yarp-device-pylon

This is the pylon device for YARP. It supports the Basler cameras.

The Basler™ cameras currently compatible with YARP are:

• daa4200-30mci

1. License

---

This software may be modified and distributed under the terms of the BSD-3-Clause license. See the accompanying LICENSE file for details.

The pylonCamera device uses the pylon sdk, released under the pylon license. See the relative documentation for the terms of the license.

2. How to use Basler pylon cameras as a YARP device

2.1. Dependencies

Before proceeding further, please install the following dependencies:

• Nvidia JetPack ver 4.4.1 supported for Basler cameras.
• YARP 3.5 or greater
• pylon by Basler ver 7.1.0
• OpenCV ( + CUDA optional)

2.2. Build and install yarp-device-pylon

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<installation_path> ..
make
make install

In order to make the device detectable, add <installation_path>/share/yarp to the YARP_DATA_DIRS environment variable of the system.

Alternatively, if YARP has been installed using the robotology-superbuild, it is possible to use <directory-where-you-downloaded-robotology-superbuild>/build/install as the <installation_path>.

2.3. How to run pylonCamera driver

From command line:

yarpdev --device frameGrabber_nws_yarp --subdevice pylonCamera --name /right_cam --serial_number 1234567 --period 0.033 --width 640 --height 480 --rotation 90.0

or

yarpdev --from PylonConf.ini

Where PylonConf.ini:

device frameGrabber_nws_yarp
subdevice pylonCamera
name /right_cam
serial_number 1234567
period 0.033
width 640
height 480
rotation 90.0

This is instead the minimum number of parameters for running the device, the default nws is frameGrabber_nws_yarp:

yarpdev --device pylonCamera --serial_number 1234567

3. Device documentation

This device driver exposes the yarp::dev::IFrameGrabberImage and yarp::dev::IFrameGrabberControls interfaces to read the images and operate on the available settings. See the documentation for more details about each interface.

YARP device name	YARP default nws
pylonCamera	frameGrabber_nws_yarp

The parameters accepted by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
serial_number	-	int	-	-	Yes	Serial number of the camera to be opened
period	-	double	s	0.0333	No	Refresh period of acquistion from the camera in s	The cameras has a value cap for the acquisition framerate, check the documentation
rotation	-	double	degrees	0.0	No	Rotation applied from the center of the image	Depending the size requested some rotations are not allowed. The rotation worse the performance of the device. Allowed values: 0.0, 90.0, -90.0, 180.0.
width	-	uint	pixel	640	No	Width of the images requested to the camera	The cameras has a value cap for the width of the image that can provide, check the documentation. Zero or negative value not accepted
height	-	uint	pixel	480	No	Height of the images requested to the camera	The cameras has a value cap for the width of the image that can provide, check the documentation. Zero or negative value not accepted
rotation_with_crop	-	bool	-	false	No	The rotation, if the param is true, is obtained swapping x with y	The image will have a resolution swapper respect to what is requested

Suggested resolutions

resolution	carrier	fps
640x480	mjpeg	30
1024x768	mjpeg	30
1920x1080	mjpeg	30 (Xavier NX) - 20 (Nano)

4. Informations for developers

This page contains useful informations for developers.
Board install informations this page contains the procedure for install the Xavier board and Quark carrier.

Maintainers

This repository is maintained by:

	@Nicogene		@triccyx