Application Programming Interface ================================= .. highlight:: c In the introduction we had a quick glance over the basic API used to communicate with a camera. Now we will go into more detail and explain required background to understand the execution model. Instantiating cameras --------------------- We have already seen how to instantiate a camera object from a name. If you have more than one camera connected to a machine, you will most likely want the user decide which to use. To do so, you can enumerate all camera strings with ``uca_plugin_manager_get_available_cameras``:: GList *types; types = uca_camera_get_available_cameras (manager); for (GList *it = g_list_first; it != NULL; it = g_list_next (it)) g_print ("%s\n", (gchar *) it->data); /* free the strings and the list */ g_list_foreach (types, (GFunc) g_free, NULL); g_list_free (types); Errors ------ All public API functions take a location of a pointer to a ``GError`` structure as a last argument. You can pass in a ``NULL`` value, in which case you cannot be notified about exceptional behavior. On the other hand, if you pass in a pointer to a ``GError``, it must be initialized with ``NULL`` so that you do not accidentally overwrite and miss an error occurred earlier. Read more about ``GError``\ s in the official GLib `documentation `__. Recording --------- Recording frames is independent of actually grabbing them and is started with ``uca_camera_start_recording``. You should always stop the recording with ``ufo_camera_stop_recording`` when you finished. When the recording has started, you can grab frames synchronously as described earlier. In this mode, a block to ``uca_camera_grab`` blocks until a frame is read from the camera. Grabbing might block indefinitely, when the camera is not functioning correctly or it is not triggered automatically. Triggering ---------- ``libuca`` supports three trigger modes through the "trigger-mode" property: 1. ``UCA_CAMERA_TRIGGER_AUTO``: Exposure is triggered by the camera itself. 2. ``UCA_CAMERA_TRIGGER_INTERNAL``: Exposure is triggered via software. 3. ``UCA_CAMERA_TRIGGER_EXTERNAL``: Exposure is triggered by an external hardware mechanism. With ``UCA_CAMERA_TRIGGER_INTERNAL`` you have to trigger with ``uca_camera_trigger``:: /* thread A */ g_object_set (G_OBJECT (camera), "trigger-mode", UCA_CAMERA_TRIGGER_INTERNAL, NULL); uca_camera_start_recording (camera, NULL); uca_camera_grab (camera, &buffer, NULL); uca_camera_stop_recording (camera, NULL); /* thread B */ uca_camera_trigger (camera, NULL); Grabbing frames asynchronously ------------------------------ In some applications, it might make sense to setup asynchronous frame acquisition, for which you will not be blocked by a call to ``libuca``:: static void callback (gpointer buffer, gpointer user_data) { /* * Do something useful with the buffer and the string we have got. */ } static void setup_async (UcaCamera *camera) { gchar *s = g_strdup ("lorem ipsum"); g_object_set (G_OBJECT (camera), "transfer-asynchronously", TRUE, NULL); uca_camera_set_grab_func (camera, callback, s); uca_camera_start_recording (camera, NULL); /* * We will return here and `callback` will be called for each newo * new frame. */ } Bindings -------- .. highlight:: python Since version 1.1, libuca generates GObject introspection meta data if ``g-ir-scanner`` and ``g-ir-compiler`` can be found. When the XML description ``Uca-x.y.gir`` and the typelib ``Uca-x.y.typelib`` are installed, GI-aware languages can access libuca and create and modify cameras, for example in Python:: from gi.repository import Uca pm = Uca.PluginManager() # List all cameras print(pm.get_available_cameras()) # Load a camera cam = pm.get_camerav('pco', []) # You can read and write properties in two ways cam.set_properties(exposure_time=0.05) cam.props.roi_width = 1024 Note, that the naming of classes and properties depends on the GI implementation of the target language. For example with Python, the namespace prefix ``uca_`` becomes the module name ``Uca`` and dashes separating property names become underscores. Integration with Numpy is relatively straightforward. The most important thing is to get the data pointer from a Numpy array to pass it to ``uca_camera_grab``:: import numpy as np def create_array_from(camera): """Create a suitably sized Numpy array and return it together with the arrays data pointer""" bits = camera.props.sensor_bitdepth dtype = np.uint16 if bits > 8 else np.uint8 a = np.zeros((cam.props.roi_height, cam.props.roi_width), dtype=dtype) return a, a.__array_interface__['data'][0] # Suppose 'camera' is a already available, you would get the camera data like # this: a, buf = create_array_from(camera) camera.start_recording() camera.grab(buf) # Now data is in 'a' and we can use Numpy functions on it print(np.mean(a)) camera.stop_recording() Integrating new cameras ======================= A new camera is integrated by `sub-classing `__ ``UcaCamera`` and implement all virtual methods. The simplest way is to take the ``mock`` camera and rename all occurences. Note, that if you class is going to be called ``FooBar``, the upper case variant is ``FOO_BAR`` and the lower case variant is ``foo_bar``. In order to fully implement a camera, you need to override at least the following virtual methods: - ``start_recording``: Take suitable actions so that a subsequent call to ``grab`` delivers an image or blocks until one is exposed. - ``stop_recording``: Stop recording so that subsequent calls to ``grab`` fail. - ``grab``: Return an image from the camera or block until one is ready. Asynchronous operation ---------------------- When the camera supports asynchronous acquisition and announces it with a true boolean value for ``"transfer-asynchronously"``, a mechanism must be setup up during ``start_recording`` so that for each new frame the grab func callback is called. Cameras with internal memory ---------------------------- Cameras such as the pco.dimax record into their own on-board memory rather than streaming directly to the host PC. In this case, both ``start_recording`` and ``stop_recording`` initiate and end acquisition to the on-board memory. To initiate a data transfer, the host calls ``start_readout`` which must be suitably implemented. The actual data transfer happens either with ``grab`` or asynchronously.