         RoHS / WEEE Compliance

n         This product is RoHS and WEEE compliant. .

Model and Part Numbers

*NOTE: One full KIT must be purchased prior to ordering individual cameras

Part Number	Description
BB2-03S2C-38	640x480 Color 3.8mm Bumblebee2 System
BB2-03S2C-60	640x480 Color 6mm Bumblebee2 System
BB2-03S2M-38	640x480 BW 3.8mm Bumblebee2 System
BB2-03S2M-60	640x480 BW 6mm Bumblebee2 System
BB2-08S2C-38	1024x768 Color 3.8mm Bumblebee2 System
BB2-08S2C-60	1024x768 Color 6mm Bumblebee2 System
BB2-08S2M-38	1024x768 BW 3.8mm Bumblebee2 System
BB2-08S2M-60	1024x768 BW 6mm Bumblebee2 System
BB2-DEVKIT	Bumblebee2 Development Accessory Kit
NOTES: First time users are required to purchase a Development Accessory Kit in addition to purchasing the initial camera.