RAW3 Specification version 3.0wp12248909.server-he.ch/support/SDK/AOS RAW3 File Format v3.0.0… · AOS RAW3 File Format v3.0.0.docx Version 3.0.0 page 1/14 RAW3 Specification version

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A O S R A W 3 F i l e F o r m a t v 3 . 0 . 0 . d o c x V e r s i o n 3 . 0 . 0 p a g e 1 / 1 4

RAW3 Specification version 3.0.0

The RAW3 f i le is composed of a RAW3 f i le header, repeatedly fol lowed by an image

header and image data . I f the sequence is recorded with an S -Ser ies or a Q-Ser ies

camera, there are FPN coeff icients inserted between the RAW3 f i le header and the

f i r st image f rame header as shown in the fol lowing f igure . For non Q- or S-Ser ies

cameras the Fi le Header is fol lowed by the image data header of image 1.

RAW3 Fi le Header

(4096 bytes)

Image Data Header of Image 1

Image Data of Image 1

…

FPN Coeff icients (16Bit)

(S-Ser ies: 5’308’416 bytes)

(Q-Ser ies: 17’400’960 bytes)


Image Data of Image 2




RAW3 File Header

The RAW3 f i le header has a s ize of 4096 bytes according to the fol lowing definit ion:

Name Offset

[byte]

Size

[byte]

Data

Type Description

File Signature 0 8 Byte[8]

0x52 0x41 0x57 0x56 0x33 0x00 (hex

values for null terminated ASCII string

"RAWV3" in network byte order)

File Version 8 8 uint64

1 = for v1.0 2 = for v2.0

11 = for v1.1 21 = for 2.1

111 = for v1.1.1 211 = for 2.1.1

File Creator 16 64 char[64] Name of the application, which

created this file

Camera Series 80 8 uint64

0: X-Series

1: S-Series

2: TRI-Series

3: Q-Series

4: Promon-Series

Camera Vendor Name 88 56 char[56] Name of the camera vendor

Camera Model Name 144 64 char[64] Name of the camera model

Camera ID 208 64 char[64] Serial number of the camera used to

create this recording

Camera Version 272 64 char[64] Version of the camera

Camera Firmware Version 336 64 char[64] Camera firmware version

Camera FPGA Version 400 64 char[64] Camera FPGA version

User Comment 464 512 char[512] User comment

Recording Date 976 16 char[16] recording date (YYYY-MM-DD)

Recording Time 992 16 char[16] recording time (hh:mm:ss[.msec])

Image Data Header Size 1008 8 uint64 Size of the Image Data Header

FPN Header Size 1016 8 uint64 Size of the FPN Header Table (FPN

coefficients)

Image Data Size 1024 8 uint64 Size of the Image Data (not used)

Color Filter Type 1032 1 Byte

Bayer pattern:

0: Mono

1: BG 2: RG 3: GB 4: GR

GR GB RG BG

Frame Type 1033 1 Byte Bit 0-3: FrameType 0: raw

Bit 4-7: reserved

OSD 1034 1 Byte 0: deactivated

1: activated

FPN 1035 1 Byte 0: deactivated

1: activated



Name Offset

[byte]

Size

[byte]

Data

Type Description

Pixel size 1036 4 uint32 pixelsize [µm]

Frame Count 1040 8 uint64 Number of frames in this file

Image Size 1048 8 uint64 Size of the Image Data including

Image Data Header

Frame Width 1056 4 uint32 Frame width in pixels

Frame Height 1060 4 uint32 Frame height in pixels

Sensor Frame Width 1064 4 uint32 Width of the frame on the sensor in

pixel

Sensor Frame Height 1068 4 uint32 Height of the frame on the sensor in

pixel

SyncSource 1072 4 uint32

0: internal sync

1: external sync

2: IRIG sync

Framerate 1076 4 uint32 actual recording rate fps

ShutterValue 1080 4 uint32 shutter time in microseconds,

0 if unknown

TimeSource 1084 4 uint32

0: None

1: Host Clock

2: Camera Clock

3: IRIG

Frame0 TimeStamp 1088 4 uint32 Unix Timestamp of Frame 0 in seconds

in the original recording

Frame0 SubSec 1092 4 uint32 Sub seconds of Frame 0 in units of

100ns in the original recording

T0 TimeStamp 1096 4 uint32

Unix Timestamp of trigger signal

detection in seconds in the original

recording (used if Image Data Header

Size is zero)1

T0 SubSec 1100 4 uint32

Sub seconds of trigger signal

detection in units of 100ns in the

original recording1

T0 FrameIndex 1104 8 uint64 Index of the T0 frame in this file, if

contained.

