IQinvision IQeye511 and why it's one of my favorites

The IQ511 I think is the capstone entry into the IQeye product set. The form factor was and still is unique: a boxy, flat camera body with a protruding lens. It's kinda cute!

At 1280x1024 this camera was probably a resolution monster at its launch in 2007.

It's got basically all the features of my favorite 7xx series, in a compact package, and captive terminals for power input so it can be run from solar. Best of all, they can be had now for around $40/$60 with/without lens.

It does have the problem with old firmware that requires Java applets to configure the motion windows and to load the live view in the main viewer page. However, remember that you can always use serverpush.html instead of appletvid.html to get a raw MJPEG stream in your browser.

My suggestion, if you are concerned about having a non-Java camera, is to buy the IQ541 or IQ542. However, keep in mind that the IQ54x line is the BASIC line and is missing some important integration/hacking features. See my blog entry on that.

Keep on hacking!

Not all IQeyes are equal (IQD4x, IQ04x, IQ54x)

What it seemed like, was that I could get the form factor of the IQ03x but without the H.264 functionality. Imagine my surprise when I saw the following in the flash status screen:

It's Linux! For the first time in my tech life, I will say that I was disappointed that they ran Linux, mostly because the Linux firmware is lacking many of the features that make IQeyes so enjoyable to toy with.

• No motion event triggers
• Cannot send motion events to FTP/etc
• Looks like they depend on ONVIF to monitor the image stream for motion event (?snap=spushn&pragma=motion also works)
• No downsample
• I really like this feature, basically the camera will do an onboard downscale for low bandwidth viewing.
• No subframes
• the 5xx, 7xx and 8xx series let you specify a GET string that shows you a small portion of the frame, ie ?wl=100&wt=100&ww=500&wh=400 which will show a 500x400 pixel window with the origin at 100x100px.
• Syslog functionality...absent
• FTP server on camera...absent...cannot customize webpages

Unless you are looking for very basic view functionality, you should shy away from the IQ54x, IQ04x, and IQD4x series, and instead go with 5xx, 7xx, 8xx series cameras for everything else. Unfortunately for a compact dome with those advanced features there doesn't seem to be many options in the previous generations, and you'll have to go with the newer R-series.

Tunneling live RTSP video on a port forwarded camera

There are some times where you may need to view live video on an IQeye H.264 camera that is behind a firewall.

Normally, the RTSP stream is accessible on port 554, which is fine if you have the ability to provision a public IP for each of your cameras.

But if you are behind a NAT, then the camera will have a port forwarding like port 8080 on the outside. How do you stream video if you cannot get to port 554 on the inside?

Use the RTSP over HTTP function in VLC!

First, configure VLC

1. Go to Tools -> Preferences
2. Click on the All radio button at the bottom
3. Search for RTSP
4. Select "Tunnel RTSP and RTP over HTTP"
5. Set the HTTP tunnel port to the port forwarded port of your IQeye camera (let's use 8080 in this case)

Open a Network Stream

Use the path /rtsp/now.mp4 instead of just /now.mp4.

1. Media-> Open Network Stream
2. Enter 'rtsp://<ip_of_your_camera>:8080/rtsp/now.mp4' as the address (8080 is the example we are using)
3. Click Play

Voila!

IQeye 3 Series Review

I recently picked up two IQ031S cameras, a model that supports full-motion H.264. I've always been a fan of the standard MJPEG IQeye cameras and wanted to try these ones out. They are the H.264 entry-level cameras featuring the Ambarella SoC solution running Linux. MSRP around $400-500 I think. I picked mine off eBay for about $100.

IQ031S Version V4.0/069(140501) Platform: 6b

At the time of this writing (late 2014), this model is still sold and supported, but some more interesting models like the Alliance-mini, and 7-series are more up-to-date in terms of hardware and features.

As usual with IQeye H.264 cameras, the streams are accessible with RTSP over HTTP tunneling (port 80)
rtsp://<camera_ip>/rtsp/now.mp4 primary stream
rtsp://<camera_ip>/rtsp/stream1 primary stream
rtsp://<camera_ip>/rtsp/stream2 secondary stream

When using this method, make sure you tell VLC to "tunnel RTSP over HTTP" in Settings, and set the tunnel port to 80 (or whatever your camera is on). See more on this in my "tunneling live video on a port forwarded camera" post.

