Technical Application Note

Technical Application Note
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
Technical Application Note TAN2014009
Revised June 25, 2014
1.1 Subject
Technical Application Note (TAN2014009): Streaming Point Grey USB 3.0 Cameras on Embedded
Systems
1.2 Applicable Product(s)

Point Grey USB 3.0 cameras
1.3 Application Note Description
In this technical application note, Point Grey provides a summary and instructions for getting USB 3.0
cameras to stream on ARM-based embedded boards. This document provides examples using two
popular USB 3.0 embedded boards: ODROID-XU and Arndale board. The benchmark results are very
impressive. Embedded boards are finally at a point where they can support high speed machine
vision applications.
PGR, the Point Grey Research, Inc. logo, FlyCapture, Digiclops, Blackfly, Dragonfly, Dragonfly Express, Cricket, Chameleon, Firefly, Flea, Grasshopper, Ladybug,
Scorpion Zebra and Triclops are trademarks or registered trademarks of Point Grey Research, Inc. in Canada and other countries.
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
1.4 System Configuration
ODROID-XU Board Specification
CPU
Exynos5 Octa Cortex™-A15 – 1.6 Ghz quad core
GPU
PowerVR SGX544MP3
RAM
2 Gbyte LPDDR3
Host Adaptor Driver
Operating System
Software
exynos-xhci
Ubuntu 13.10 with 3.4.67 linux kernel
FlyCap 2.6.3.3 Linux ARM
Samsung Exynos 5250 Arndale Board Specification
CPU
Exynos5 Octa Cortex™-A15 – 1.7 Ghz dual core
GPU
ARM Mali T-604
RAM
2 Gbyte DDR3
Hard Drive
SanDisk Extreme II SSD 480GB (SDSSDXP-480G)
Hard Drive Enclosure
Oyen Digital MiniPro 2.5-inch eSATA 6Gb/s, USB3.0 hard
drive enclosure
Host Adaptor Driver
xhci-hcd
Operating System
Software
Arndale raring server release 13.09 with 3.12 linux
kernel
FlyCap 2.6.3.3 Linux ARM
Camera Specification
Camera
Firmware
Revised 25-Jun-14
GS3-U3-23S6M (externally powered)
2.3.3.0
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
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Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
1.5 System Setup
1.5.1 ODROID-XU Getting Started
1. Ensure boot media, SW1-1 is set to OFF and SW2-2 is set to ON to boot from MicroSD card.
2. Download xUbuntu 13.10 image on a Linux PC running Ubuntu.
(http://www.odroid.in/Ubuntu_XU/20131025/)
3. Unpack it. (If it’s a .xz extension you can use xz -d image.img.xz on cmd line.)
4. Insert microSD card in the Ubuntu PC.
Note: Windows users can use Windows tool Win32DiskImager.exe to write image to SD card.
5. A good step is always to clear your destination media first.
dd if=/dev/zero of=/dev/sdX bs=4M
Note: /dev/sdX where X denotes the microSD card’s file storage.
6. Flash your image:
sudo dd if=image.img of=/dev/sdX bs=4M
7. Always type sync before removing the media to make sure that all data is written.
8. Download FlyCapture2 ARM hard float package (flycapture.2.6.3.2_armhf.tar.gz or newer).
9. Retrieve dependency using command “sudo apt-get install libglademm-2.4-dev”
10. Extract flycapture2 arm hard float package and run “flycap2-conf” as root.
11. Reboot ODROID-XU.
12. Go to flycapture2 arm hard float directory’s bin folder.
13. Run the command “export LD_LIBRARY_PATH=./../lib”
14. Start FlyCapture2 using command “./FlyCap2”
1.5.2 Arndale Board Getting Started
1. Download Linaro image arndale-raring_server_20131124-535.img.gz
(http://releases.linaro.org/13.11/ubuntu/arndale)
2. Insert microSD card in the Ubuntu PC.
3. Write image to a MicroSD card.
Note: useful Windows tool Win32DiskImager.exe can write image files to MicroSD
4. Download FlyCapture2 ARM hard float package (flycapture.2.6.3.2_armhf.tar.gz or newer).
5. Extract flycapture2 arm hard float package and run “flycap2-conf” as root.
6. Reboot.
7. Go to flycapture2 arm hard float directory’s bin folder.
8. Run the command “export LD_LIBRARY_PATH=./../lib”
9. Start FlyCapture2 using command “./FlyCap2”
Revised 25-Jun-14
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
3
Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
1.6 Benchmark Results
The following tables benchmark the performance of running Point Grey’s USB3 camera on ODROIDXU and Arndale board.
1.6.1 ODROID-XU
We used a console application that continuously captures images using Grasshopper3 GS3-U323S6M. The benchmark using the console application is shown below.
Enumerate
camera
Start
Start Capture
Monitor CPU
usage
Stop Capture
End
Console application for ODROID-XU
Requested Frame Rate
Processed Frame Rate
CPU Usage
Bandwidth
1280 x 960
Raw8
200 FPS
200 FPS
22%
234 MB/s
1792 x 960
Raw8
200 FPS
200 FPS
28%
328 MB/s
GS3-U3-23S6M benchmark result using ODROID-XU
Revised 25-Jun-14
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
4
Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
1.6.2 Arndale Board
We used a console application that continuously captures images using Grasshopper3 GS3-U323S6M.
Enumerate
camera
Start
Start Capture
Monitor CPU
usage
Save Image
to Disk
Stop Capture
End
Console application for Arndale Board
This is a typical solution for in-field system solution where the embedded board is portable and
capable of performing basic processing as well as image/data saving. The benchmark results using
the console application is shown below.
Requested
Frame Rate
Processed
Frame Rate
CPU
Usage
Bandwidth
1280 x 960
Raw8
200 FPS
200 FPS
24%
234 MB/s
1792 x 960
Raw8
200 FPS
200 FPS
28%
328 MB/s
1920 x 1280
Raw8
162 FPS
162 FPS
29%
356 MB/s
Image
Save Speed
190 MB/s
170 MB/s
176 MB/s
GS3-U3-23S6M benchmark result using Arndale Board
Revised 25-Jun-14
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
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Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
GS3-U3-23S6M running at 1280 x 960 resolution, 24% CPU usage
GS3-U3-23S6M running at 1280 x 960 resolution, Raw8 Pixel Format, approx. 200 fps

