Class trifinger_cameras::PylonDriver¶
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class PylonDriver : public robot_interfaces::SensorDriver<CameraObservation, CameraInfo>, public robot_interfaces::SensorDriver<CameraObservation, CameraInfo>¶
Driver for interacting with a camera via Pylon and storing images using OpenCV.
Public Functions
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PylonDriver(const std::string &device_user_id, bool downsample_images = false, Settings settings = Settings())¶
Connect to camera based on name.
When using this constructor, the camera calibration coefficients returned by get_sensor_info will be set to zero.
- Parameters:
device_user_id – “DeviceUserID” of the camera. Pass empty string to connect to first camera found (useful if only one camera is connected).
downsample_images – Not supported anymore. Must be to
false.settings – Settings for the camera.
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PylonDriver(const std::filesystem::path &camera_calibration_file, bool downsample_images = false, Settings settings = Settings())¶
Connect to camera based on calibration file.
The provided calibration file is expected to be in YAML format and contain the “camera_name” (= DeviceUserID) as well as calibration coefficients. The latter will be used in the CameraInfo returned by get_sensor_info.
- Parameters:
camera_calibration_file – Path to the camera calibration file.
downsample_images – Not supported anymore. Must be to
false.settings – Settings for the camera.
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~PylonDriver()¶
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virtual CameraInfo get_sensor_info() override¶
Get the camera parameters (image size and calibration coefficients).
Important: The calibration coefficients are only set if the driver is initialized with a calibration file (see constructor). Otherwise, they will be empty.
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virtual CameraObservation get_observation() override¶
Get the latest observation (image frame + timestamp of when the frame’s grabbed).
- Returns:
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PylonDriver(const std::string &device_user_id, bool downsample_images = false, Settings settings = Settings())
Connect to camera based on name.
When using this constructor, the camera calibration coefficients returned by get_sensor_info will be set to zero.
- Parameters:
device_user_id – “DeviceUserID” of the camera. Pass empty string to connect to first camera found (useful if only one camera is connected).
downsample_images – Not supported anymore. Must be to
false.settings – Settings for the camera.
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PylonDriver(const std::filesystem::path &camera_calibration_file, bool downsample_images = false, Settings settings = Settings())
Connect to camera based on calibration file.
The provided calibration file is expected to be in YAML format and contain the “camera_name” (= DeviceUserID) as well as calibration coefficients. The latter will be used in the CameraInfo returned by get_sensor_info.
- Parameters:
camera_calibration_file – Path to the camera calibration file.
downsample_images – Not supported anymore. Must be to
false.settings – Settings for the camera.
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~PylonDriver()
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virtual CameraInfo get_sensor_info() override
Get the camera parameters (image size and calibration coefficients).
Important: The calibration coefficients are only set if the driver is initialized with a calibration file (see constructor). Otherwise, they will be empty.
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virtual CameraObservation get_observation() override
Get the latest observation (image frame + timestamp of when the frame’s grabbed).
- Returns:
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PylonDriver(const std::string &device_user_id, bool downsample_images = false, Settings settings = Settings())¶