T0 Frame 1112 8 uint64 Index of T0 frame in the original

recording

Original Sequence Length 1120 8 uint64 Sequence length in the original

recording

Mark IN 1128 8 uint64 Mark IN of the original recording

Mark OUT 1136 8 uint64 Mark OUT of the original recording

BitCount 1144 4 uint32 Bits per pixel ( 5 / 8 / 10 )

BitMode 1148 2 uint16

0: low

1: mid

2: high

1 used if Image Data Header Size is zero



Name Offset

[byte]

Size

[byte]

Data

Type Description

Autoexposure 1150 2 uint16 0: deactivated

1: activated

Horizontal Flip 1152 2 uint16 0: deactivated

1: activated

Vertical Flip 1154 2 uint16 0: deactivated

1: activated

ImageRotation 1156 4 uint32 The Image Rotation Value [degree]

Eventmarkers 1160 2 uint16 0: deactivated

1: activated

Position Eventmarkers 1162 2 uint16

0: TopLeft

1: TopRight

2: BottomRight

3: BottomLeft

Number of Eventmarker

Channels 1164 4 uint32

Number of available Eventmarker

channels

OSD Mode 1168 2 uint16

000001: Enable Logo

000010: Enable Comment

000100: Enable Cameraname

001000: Enable Resolution / FPS

010000: Enable Frame-number / -time

100000: Enable IRIG-B Time

OSD Position 1170 2 uint16

0: TopLeft

1: TopRight

2: BottomRight

3: BottomLeft

OSD FontSize 1172 4 uint32 Font Size of the OSD

OSD Font 1176 40 char[40] Font Type of the OSD

OSD Font Style 1216 64 char[64] Font Style of the OSD

OSD Color 1280 40 char[40] Font Color of the OSD

ImageCorrection 1320 1 Byte

Bit 0: Enable/Disable

Bit 1: Saturation

Bit 2: Sharpen

Bit 3: Edge Enhancement

Bit 4: Brightness & Contrast Scaling

Bit 5: Manual White balance

Bit 6: Auto White balance

Red Channel 1321 1 Byte Red Channel Value

Green Channel 1322 1 Byte Green Channel Value

Blue Channel 1323 1 Byte Blue Channel Value

Brightness 1324 1 Byte Brightness

Contrast 1325 1 Byte Contrast

Gamma 1326 1 Byte Gamma

Saturation 1327 1 Byte Saturation

HDR 1328 1 Byte High Dynamic Range [%]



Name Offset

[byte]

Size

[byte]

Data

Type Description

Free 1329 2423

FREE

Promon header 3752 136 3752…3887 Reserved for promon

specific parameters

Free 3888 208 FREE



Fixed Pattern Noise FPN

FPN is that part of the image noise that does not change with t ime. Therefore thi s

k ind of noise can be removed. There are two sources for the FPN. Fi r st an individual

noise per pixel . These variat ions ar ise from variat ions in the ampl i f ier within each

pixel . The Second source comes f rom the column ampl i f iers . The second one, the

column noise, i s much more not iceable.

Fig. 1: uncorrected image with fixed pattern noise Fig. 2: image after removing fixed pattern noise

The cameras are cal ibrated under control led condit ions, and for each pixel

coeff icients (a, b and c) are calculated. With these FPN -coeff icients the FPN could

be removed using thi s formula:

Fig. 3: formula to remove FPN

Where i s the pixelvalue at posit ion i in the rawimage. i s the corrected

pixelvalue at posit ion i . are the FPN coeff icients at post ion i . are

constant values.



