Supported Sensors

Point Grey GigE

pointgrey-gige
V2.0.0-b.7
Ethernet
230

PolySync Configuration

  • Define the node in the SDF Configurator
  • Configure the sensor and system networking such that the sensor shows up in the ‘list all devices’ command or in the OEM FlyCapture GUI utility
  • Locate the sensor’s serial number, also listed from the -l command line argument
  • Copy serial number into the nodes Sensor 0 Identifier in the SDF Configurator
  • Run the Dynamic Driver interface

Driver Notes

  • The driver interface works on all PointGrey GigE vision sensors
  • PolySync ships with the tested version of FlyCapture SDK in the polysync/deps directory
    • It is expected that the user will install it manually or via the PolySync installer scripts
      • Installed to /usr/src/ by default
    • The flycap application can be used on Linux to per-configure the image-device
  • Performance is heavily affected by networking and system-level settings, the default PolySync SDF configuration has shown to work out of the box on most systems
  • To prevent image-data dropouts, set up your network according to this Point Grey article: https://www.ptgrey.com/KB/10016
  • Generic image resize operations are not supported without the use of an encoder, i.e. the only way to resize the image data is by using an encoder
  • Point Grey provides a Windows-only utility- GigE Configurator -to set the a persistent IP address
  • To change the cameras Region of Interest (ROI), update the X pixel offset and Y pixel offset parameters in the node’s SDF Configurator entry

Sensor Notes

Network Configuration

  • Most sensor’s can be assigned an IP address using the FlyCapture program’s force-IP button if your network is on the 169.254.X.X subnet
  • A static IP address and 9000 byte MTU/packet-size is highly recommended
  • Packet size and inter-packet delay values will vary largely between systems

    Command Line Options

  • List all available devices visible by the system’s networking

    • polysync-core-dynamic-driver -n SDF_ID -l

      External Triggering

  • If you want PolySync to support external triggering for the Teensy++ 2.0 USB board submit a request and PolySync can provide firmware.

    • Any 3-5 volt signal can be used

      Default SDF Configuration

  • Source image: 640×480 RGB24 at 10 FPS, X,Y offsets at 0,0

  • Logged image: 640×480 RGB24

  • Published image: 320×240 H264 at 10 FPS

    Publish/Subscribe

    Message Status Notes
    Publishes standard ‘ps_image_data_msg’ Done Publishing is disabled when published pixel format is set to PIXEL_FORMAT_INVALID
    Publishes shared memory message type PSYNC_SHDMEM_MSG_TYPE_IMAGE_DATA Done Publishing is disabled when output shared memory queue key is set to value 0

    Fault behavior and DTCs

    Fault description DTC Notes
    Interface not available DTC_NOINTERFACE Activated when the sensor specified in the SDF is not reachable;
    Activated when the sensor becomes unreachable during runtime

    Finding Region of Interest

    The Region of Interest (ROI) is the equivalent of the PolySync X and Y pixel offsets, parameters 1086 and 1087 respectfully. You can set the ROI to center the image or view/access the desired pixels within each frame. You can calulate the X and Y pixel offset using the Flycapture tool provided by PointGrey, this is installed along with PolySync. Start the tool with the command:

    $ flycap
    

    You will see a list of available GigE sensors that are connected to the ECU. If no devices are listed, please see Network Configuration above. Select the desired image device and press the Configure Selected button. FlyCapture The ROI settings are available within the Custom Video Modes tab. Here you can press the Center ROI button which will calulate the Left (X) and Top (Y) pixel offsets. The XY values should be added to the PolySync SDF Configurator. FlyCapture2

    Video Mode Descriptions

    This table is taken directly from the BlackflyTechnicalRefernce.pdf. BFly

    Interface Specification Docs

    Not available at the time of writing, since the interface is handled through a 3rd party SDK.

    Other Resources

  • Setting up multiple cameras in Linux

  • Setting up on ARM devices

  • Setting up on embedded systems

  • General Linux configuration

  • Setting up IP address

    Hardware Specification

    Manufacturer PointGrey
    Hardware ID Driver supports all GigE Cameras, Tested Blackly-BFLY-PGE-23S6C
    Firmware version(s) supported Firmware: 1.40.3.1+, FlyCapture SDK: 2.8+
    Public or private Public