Or directly with RTSP port 554
rtsp://<camera_ip>:554/now.mp4 primary stream
rtsp://<camera_ip>:554/stream1 primary stream
rtsp://<camera_ip>:554/stream2 primary stream

First Thoughts

My first thoughts are that the live motion with sound is amazing! It's a weird feeling to see live video when you are so used to MJPEGs low framerate. The keyframes seem to happen about every few seconds, and looking at the OID table for the camera, this is confirmed with the following:

OID	current value	default value	range	description
1.17.2.5	3000	1000		video iframe interval (ms) (read only)

It's a bit strange that the item is read-only but the value is not set to the default.

The form factor is nice. It's a compact camera, very similar to the IQeye 511 that I really like, but in a short bullet style housing, rather than being flat like the 511. The rear of the camera has a reset button and an Ethernet port. That's all. It must be powered over PoE.

The Ambarella SoC has some strange artifacting. In all conditions, the image always seems to lean toward a blue/purple tint. I feel like the color adjustment matrices programmed into the camera are not tuned properly for the sensor. Changing the white balance settings doesn't seem to help. There is no way to set spot white balance and point to that spot.

Telnet Interface

The camera does have a telnet interface, but most of the 'SET' commands from old cameras are not implemented. For example, I do not know how to set the camera to put the log output to a syslog server as on the older cameras. The new telnet command line seems more suited to setting OIDs. But if you're going to do that, you might as well use the HTTP request method (ie /set.oid?OidTR1.2.9.1.9.2=Whatever).

> show logging
Info: cmd_show_logging not yet implemented
ret=-1

So it looks like the developers haven't gotten around to adding logging features. See the post on "syslog logging for IQeye" to see the use-cases and benefits of the IQeye on-board logging feature.

The command "monitor" was added, which is basically the same as the "show" command, but runs in an infinite loop.

