To use this YARP device a GigE camera is required. Once connected, use the following commands to control the camera and receive images.
Depends on:
To run the device and connect to the camera, simply run:
yarpdev --device AravisGigE
If you want to test the device without an actual camera, you can use a fake Aravis camera:
yarpdev --device AravisGigE --fake
This YARP device returns a raw 8-bit image from the camera, to obtain a color image from the image, the stream has to be connected using the Bayer carrier to interpret the raw image as a RGB image. Given an AravisGigE device named /grabber and an input port named /v (from a viewer, for instance), the command to run to connect them is:
yarp connect /grabber /v udp+recv.bayer+order.gbrg
The control of the camera parameters is performed from the image port (/grabber by default ), through a RPC interface.
yarp rpc /grabber
Once there one can send command to the camera. The most common commands are: has, get and set.
With the has command one can query the device if it has some property. For instance, to check if the camera has zoom controls:
fgc has feat 16
With the ' get' command one can query the value of some property. For instance, to check the current gain value:
fgc get feat 9
With the set command one can change the value of some property. For instance, to set the zoom to the maximum value:
fgc set feat 16 100
These are the features currently available in YARP. To check which ones are supported by the camera, the has command can be used:
| Feature | Enum name | Enum value |
|---|---|---|
| Brightness | YARP_FEATURE_BRIGHTNESS | 0 |
| Exposure | YARP_FEATURE_EXPOSURE | 1 |
| Sharpness | YARP_FEATURE_SHARPNESS | 2 |
| White Balance | YARP_FEATURE_WHITE_BALANCE | 3 |
| Hue | YARP_FEATURE_HUE | 4 |
| Saturation | YARP_FEATURE_SATURATION | 5 |
| Gamma | YARP_FEATURE_GAMMA | 6 |
| Shutter | YARP_FEATURE_SHUTTER | 7 |
| Gain | YARP_FEATURE_GAIN | 8 |
| Iris | YARP_FEATURE_IRIS | 9 |
| Focus | YARP_FEATURE_FOCUS | 10 |
| Temperature | YARP_FEATURE_TEMPERATURE | 11 |
| Trigger | YARP_FEATURE_TRIGGER | 12 |
| Trigger delay | YARP_FEATURE_TRIGGER_DELAY | 13 |
| White Shading | YARP_FEATURE_WHITE_SHADING | 14 |
| Frame Rate | YARP_FEATURE_FRAME_RATE | 15 |
| Zoom | YARP_FEATURE_ZOOM | 16 |
| Pan | YARP_FEATURE_PAN | 17 |
| Tilt | YARP_FEATURE_TILT | 18 |
| Optical Filter | YARP_FEATURE_OPTICAL_FILTER | 19 |
| Capture size | YARP_FEATURE_CAPTURE_SIZE | 20 |
| Capture quality | YARP_FEATURE_CAPTURE_QUALITY | 21 |
| Mirror | YARP_FEATURE_MIRROR | 22 |
| Number of features | YARP_FEATURE_NUMBER_OF | 23 |
This is probably due to a bad configuration of the camera parameters. Try to increase the gain or exposure until the image starts looking brighter. For the 1.0.B06 lab, some values that work great are:
Gain: 10
Exposure: 32000
What you are receiving is the raw image of the camera. To obtain a color image from it you need to decode it using a Bayer filter. Follow the steps in the section Obtaining a color image from the device in this very same guide to fix it.
- GrabberControls2GuiGUI program