Relat ion between image size and coeff icient posi t ion

The FPN coeff icient data covers always the whole sensor , independent of the image

size. Therefore an offset must be calculated to get the corresponding coeff icients

for each imagepixel . The calculat ion of this offset depends on the camera model .

Coeff icient Data

coeffOff setX

co

eff

Off

se

tY

SensorF rame Wi dth

Se

nso

rFra

me

He

igh

t

SensorWi dth

Se

nso

rHe

igh

t

Fig. 4: fpn coefficient offset

Image Data



S-Ser ies

For the cameras from the S -ser ies al l the coeff icients (F ig. 3) don’t exi st . So the

f i r st term of the formula is always zero. The two constants and are both set to

1600. The coeff icient data start at index 2. The f i rst two 16 -bit values must be

ignored.

Index 0 1 2 3 4 5 6 7 …

P ixe l X X

P 0 P 0 P 1 P 1 P 2 P 2 …

Coeff ic ient c 0 b 0 c 1 b 1 c 2 b 2 …

Offset calculation

(

)

(

)

The sensors i ze i s 1296 x 1024 and the kernels i ze i s 24.

The sensorFrameWidth must be a mult iple of the kernels i ze .

Sample Code

const int sensorWidth = 1296; //horizontal sensor resolution const int sensorHeight = 1024; //vertical sensor resolution const int kernelSize = 24; //sensors kernel size const int coeffFactor = 1600; //constant fpn-coefficient factor //the next 3 values are just an example int sensorFrameWidth = 816; //rounded up image width int sensorFrameHeight = 600; //the image height int bitMode = 0; //bitMode 0 means lowGainMode, 1=middle, 2=high int posCoeff, posIn, posOut; int coeffOffSetX = sensorWidth / 2 - kernelSize * ceil(sensorFrameWidth / kernelSize / 2.0f); int coeffOffsetY = 2 * floor((sensorHeight - sensorFrameHeight + 1) / 4.0f); int lineStartOut = 0; int lineStartCoeff = coeffOffSetX + coeffOffsetY * sensorWidth + 1; //position of the //coefficient corresponding //to the first imagepixel for(int y=0; y<sensorFrameHeight; y++) { posOut = lineStartOut; posCoeff = lineStartCoeff; for(int x=0; x<sensorFrameWidth; x++, posOut++, posCoeff++) { posIn = iHeaderSize + 4 * (posOut / 4) - (posOut & 3) + 3; //swap 4 bytes //if inputvalue is saturated, no fpn correction is calculated (set output to fix value) //otherwise: Output = (Coeff0 * iMode + Coeff1 * Input) / coeffFactor output[posOut] = input[posIn] == 255 ? 255 : input[posIn] == 0 ? 0 : ByteClamp(((fpnCoeff_c[posCoeff] << bitMode) + fpnCoeff_b[posCoeff] * input[posIn]) / coeffFactor); } lineStartCoeff += sensorWidth; lineStartOut += sensorFrameWidth; }



Q-Series

The three constants (Fig. 3) are set to =22 0 , =2 1 2 and =28 .

Index 0 1 2 3 4 5 6 7 . .

P ixe l P 0 P 0 P 0 P 1 P 1 P 1 P 2 P 2 …

Coeff ic ient c 0 b 0 a 0 c 1 b 1 a 1 c 2 b 2 …

Offset calculation

(

)

(

)

The sensors i ze i s 1696 x 1710 and the kernels i ze i s 32.

The sensorFrameWidth must be a mult iple of the kernels i ze .