The netstat output is much more Linux-y, and this makes sense: the camera runs an embedded Linux.
>> netstat
Active Internet connections (servers and established)
Proto Recv-Q Send-Q Local Address           Foreign Address         State       
tcp        0      0 0.0.0.0:32008           0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:554             0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:943             0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:8080            0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:80              0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:21              0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:23              0.0.0.0:*               LISTEN      
tcp        0      0 0.0.0.0:2300            0.0.0.0:*               LISTEN      
tcp        0      0 192.168.16.137:36050    192.168.16.119:445      ESTABLISHED 
tcp        0      0 192.168.16.137:23       192.168.16.119:44090    ESTABLISHED 
tcp        0  24616 192.168.16.137:80       173.173.105.232:54754   ESTABLISHED 
udp        0      0 0.0.0.0:32768           0.0.0.0:*                           
udp        0      0 192.168.16.137:32769    209.118.204.201:123     ESTABLISHED 
udp        0      0 224.0.0.251:5353        0.0.0.0:*                           
udp        0      0 239.255.255.250:1900    0.0.0.0:*                           
udp        0      0 0.0.0.0:3702            0.0.0.0:*                           
Active UNIX domain sockets (servers and established)
Proto RefCnt Flags       Type       State         I-Node Path
unix  9      [ ]         DGRAM                      2348 /var/tmp/log
unix  2      [ ACC ]     STREAM     LISTENING       2372 /tmp/.imager_server
unix  2      [ ACC ]     STREAM     LISTENING       2385 /tmp/.trigger_server
unix  2      [ ACC ]     STREAM     LISTENING       2387 /tmp/.image_server
unix  2      [ ACC ]     STREAM     LISTENING       2438 /tmp/.audio_server
unix  2      [ ACC ]     STREAM     LISTENING       2477 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED     24646870 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED     24646869 
unix  3      [ ]         STREAM     CONNECTED     24639383 /tmp/.image_server
unix  3      [ ]         STREAM     CONNECTED     24639382 
unix  3      [ ]         STREAM     CONNECTED     24639381 /tmp/.imager_server
unix  3      [ ]         STREAM     CONNECTED     24639380 
unix  2      [ ]         DGRAM                    24639376 
unix  2      [ ]         DGRAM                      2670 
unix  2      [ ]         DGRAM                      2666 
unix  3      [ ]         STREAM     CONNECTED       2642 /tmp/.image_server
unix  3      [ ]         STREAM     CONNECTED       2639 
unix  3      [ ]         STREAM     CONNECTED       2641 /tmp/.imager_server
unix  3      [ ]         STREAM     CONNECTED       2638 
unix  3      [ ]         STREAM     CONNECTED       2637 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED       2636 
unix  3      [ ]         STREAM     CONNECTED       2631 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED       2630 
unix  2      [ ]         DGRAM                      2616 
unix  3      [ ]         STREAM     CONNECTED       2607 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED       2606 
unix  3      [ ]         STREAM     CONNECTED       2605 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED       2604 
unix  2      [ ]         DGRAM                      2498 
unix  3      [ ]         STREAM     CONNECTED       2494 /tmp/.trigger_server
unix  3      [ ]         STREAM     CONNECTED       2493 
unix  3      [ ]         STREAM     CONNECTED       2495 /tmp/.oid_server
unix  3      [ ]         STREAM     CONNECTED       2480 
unix  3      [ ]         STREAM     CONNECTED       2453 /tmp/.audio_server
unix  3      [ ]         STREAM     CONNECTED       2449 
unix  3      [ ]         STREAM     CONNECTED       2425 /tmp/.trigger_server
unix  3      [ ]         STREAM     CONNECTED       2424 
unix  3      [ ]         STREAM     CONNECTED       2408 /tmp/.image_server
unix  3      [ ]         STREAM     CONNECTED       2407 
unix  3      [ ]         STREAM     CONNECTED       2406 /tmp/.imager_server
unix  3      [ ]         STREAM     CONNECTED       2405 
unix  2      [ ]         DGRAM                      2401 
unix  3      [ ]         STREAM     CONNECTED       2404 /tmp/.image_server
unix  3      [ ]         STREAM     CONNECTED       2400 
unix  3      [ ]         STREAM     CONNECTED       2399 /tmp/.imager_server
unix  3      [ ]         STREAM     CONNECTED       2398 
unix  2      [ ]         DGRAM                      2351 

Image Sharpness

Even with sharpness set to "High" in the web UI, the actual OID for sharpness is not changed. They appear to be completely separate OIDs (1.2.3 and 1.2.40.2). The sharpness just never gets to the level I am used to on the older cameras unless I manually set OID 1.2.40.2 and make sure the Web UI sharpness is set to High.

http://cam_url/set.oid&oidTB1.2.40.2=0

sharpen 0/100

sharpen 100/100

sharpen 35/100

Again, it's a bit surprising that this is not exposed in the web UI.

Other

IQrecorder is completely absent from this camera. I think that IQinvision must have realized that their cameras are often used in centralized environments, so having onboard camera DVR wasn't as desireable as it once was, when megapixel cameras were a niche and expensive item where you'd own maybe 1-5 instead of a fleet of them.

Video recording always seems to record 3MB at a time and no more, I couldn't get this to work at all either with triggers to SMB drives, or FTP, or using the Direct-to-Storage "DTS" feature. But I like JPEG frames anyway :-)

No fine-grained motion windows, the window is broken into a series of squares in a grid. On older IQeye models, or models without H.264, this can be set to an exact pixel range.

If you plan on integrating your IQeye camera into a custom solution, then the IQeye 3 series is likely not a great choice. It is better suited to live viewing where you require real-time video.

One thing I noted about this camera in the current firmware version is that Dynamic Print variables are not supported in the text overlays. This is useful for things like putting the time of the camera's last trigger event into the image, for example. The syntax is $O(x.x.x.x) where x are the integers for the OID in question.

Another thing I noticed is that I cannot customize webpages over the built-in FTP server running on the camera. It actively refuses FTP connections, so you cannot play with the filesystem at all like you could with the older models. I looked for an OID or telnet command to enable this and could not find one. I was hoping to get access to the filesystem to see what those /tmp/.image_server etc files are (see netstat above) and what you can get from them.

