Interface File |
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Supported Since |
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Driver Notes |
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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 |
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Publishes standard 'ps_image_data_msg' | Done |
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Publishes shared memory message type PSYNC_SHDMEM_MSG_TYPE_IMAGE_DATA |
Done |
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Get/Set
Parameter ID | Description | Notes |
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800 | Activate coordinate frame identifier |
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1001 | Sensor identifier/serial-number the driver will connect to | |
501 | Sensor IP address |
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3700 | Stream packet size in bytes |
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3701 | Stream inter-packet delay in native timestamp counter units |
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1002 | Sensor mounting position X in meters |
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1003 | Sensor mounting position Y in meters |
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1004 | Sensor mounting position Z in meters |
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1005 | Sensor mounting orientation roll in radians |
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1006 | Sensor mounting orientation pitch in radians |
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1007 | Sensor mounting orientation yaw in radians |
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1103 | Shared memory queue key |
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1082 | Sensor source/native pixel format |
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1083 | Sensor source/native image width in pixels |
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1084 | Sensor source/native image height in pixels |
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1085 | Sensor source/native frames per second |
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1086 | Sensor source/native X offset in pixels | |
1087 | Sensor source/native Y offset in pixels | |
1100 | Sensor source/native image horizontal flip state |
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1101 | Sensor source/native image vertical flip state |
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1102 | Sensor source/native image 2x2 binning state |
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3712 | Sensor shutter duration time in microseconds |
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3714 | Sensor source image frame counter |
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1088 | Published pixel format |
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1089 | Published image width in pixels |
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1090 | Published image height in pixels |
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1091 | Published frames per second |
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1092 | Logged pixel format |
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1093 | Logged image width in pixels |
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1094 | Logged image height in pixels |
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1095 | Horizontal focal length in pixels |
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1096 | Vertical focal length in pixels |
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1097 | Horizontal optical center in pixels |
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1098 | Vertical optical center in pixels |
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1099 | Optics/sensor focal length in meters |
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3702 | External triggering enabled state |
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3703 | Trigger GPIO input channel |
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3704 | Trigger GPIO input channel polarity |
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3710 | Sensor's static Ethernet communication receive latency in microseconds |
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3705 | Time offset filter enabled state |
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3706 | Time offset filter frame buffer size in frames |
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3707 | Time offset filter outlier delta in microseconds |
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3708 | Current time offset filter's measurement standard deviation in microseconds |
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3709 | Current time offset filter's measurement in microseconds |
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3711 | Time offset filter running buffer enabled state |
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3713 | Record and Replay logging will uses native timestamp |
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3715 | Imaging mode where 0 means MODE_0, 1 means MODE_1, etc. |
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Fault behavior and DTCs
Fault description | DTC | Notes |
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Interface not available | DTC_NOINTERFACE |
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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 |
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Hardware ID |
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Firmware version(s) supported | Firmware: 1.40.3.1+ FlyCapture SDK: 2.8+ |
Public or private | Public |
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