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F L I R A D K

G etti n g St art e d

The information contained herein does not contain technology as

defined by EAR,15 CFR772, is publicly available, and therefore

not subject to EAR.

Geing Started guide for the FLIR ADK with USB, GMSL, and Ethernet Connector Options

Document Number: 102 013 105-2 -

Version: 140

Issue Date: June 2020

FLIR Systems OEM & Emerging

6769 Hollister Avenue

Goleta, CA 93117

Phone: +1.805.964.9797

www.lir.com

F L I R A D K

G e t ti n g St a rt e d

The information contained herein does not contain technology as

defined by EAR,15 CFR772, is publicly available, and therefore

not subject to EAR.

Table of Contents

1 Introduction .................................................................................................................................................................... 3

1.1 Revision History .................................................................................................................................................. 3

1.2 Reference Documents ...................................................................................................................................... 3

1.3 SCOPE 4 .........................................................................................................................................................................

1.4 BACKGROUND ...................................................................................................................................................... 4

2 USB Getting Started –................................................................................................................................................ 4

2.1 Connect and power the USB ADK ............................................................................................................. 4

2.2 FLIR Boson GUI .................................................................................................................................................... 5

2.3 External Sync ......................................................................................................................................................... 7

3 Ethernet Getting Started –...................................................................................................................................... 7

3.1 Connecting the Boson ethernet ADK to the computer . 7 ................................................................

3.2 Ubuntu Installation 8 ............................................................................................................................................

3.2.1 Robot Operating System ....................................................................................................................... 9

3.3 Windows Installation .................................................................................................................................... 10

3.4 Working with the Spinnaker API ........................................................................................................... 10

3.4.1 Accessing Boson Camera Feature Example ........................................................................... 10

3.4.2 Finding Node Names, Types and Enumeration Values ................................................... 11

4 GMSL – Getting Started ......................................................................................................................................... 12

4.1 Power Over Coax .............................................................................................................................................. 12

4.2 NVIDIA Drive Systems .................................................................................................................................. 14

4.3 Upgrading the GMSL Serializer to GMSL 2 ....................................................................................... 15

4.4 GMSL SerDes Data Transmission ........................................................................................................... 15

4.5 Sending Commands to the ADK over i2C .......................................................................................... 16

4.6 Sample I2C Functions for Teensy SOC ................................................................................................ 17

4.7 Data Format and Boson Settings for GMSL 1 ..................................................................................20

4.8 Interpreting the Multiplexed/ Double wide IR16 video .......................................................... 20

4.9 Syncing the Boson using GPIO pins of the SerDes ....................................................................... 20

5 ADK Latency ................................................................................................................................................................. 21

5.1 Microbolometer Thermal Time Constant ......................................................................................... 21

5.2 Progressive Video Output ........................................................................................................................... 22

F L I R A D K

G e t ti n g St a rt e d

The information contained herein does not contain technology as

defined by EAR,15 CFR772, is publicly available, and therefore

not subject to EAR.

5.3 ADK Video Processing Pipeline ............................................................................................................... 22

5.4 USB latency .......................................................................................................................................................... 24

5.5 GMSL latency ...................................................................................................................................................... 24

5.6 Ethernet latency ............................................................................................................................................... 24

6 Intrinsic Camera Calibration .............................................................................................................................. 25

6.1 Building a Calibration Target ................................................................................................................... 25

6.2 Running OpenCV algorithm ....................................................................................................................... 26