One positive to note is that on the older cameras, you could choose to have a timelapse image taken automatically and uploaded OR you could do motion detection and event upload, but not both. The IQeye 3 series let's you do both!

Pros

• Fast interface
• Compact design
• Included mounting hardware
• Live motion with audio!
• Actively maintained firmware
• Supports HTTPS
• Supports SNMP
• Simultaneous timelapse and motion triggers
• Multiple streams
• Supports RTSP over HTTP tunneling for firewalled environments
• Windows File Share (SMB) destination support

Cons

• No privacy masks (the feature is completely absent)
• No scaling/subwindows (ie '?ds=2' not supported) you must always get a full res frame
• No motion-only data scraping (ie '?snap=spush1&pragma=motion&noimage')
• Little telnet functionality
• No spot-based white balance calibration
• Post-processing is spotty, JPEG still image quality not as good as MJPEG models
• Basic settings "hidden" in web UI, requires setting OIDs manually
• Logging facilities absent
• Gain method settings missing (clipaverage, peakdetect, darkdetect, average)
• Exposure window exclusions missing
• Changes in exposure settings and window require reboots
• Bitrate for both primary and secondary H.264 streams must be the same

New variable $MSE, and Dynamic Print variables on IQeye cameras

An interesting "Dynamic Print" or DP variable was added to the firmware for IQ8xx and IQ7xx cameras a few releases ago.

Dynamic Print variables are those that represent internal, and possibly dynamic, camera values, and can be used in filenames on triggers, inside of image captions, and on custom webpages that you write and upload to the camera.

This particular variable is pretty cool. It is:

$MSE = Milliseconds since epoch

One of the problems I had encountered with IQeye cameras is I was only able to set up rules to name trigger images with granularity to the second. This presents the following sorting problem:

Trigger sequences are supposed to go from negative numbers to positive ones, like trig-03, trig-02,  trig-01,  trig+00,  trig+01  trig+02. However, since the date comes before the trigger sequence number in the filenames, when an event "spans seconds", where the last set of images roll over into the next second, this plays havoc on the sorting.

In addition, there is no guarantee that your filemanager will put trig-03, trig-02,  trig-01,  trig+00,  trig+01  trig+02 in order, even by themselves.

Old

i.e.

File Path "$SH/$SD(%m)-$SD(%d)/$SD(%H)"

File Name "$ST.$FN"

This gives you folders with the camera MAC, with folders then dated by month and day, then folders by the hour, and then the default filenames for the JPEGs themselves.

00_1a_22_21_48/05-19/14/14_10_39.trig-02.jpg

New

i.e.

File Path "$SH/$SD(%m)-$SD(%d)/$SD(%H)"

File Name "$ST.$MSE.$FN"

00_1a_22_21_48/05-19/14/14_10_39.1400510841748.trig-02.jpg

This makes sure that images are sorted in the real order that they were taken.

Maybe other cameras have this variable as well, give it a try!

Does not work
IQ031s 4.0/069
IQeye3 V2.8/6(080313)

Works
IQ511 V2.8/6(080313)

IQ511 V2.8/10(110128)

IQ805 V3.0/9(101130)

IQ752 V3.0/4(091112)

Other variables

$SH	Your camera’s hardware address.
$SI	Your camera’s IP address.
$SN	Your camera’s name, as specified on the Network Settings page.
$ST	The current time (in 24-hour format: HH:MM:SS, ex: 16:05:20).
$SD	The current date (ex: Wed Feb 03 2010).
$SC	Company name (e.g. IQinVision).
$SP	Product name (e.g. IQeye752).
$SV	The version of operating software on your camera.
$SM	The domain name, as specified on the Network Settings page.
$FN	The name of the file that your camera is accessing.
$MSE	Milliseconds since epoch
$IMGDBG	Image debug data
$O(oidNumber)	Display an OID, like IP address (3.6.10) or the image focus value(1.2.25) or last trigger event time (1.3.20)

For time-based variables, you can use $SD in combination with the common strftime() UNIX time variables. Not all variables work. I may update this post to reflect that.

