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The PolySync Support Center is now just for submitting tickets to our support team. All articles and tutorials have been moved to the new PolySync Help Center and the content below will be removed shortly.

Thank you,
The PolySync Team

PointGrey GigE

                

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

  1. Configure sensor/system networking such that the sensor shows up in the 'list all devices' command or in FlyCapture GUI
  2. Locate the sensor's serial number
  3. Copy serial number into SDF configuration
  4. 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

MessageStatusNotes
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 IDDescriptionNotes
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 descriptionDTCNotes
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

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

 

 

 

 

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