Sample Code for Q-Series cameras

const int sensorWidth = 1696; //horizontal sensor resolution const int sensorHeight = 1710; //vertical sensor resolution const int kernelSize = 32; //sensors kernel size const int coeffFactor_d = 1048576;//constant fpn-coefficient factor const int coeffFactor_e = 4096; //constant fpn-coefficient factor const int coeffFactor_f = 256; //constant fpn-coefficient factor //the next 2 values are just an example int sensorFrameWidth = 816; //rounded up image width int sensorFrameHeight = 600; //the image height int posCoeff, posIn, posOut; int coeffOffSetX = sensorWidth/2 + 1.5*kernelSize – ceil((sensorFrameWidth + 3*kernelSize) / (4.0f*kernelSize)) * 2*kernelSize; int coeffOffsetY = 2 * floor((sensorHeight - sensorFrameHeight + 1) / 4.0f); int lineStartOut = 0; int lineStartCoeff = coeffOffSetX + coeffOffsetY * sensorWidth; //position of the //coefficient corresponding //to the first imagepixel for(int y=0; y<sensorFrameHeight; y++) { posOut = lineStartOut; posCoeff = lineStartCoeff; for(int x=0; x<sensorFrameWidth; x++, posOut++, posCoeff++) { posIn = iHeaderSize + posOut //if input is saturated, no fpn correction is calculated output[posOut] = input[posIn] == 255 ? 255 : input[posIn] == 0 ? 0 : ByteClamp( (double)(fpnCoeff_c[posCoeff]) / coeffFactor_f + (double)(fpnCoeff_b[posCoeff]) / coeffFactor_e * input[posIn] + (double)(fpnCoeff_a[posCoeff]) / coeffFactor_d * input[posIn] * input[posIn]); } lineStartCoeff += sensorWidth; lineStartOut += sensorFrameWidth; }


A O S R A W 3 F i l e F o r m a t v 3 . 0 . 0 . d o c x V e r s i o n 3 . 0 . 0 p a g e 1 0 / 1 4

Image Data Header

TIMESTAMP_SECONDS Seconds of Camera time base (Unix Time)

TIMESTAMP_SUBSECONDS Subseconds of Camera time base

(0..9'999'999), Units of 100ns

IRIGB_TIMESTAMP_SECONDS Seconds of decoded IRIGB Time (Unix Time)

IRIGB_TIMESTAMP_SUBSECONDS Subseconds of decoded IRIGB Time

(0..9'999'999), Units of 100ns

EXPOSURE MEASUREMENT Exposure Measurement (0…1023)

ST1: State of STATUS1 line




ITV:

IRIG-B Time valid

0: No IRIG-B Time Signal available

1: IRIG-B Time valid

Important: The image header s i ze var ies between the camera ser ies. The

exact s i ze can be read out f rom the f i le header at the “Offset Image Data

Header” posit ion.

W ORD 1

W ORD 2

W ORD 3

W ORD 4

W ORD 5

W ORD 15



Sample Code for reading image data header

// framedata is a bytearray pointing to the image data header // get timestamp seconds __time32_t time; memcpy(&time, &frameData[0], 4); unsigned int frameSec = ntohl(time); // get timestamp subseconds unsigned int subSec1, subSec2, subSec3; subSec1 = frameData[5]; subSec2 = frameData[6]; subSec3 = frameData[7]; unsigned int frameSubSec = (subSec1 << 16) + (subSec2 << 8) + subSec3; // get IRIGB valid flag unsigned int IRIGTimeValid = frameData[12]; // get IRIGB timestamp seconds memcpy(&time, &frameData[8], 4); unsigned int IRIGFrameSec = ntohl(time); // get IRIGB timestamp subseconds subSec1 = frameData[13]; subSec2 = frameData[14]; subSec3 = frameData[15]; unsigned int IRIGFrameSubSec = (subSec1 << 16) + (subSec2 << 8) + subSec3; // get eventmarker info unsigned int eventMarkers = frameData[4] & 0xF;



5 Bit Image Data (only for X-Series and S-Series cameras)



8 Bit Image Data

Important for Q-Ser ies and Promon-Ser ies cameras:

The pixel sequence shown above 3 – 2 – 1 – 0 does not apply for the Q-Ser ies

cameras. The pixel sequence is exact ly opposite (0 – 1 – 2 – 3), which makes

the pixel rotat ion inside a 32Bit image data word unnecessary.



10 Bit Image Data (X-Series and S-Series cameras)

10 Bit Image Data (TRI-Series cameras)

Documents

RAW3 Specification version 3.0wp12248909.server-he.ch/support/SDK/AOS RAW3 File Format v3.0.0… · AOS RAW3 File Format v3.0.0.docx Version 3.0.0 page 1/14 RAW3 Specification version