       %%     a literal %

       %a     locale's abbreviated weekday name (e.g., Sun)

       %A     locale's full weekday name (e.g., Sunday)

       %b     locale's abbreviated month name (e.g., Jan)

       %B     locale's full month name (e.g., January)

       %c     locale's date and time (e.g., Thu Mar  3 23:05:25 2005)

       %C     century; like %Y, except omit last two digits (e.g., 21)

       %d     day of month (e.g, 01)

       %D     date; same as %m/%d/%y

       %e     day of month, space padded; same as %_d

       %F     full date; same as %Y-%m-%d

       %g     last two digits of year of ISO week number (see %G)

       %G     year of ISO week number (see %V); normally useful only with %V

       %h     same as %b

       %H     hour (00..23)

       %I     hour (01..12)

       %j     day of year (001..366)

       %k     hour ( 0..23)

       %l     hour ( 1..12)

       %m     month (01..12)

       %M     minute (00..59)

       %n     a newline

       %N     nanoseconds (000000000..999999999)

       %p     locale's equivalent of either AM or PM; blank if not known

       %P     like %p, but lower case

       %r     locale's 12-hour clock time (e.g., 11:11:04 PM)

       %R     24-hour hour and minute; same as %H:%M

       %s     seconds since 1970-01-01 00:00:00 UTC

       %S     second (00..60)

       %t     a tab

       %T     time; same as %H:%M:%S

       %u     day of week (1..7); 1 is Monday

       %U     week number of year, with Sunday as first day of week (00..53)

       %V     ISO week number, with Monday as first day of week (01..53)

       %w     day of week (0..6); 0 is Sunday

       %W     week number of year, with Monday as first day of week (00..53)

       %x     locale's date representation (e.g., 12/31/99)

       %X     locale's time representation (e.g., 23:13:48)

       %y     last two digits of year (00..99)

       %Y     year

       %z     +hhmm numeric timezone (e.g., -0400)

       %:z    +hh:mm numeric timezone (e.g., -04:00)

       %::z   +hh:mm:ss numeric time zone (e.g., -04:00:00)

       %:::z  numeric  time  zone  with  :  to necessary precision (e.g., -04,
       +05:30)

       %Z     alphabetic time zone abbreviation (e.g., EDT)

Have fun!

Embedded EXIF data in IQeye camera images

Exiftool is a PERL utility to read extra metadata from JPEG images. This metadata is often used to store things like camera attributes and even GPS data in modern consumer cameras including phone cameras.

Turns out IQeye cameras write some metadata to images.

Using EXIFtool to view JPEG metadata

$ exiftool -a 09_06_31.trig+00.jpg

Establishing Patterns

For images captured as part of a motion event (FTP'd direct from camera to NAS):

Comment                         : P..L0;exacq1400510841.748exacq
Comment                         : {"IQimage":{"sequence":529057,"time":1400510841748,"event":["motion"],"motionWindows":[2],"imgjdbg":" 291/020:20/480/005:081/107/07/4/50/70/20/17:06/07/06:d4"}}

The first comment, containing the garbage characters, is actually the MAC of the camera. Expressed in HEX, it's something like:

JPEG COM (7 bytes):
    0018: 00 50 1a 02 2c be 3b [.P..,.;]

3b is a product code. This is documented by IQinvision, and I am gathering a list of camera models.

You see that on motion events, there is some extra data after the MAC, flanked with 'exacq'.

If you noticed the curly braces, you may have thought that the second comment is JSON. You'd be right :-)

{
    "IQimage": {
        "sequence": 529057,
        "time": 1400510841748,
        "event": [
            "motion"
        ],
        "motionWindows": [
            2
        ],
        "imgjdbg": " 291/020:20/480/005:081/107/07/4/50/70/20/17:06/07/06:d4"
    }
}

Seems IQinvision has some clever engineers!

Complete Event Sequence

Here is the EXIF metadata for a complete motion event. The first 3 images are "prebuffer" as set in the camera so that we can see the lead-up to the motion event. Highlighted in green is the motion status across the sequence.