Revised 25-Jun-14
The speed of image saving is dependent on the hard drive. Typical
hard drive write speed is advertised with sequential write speed.
When benchmarking hard drives, one should use a file size similar to
the image size.
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
6
Point Grey Research TAN2014009

Streaming Point Grey USB 3.0 Cameras on Embedded Systems
At the time of writing this document, ODROID-XU officially supports
up to Linux kernel 3.4.67. Point Grey expects the CPU usage on the
ODROID-XU board to reduce by 50% when running Linux kernel 3.6 or
higher.
GS3-U3-23S6M running at 1280 x720 resolution, Raw8 Pixel Format, 24 fps
Revised 25-Jun-14
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
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Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
1.7 Troubleshooting
1.7.1 Image transfer fails to start when image size is bigger than 2MB
Cause: This is due to the fact that the USBFS buffer size is too small (16 MB by default). The following
command can be used to check usbfs_memory_mb size.
cat /sys/module/usbcore/parameters/usbfs_memory_mb
Solution: In order to get past this failure, users need to:
1. Download the kernel source code.
2. Change the line “static unsigned usbfs_memory_mb = 16;” in “drivers/usb/core/devio.c” to
“static unsigned usbfs_memory_mb = 1000;”.
3. After increasing the usbfs memory size, users can recompile and re-install the kernel.
1.7.2 Camera is detected but cannot stream
Cause: The USB3 bus power provided by the ARM board is not sufficient to power the camera.
Solution: Power the USB3 camera externally.
Revised 25-Jun-14
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
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Point Grey Research TAN2014009
Streaming Point Grey USB 3.0 Cameras on Embedded Systems
1.8 Additional Downloads and Support
Point Grey Research Inc. endeavors to provide the highest level of technical support possible to our
customers. Most support resources can be accessed through the Support section of our website.
Creating a Customer Login Account
The first step in accessing our technical support resources is to obtain a Customer Login Account. This
requires a valid name and email address. To apply for a Customer Login Account go to the Downloads
page.
Knowledge Base
Our Knowledge Base contains answers to some of the most common support questions. It is
constantly updated, expanded, and refined to ensure that our customers have access to the latest
information.
Product Downloads
Customers with a Customer Login Account can access the latest software and firmware for their
cameras from our Downloads page. We encourage our customers to keep their software and
firmware up-to-date by downloading and installing the latest versions.
Contacting Technical Support
Before contacting Technical Support, have you:
1. Read the product documentation and user manual?
2. Searched the Knowledge Base?
3. Downloaded and installed the latest version of software and/or firmware?
If you have done all the above and still can’t find an answer to your question, contact our Technical
Support team.
Revised 25-Jun-14
Copyright © 2014 Point Grey Research, Inc. All rights reserved.
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