Point Grey GigE

  • Interface Name

    pointgrey-gige

  • Supported Since

    V2.0.0-b.7

  • Sensor Communication Protocol

    Ethernet

  • PolySync Sensor Type

    230

  • PolySync Configuration

    * [Define the node](https://help.polysync.io/releases/2.0.7//articles/add-a-sensor-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](https://help.polysync.io/releases/2.0.7//articles/manually-startin…fined-in-the-sdf/)

  • 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

  • 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-dynamic-driver -n SDF_ID -l

    *External Triggering*

    – Harbrick can provide firmware for Teensy USB 2.0++ if the customer wants to have PolySync-support external triggering ((inquire here)[https://support.polysync.io/hc/en-us/requests/new])
    – 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:

    “`bash
    $ 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](https://help.polysync.io/releases/2.0.7//wp-content/uploads/2016/09/flycap-gui.png)

    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](https://help.polysync.io/releases/2.0.7//wp-content/uploads/2016/09/flycap-video-with-borders.png)

    *Video Mode Descriptions*

    This table is taken directly from the BlackflyTechnicalRefernce.pdf.

    ![BFly](https://help.polysync.io/releases/2.0.7//wp-content/uploads/2016/09/bfly-video-mode-descriptions.png)

    *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 Blackly-BFLY-PGE-23S6C |
    | Firmware version(s) supported | Firmware: 1.40.3.1+, FlyCapture SDK: 2.8+ |
    | Public or private | Public |