11_09_34.trig-03.jpg
Comment                         : P..L0;exacq1399046974.310exacq
Comment                         : {"IQimage":{"sequence":2315889,"time":1399046974310,"event":["none"],"imgjdbg":" 436/067:32/120/016:077/110/01/4/50/60/15/17:21/24/24:bb"}}

11_09_34.trig-02.jpg
Comment                         : P..L0;exacq1399046974.878exacq
Comment                         : {"IQimage":{"sequence":2315898,"time":1399046974878,"event":["none"],"imgjdbg":" 436/067:32/120/016:077/110/01/4/50/60/15/17:21/24/24:bb"}}

11_09_34.trig-01.jpg
Comment                         : P..L0;exacq1399046974.944exacq
Comment                         : {"IQimage":{"sequence":2315899,"time":1399046974944,"event":["none"],"imgjdbg":" 436/067:32/120/016:077/110/01/4/50/60/15/17:21/24/24:bb"}}

11_09_35.trig+00.jpg
Comment                         : P..L0;exacq1399046975.011exacq
Comment                         : {"IQimage":{"sequence":2315900,"time":1399046975011,"event":["motion"],"motionWindows":[1],"imgjdbg":" 436/067:32/120/016:077/110/01/4/50/60/15/17:21/24/24:bb"}}


The last image has the motion, and this is why the status changes. See also that the motion images include the exacq data (timecode) whereas non-motion trigger event JPEGs do not.

The fields are:

1. sequence - Not sure what this is based on, but it increments
2. time - precise time
3. event - type of event (none, trigger, motion)
4. imgjdbg - unknown

Timelapse Image Sequences

Comment                         : P..,�;
Comment                         : {"IQimage":{"sequence":2380675,"time":1402422546407,"event":["none"],"imgjdbg":" 274/020:16/960/013:083/097/01/4/50/70/20/17:08/09/07:e2"}}
Comment   

Manually Downloaded Images

So far, we've looked at images that are FTPd directly by the camera to storage, both on the periodic basis and motion event basis.

So, what happens if you download now.jpg when there is a trigger occurring in the image? In the case of using the http://camera/now.jpg feature of IQeye cameras.

Well, you also get trigger data!

$ exiftool -a now\ \(1\).jpg |grep Comment
Comment                         : P..,�;
Comment                         : {"IQimage":{"sequence":20980184,"time":1404396373253,"event":["motion"],"motionWindows":[7],"imgjdbg":" 298/016:22/480/008:085/099/01/4/55/70/20/17:06/09/06:47"}}

$ exiftool -a now\ \(2\).jpg |grep Comment
Comment                         : P..,�;
Comment                         : {"IQimage":{"sequence":20980241,"time":1404396378202,"event":["motion"],"motionWindows":[6],"imgjdbg":" 298/016:22/480/008:085/099/01/4/55/70/20/17:06/09/06:47"}}

$ exiftool -a now\ \(3\).jpg |grep Comment
Comment                         : P..,�;
Comment                         : {"IQimage":{"sequence":20980453,"time":1404396395825,"event":["motion"],"motionWindows":[6],"imgjdbg":" 298/016:22/480/008:085/099/01/4/55/70/20/17:06/09/06:47"}}

Surprisingly, none of this is documented in the IQeye reference manuals...and I've been very impressed with their customer service and documentation. I've reached out to them for some more explanation of what that imgjdbg tag is.

Do I have a bad imager?

This is a technical article.

Testing your imager using telnet

IQeye cameras have the capability for the user to test the imager without involving the JPEG encoding hardware. This is done by running a command in the telnet environment.

Make sure the camera is not accessible by viewers, as this will conflict with an accurate imager reading.

1. Log into the camera over telnet, in a terminal. Set 'user' as the username, though this doesn't matter at all
   telnet <ip of camera>Username> user
2. Escalate to the privileged user
   Local_2> set privileged
3. Enter password "system" by default, you'll get the double-caret 
4. Local_2>> test framerate imager36 images in 5 seconds = 7.2 fps

You should get a framerate that matches the specs on your camera.
If your frame count is 0, even after resetting the camera, the imaging board is likely bad and will need to be replaced.

Here is a picture of the back of an imaging board for an IQ7xx series camera, and the front, showing the image sensor behind the movable IR filter.

The bottom circuit board of the camera plugs in perpendicularly into the exposed connector on the back of the imager board.

The IQ752 has a sliding-style IR filter assembly.