PointGrey GigE – PolySync Support Center

Interface File	libps_pointgrey_gige_interface.so
Supported Since	V2.0.0-b.7
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 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 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

Configuring and Using the Device

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-dynamic-driver -n SDF_ID -l

PolySync Configuration

Configure sensor/system networking such that the sensor shows up in the 'list all devices' command or in FlyCapture GUI
Locate the sensor's serial number
Copy serial number into SDF configuration
Run driver

For more information check out the parsing sensor identifiers article.

External Triggering

Harbrick can provide firmware for Teensy USB 2.0++ if the customer wants to have PolySync-support external triggering (inquire here)

Any 3-5 volt signal can be used

Default SDF Configuration

Source image: 640x480 RGB24 at 10 FPS, X,Y offsets at 0,0
Logged image: 640x480 RGB24
Published image: 320x240 H264 at 10 FPS

Interface Requirements

Ethernet interface (optionally powered over PoE)

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

Get/Set

Parameter ID	Description	Notes
800	Activate coordinate frame identifier	Identifies the coordinate frame the driver is using for transformations (if any) Default value is PSYNC_COORDINATE_FRAME_PLATFORM
1001	Sensor identifier/serial-number the driver will connect to
501	Sensor IP address	Set by the driver once connected to the device (using the serial number)
3700	Stream packet size in bytes	Typically should be as large as possible, matching the network interface MTU size (9000 is recommended)
3701	Stream inter-packet delay in native timestamp counter units	This equates to the amount of time between data packets being transmitted by the sensor
1002	Sensor mounting position X in meters	Used when in the platform coordinate frame
1003	Sensor mounting position Y in meters	Used when in the platform coordinate frame
1004	Sensor mounting position Z in meters	Used when in the platform coordinate frame
1005	Sensor mounting orientation roll in radians	Used when in the platform coordinate frame
1006	Sensor mounting orientation pitch in radians	Used when in the platform coordinate frame
1007	Sensor mounting orientation yaw in radians	Used when in the platform coordinate frame
1103	Shared memory queue key	If non-zero, driver will provide a shared memory queue for its image data The image data is in the same pixel format as the source (see parameter ID 1082)
1082	Sensor source/native pixel format	This is the pixel format of the image data provided to the driver by the sensor The value maps to the enumerated type 'ps_pixel_format_kind', the default value is PIXEL_FORMAT_RGB24
1083	Sensor source/native image width in pixels	Starts at the X offset
1084	Sensor source/native image height in pixels	Starts at the Y offset
1085	Sensor source/native frames per second	Not used when external triggering is enabled
1086	Sensor source/native X offset in pixels
1087	Sensor source/native Y offset in pixels
1100	Sensor source/native image horizontal flip state	Value 0 means disabled, value 1 means enabled
1101	Sensor source/native image vertical flip state	Value 0 means disabled, value 1 means enabled
1102	Sensor source/native image 2x2 binning state	Value 0 means disabled, value 1 means enabled
3712	Sensor shutter duration time in microseconds	Value 0 means automatically set the shutter time to achieved the desired source frame rate The value maps to a 'ps_timestamp' type
3714	Sensor source image frame counter	Maintained by the driver Can be reset using get/set
1088	Published pixel format	This is the pixel format of the image data being published by the driver This can be used to encode the image data before publishing The value maps to the enumerated type 'ps_pixel_format_kind', the default value is PIXEL_FORMAT_H264
1089	Published image width in pixels	If not the same as the source image width, this value is used to specify a resize operation on the published image data
1090	Published image height in pixels	If not the same as the source image height, this value is used to specify a resize operation on the published image data
1091	Published frames per second	Can be used to decrease the published frames per second
1092	Logged pixel format	This is the pixel format of the image data being logged by the driver, when doing recording This can be used to encode the image data before logging The value maps to the enumerated type 'ps_pixel_format_kind', the default value is PIXEL_FORMAT_H264
1093	Logged image width in pixels	If not the same as the source image width, this value is used to specify a resize operation on the logged image data
1094	Logged image height in pixels	If not the same as the source image height, this value is used to specify a resize operation on the logged image data
1095	Horizontal focal length in pixels	Not used by the driver internally, but available for use by the customer
1096	Vertical focal length in pixels	Not used by the driver internally, but available for use by the customer
1097	Horizontal optical center in pixels	Not used by the driver internally, but available for use by the customer
1098	Vertical optical center in pixels	Not used by the driver internally, but available for use by the customer
1099	Optics/sensor focal length in meters	Not used by the driver internally, but available for use by the customer
3702	External triggering enabled state	Value 0 means disabled, value 1 means enabled When enabled, image capturing is trigger from the sensor's GPIO When enabled, no-data diagnostics are disabled
3703	Trigger GPIO input channel	Specifies the GPIO channel to use for external triggering Only used when external triggering is enabled
3704	Trigger GPIO input channel polarity	Value 0 means active-low, value 1 means active high Only used when external triggering is enabled
3710	Sensor's static Ethernet communication receive latency in microseconds	This value applies a time shift to the source image timestamp The value maps to a 'ps_timestamp' type
3705	Time offset filter enabled state	Value 0 means disabled, value 1 means enabled Time offset filter will synchronize the sensor's native hardware timestamp to the PolySync time domain when enabled This performs best when external triggering is enabled
3706	Time offset filter frame buffer size in frames	Specifies the number of frames to continuously monitor Time offset adjustments are stopped after this many frames are received by the driver, and running count is disabled Only used when time offset filter is enabled
3707	Time offset filter outlier delta in microseconds	This value sets the maximum time measurement 'jitter' allowed in the time offset filter Value 0 means the driver will automatically determine this value Only used when time offset filter is enabled
3708	Current time offset filter's measurement standard deviation in microseconds	Only used when time offset filter is enabled
3709	Current time offset filter's measurement in microseconds	Only used when time offset filter is enabled
3711	Time offset filter running buffer enabled state	Continuously adjust the time offset value when enabled Value 0 means disabled, value 1 means enabled
3713	Record and Replay logging will uses native timestamp	Value 0 means disabled, value 1 means enabled
3715	Imaging mode where 0 means MODE_0, 1 means MODE_1, etc.	Refer to table Blackfly Video Mode Descriptions below

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.

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.

Video Mode Descriptions

This table is taken directly from the BlackflyTechnicalRefernce.pdf.

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 - https://www.ptgrey.com/tan/10351
Setting up on ARM devices - https://www.ptgrey.com/tan/10357
Setting up on embedded systems - https://www.ptgrey.com/tan/10699
General Linux configuration - https://www.ptgrey.com/KB/10016
Setting up IP address - https://www.ptgrey.com/KB/10933

Hardware specification

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