From 0b5720d0414f7e9f196664677899e999179a49f6 Mon Sep 17 00:00:00 2001 From: Volker Kaiser Date: Wed, 1 Aug 2012 14:06:50 +0200 Subject: extracted pylon_camera C-wrapper into own project; enhanced cmake build for pylon cameras --- cmake/FindPylon.cmake | 55 +++----- src/CMakeLists.txt | 9 +- src/cameras/pylon_camera.cpp | 289 ----------------------------------------- src/cameras/pylon_camera.h | 32 ----- src/cameras/uca-pylon-camera.c | 2 +- test/CMakeLists.txt | 14 ++ 6 files changed, 39 insertions(+), 362 deletions(-) delete mode 100644 src/cameras/pylon_camera.cpp delete mode 100644 src/cameras/pylon_camera.h diff --git a/cmake/FindPylon.cmake b/cmake/FindPylon.cmake index 142f432..be3ce85 100644 --- a/cmake/FindPylon.cmake +++ b/cmake/FindPylon.cmake @@ -3,45 +3,30 @@ # # Defines # -# PCO_FOUND - system has libpco -# PCO_INCLUDE_DIRS - libpco include directory -# PCO_LIBRARIES - pco library +# PYLON_FOUND - system has libpco +# PYLON_INCLUDE_DIR - libpco include directory +# PYLON_LIB - pco library -find_package(YAT) +# check for environment variable PYLON_ROOT +message("DEFINED PYLON ROOT $ENV{PYLON_ROOT}") +if (NOT "$ENV{PYLON_ROOT}" STREQUAL "") + message("PYLON_ROOT=$ENV{PYLON_ROOT}") + set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH}:$ENV{PYLON_ROOT}/lib") + set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH};$ENV{PYLON_ROOT}/lib64") + set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH};$ENV{PYLON_ROOT}/genicam/bin/Linux64_x64") + set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH};$ENV{PYLON_ROOT}/genicam/bin/Linux32_i86") -find_package(PackageHandleStandardArgs) -find_path(PYLON_DIRS include/pylon/PylonBase.h HINTS /opt/pylon ENV PYLON_ROOT) -set(GENICAM_ROOT ${PYLON_DIRS}/genicam) -set(PYLON_INCLUDE_DIRS ${PYLON_DIRS}/include ${GENICAM_ROOT}/library/CPP/include) + find_package(YAT) + find_package(PackageHandleStandardArgs) -# check for 32/64 bit -if (CMAKE_SIZEOF_VOID_P EQUAL 8) - set(PYLON_LIB_DIRS ${PYLON_DIRS}/lib64 ${PYLON_DIRS}/bin ${GENICAM_ROOT}/bin/Linux64_x64 - ${GENICAM_ROOT}/bin/Linux64_x64/GenApi/Generic) -else() - set(PYLON_LIB_DIRS ${PYLON_DIRS}/lib64 ${PYLON_DIRS}/bin ${GENICAM_ROOT}/bin/Linux32_i86 - ${GENICAM_ROOT}/bin/Linux32_i86/GenApi/Generic) -endif() - -find_library(PYLONBASE_LIB pylonbase PATHS ${PYLON_LIB_DIRS}) -find_library(PYLONUTILITY_LIB pylonutility PATHS ${PYLON_LIB_DIRS}) -find_library(PYLONGIGESUPP_LIB pylongigesupp PATHS ${PYLON_LIB_DIRS}) -find_library(GENAPI_LIB GenApi_gcc40_v2_1 PATHS ${PYLON_LIB_DIRS}) -find_library(GCBASE_LIB GCBase_gcc40_v2_1 PATHS ${PYLON_LIB_DIRS}) -set (PYLON_LIBS ${PYLONBASE_LIB} - ${PYLONUTILITY_LIB} - ${PYLONGIGESUPP_LIB} - ${GENAPI_LIB} - ${GCBASE_LIB} - ${YAT_LIB}) + find_path(PYLON_INCLUDE_DIR libpyloncam/pylon_camera.h) + find_library(PYLON_LIB pyloncam) -find_package_handle_standard_args(PYLON DEFAULT_MSG PYLON_LIBS PYLON_INCLUDE_DIRS) + message("INCLUDE ${PYLON_INCLUDE_DIR}") -find_package(PkgConfig) -pkg_check_modules(BASLER_PYLON baslerpylon>=0.1.0 REQUIRED) -MESSAGE(LIBRARY_DIRS ${BASLER_PYLON_LIBRARY_DIRS}) -find_library(BASLERPYLON_LIB baslerpylon PATHS ${BASLER_PYLON_LIBRARY_DIRS}) - -set (PYLON_LIBS ${PYLON_LIBS} ${BASLERPYLON_LIB}) + find_package_handle_standard_args(PYLON DEFAULT_MSG PYLON_LIB PYLON_INCLUDE_DIR) +else() + message("Environment variable PYLON_ROOT not found! => unable to build pylon camera support") +endif() diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 931ca9b..13d677a 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -15,7 +15,7 @@ set(cameras) set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake) # --- Find camera interfaces -#find_package(PCO) +find_package(PCO) find_package(PF) find_package(IPE) find_package(Pylon) @@ -96,13 +96,12 @@ if (PYLON_FOUND) option(HAVE_PYLON_CAMERA "Camera: Pylon based (Basler)" ON) if (HAVE_PYLON_CAMERA) - list(APPEND uca_SRCS cameras/uca-pylon-camera.c cameras/pylon_camera.cpp) + list(APPEND uca_SRCS cameras/uca-pylon-camera.c) list(APPEND uca_HDRS cameras/uca-pylon-camera.h) list(APPEND cameras "Pylon") - set(uca_LIBS ${uca_LIBS} ${PYLON_LIBS}) + set(uca_LIBS ${uca_LIBS} ${PYLON_LIB}) - include_directories(${PYLON_INCLUDE_DIRS}) - link_directories(/opt/pylon/lib64) + include_directories(${PYLON_INCLUDE_DIR}) endif() endif() diff --git a/src/cameras/pylon_camera.cpp b/src/cameras/pylon_camera.cpp deleted file mode 100644 index 094e3c8..0000000 --- a/src/cameras/pylon_camera.cpp +++ /dev/null @@ -1,289 +0,0 @@ - -#include "pylon_camera.h" -#include -#include -#include -#include - -namespace { - - GrabAPI::IGrabber* pGrabber = 0; - yat::Mutex pImageMutex; - yat::Condition pImageCondition(pImageMutex); - guint imageCounter = 0; - guint currentImage = 0; - GrabAPI::Image* image = NULL; - guint bytesPerPixel = 0; - - void handle_image(GrabAPI::Image* newImage) - { - yat::MutexLock lock(pImageMutex); - delete image; - image = newImage; - imageCounter++; - pImageCondition.signal(); - } - - void yat_exception_to_gerror(const yat::Exception& e, GError** error) - { - if (e.errors.size() == 2) - { - g_set_error(error, 0, 0, - "%s : %s : %s\n%s : %s : %s", - e.errors[0].reason.c_str(), - e.errors[0].desc.c_str(), - e.errors[0].origin.c_str(), - e.errors[1].reason.c_str(), - e.errors[1].desc.c_str(), - e.errors[1].origin.c_str()); - return; - } - if (e.errors.size() == 3) - { - g_set_error(error, 0, 0, - "%s : %s : %s\n%s : %s : %s\n%s : %s : %s", - e.errors[0].reason.c_str(), - e.errors[0].desc.c_str(), - e.errors[0].origin.c_str(), - e.errors[1].reason.c_str(), - e.errors[1].desc.c_str(), - e.errors[1].origin.c_str(), - e.errors[2].reason.c_str(), - e.errors[2].desc.c_str(), - e.errors[2].origin.c_str()); - return; - } - - g_set_error(error, 0, 0, - "%s : %s : %s", - e.errors[0].reason.c_str(), - e.errors[0].desc.c_str(), - e.errors[0].origin.c_str()); - } - -} - - -void pylon_camera_new(const char* lib_path, const char* camera_ip, GError** error) -{ - g_assert(!pGrabber); - try { - - yat::PlugInManager pm; - std::pair pp = - pm.load((std::string(lib_path) + "/libbaslerpylon.so").c_str()); - - yat::IPlugInObject* plugin_obj = 0; - pp.second->create(plugin_obj); - pGrabber = static_cast(plugin_obj); - - yat::PlugInPropValues values; - values["CameraIP"] = yat::Any(std::string(camera_ip)); - pGrabber->set_properties(values); - pGrabber->initialize(); - pGrabber->set_image_handler(GrabAPI::ImageHandlerCallback::instanciate(handle_image)); - pGrabber->open(); - } - catch (const yat::Exception& e) { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_set_exposure_time(gdouble exp_time, GError** error) -{ - g_assert(pGrabber); - try - { - pGrabber->set_exposure_time(yat::Any(exp_time)); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error) -{ - g_assert(pGrabber); - try - { - yat::Any exp_time_result; - pGrabber->get_exposure_time(exp_time_result); - *exp_time = yat::any_cast(exp_time_result); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - - -void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error) -{ - g_assert(pGrabber); - try - { - yat::Any w, h; - pGrabber->get_sensor_width(w); - pGrabber->get_sensor_height(h); - *width = yat::any_cast(w); - *height = yat::any_cast(h); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_get_bit_depth(guint* depth, GError** error) -{ - g_assert(pGrabber); - try - { - yat::Any bit_depth_result; - pGrabber->get_bit_depth(bit_depth_result); - *depth = yat::any_cast(bit_depth_result); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_get_roi(guint16* roi_x, guint16* roi_y, guint16* roi_width, guint16* roi_height, GError** error) -{ - g_assert(pGrabber); - g_assert(roi_x); - g_assert(roi_y); - g_assert(roi_width); - g_assert(roi_height); - try - { - GrabAPI::ROI roi = pGrabber->get_roi(); - *roi_x = roi.x; - *roi_y = roi.y; - *roi_width = roi.width; - *roi_height = roi.height; - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_set_roi(guint16 roi_x, guint16 roi_y, guint16 roi_width, guint16 roi_height, GError** error) -{ - g_assert(pGrabber); - try - { - GrabAPI::ROI roi(roi_x, roi_y, roi_width, roi_height); - pGrabber->set_roi(roi); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_get_gain(gint* gain, GError** error) -{ - g_assert(pGrabber); - try - { - yat::Any gain_result; - pGrabber->get_gain(gain_result); - *gain = yat::any_cast(gain_result); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_set_gain(gint gain, GError** error) -{ - g_assert(pGrabber); - try - { - pGrabber->set_gain(yat::Any(gain)); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_start_acquision(GError** error) -{ - g_assert(pGrabber); - guint bit_depth = 0; - pylon_camera_get_bit_depth(&bit_depth, error); - bytesPerPixel = 1; - if (bit_depth > 8) bytesPerPixel = 2; - if (bit_depth > 16) bytesPerPixel = 3; - if (bit_depth > 24) bytesPerPixel = 4; - try - { - { - yat::MutexLock lock(pImageMutex); - imageCounter = 0; - currentImage = 0; - } - pGrabber->start(); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_stop_acquision(GError** error) -{ - g_assert(pGrabber); - try - { - pGrabber->stop(); - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_grab(gpointer *data, GError** error) -{ - g_assert(pGrabber); - try - { - yat::MutexLock lock(pImageMutex); - g_assert(currentImage <= imageCounter); - - while (currentImage == imageCounter) - { - std::cerr << "wait for next image... " << currentImage << std::endl; - pImageCondition.wait(); - } - - std::cerr << "grab next image " << currentImage << ", " << imageCounter - << "; width: " << image->width() / bytesPerPixel << ", height: " << image->height() << std::endl; - g_assert(currentImage < imageCounter); - currentImage = imageCounter; - memcpy(*data, image->base(), image->width() * image->height()); - - } - catch (const yat::Exception& e) - { - yat_exception_to_gerror(e, error); - } -} - -void pylon_camera_delete() -{ - if (!pGrabber) - return; - - pGrabber->close(); - pGrabber->uninitialize(); - delete pGrabber; -} - diff --git a/src/cameras/pylon_camera.h b/src/cameras/pylon_camera.h deleted file mode 100644 index 89b450b..0000000 --- a/src/cameras/pylon_camera.h +++ /dev/null @@ -1,32 +0,0 @@ - -#ifndef _PYLON_CAMERA_H_ -#define _PYLON_CAMERA_H_ - -#include - -G_BEGIN_DECLS - -void pylon_camera_new(const gchar* lib_path, const gchar* camera_ip, GError** error); - -void pylon_camera_set_exposure_time(gdouble exp_time, GError** error); -void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error); - -void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error); -void pylon_camera_get_bit_depth(guint* depth, GError** error); - -void pylon_camera_get_roi(guint16* roi_x, guint16* roi_y, guint16* roi_width, guint16* roi_height, GError** error); -void pylon_camera_set_roi(guint16 roi_x, guint16 roi_y, guint16 roi_width, guint16 roi_height, GError** error); - -void pylon_camera_get_gain(gint* gain, GError** error); -void pylon_camera_set_gain(gint gain, GError** error); - -void pylon_camera_start_acquision(GError** error); -void pylon_camera_stop_acquision(GError** error); -void pylon_camera_grab(gpointer *data, GError** error); - -void pylon_camera_delete(); - -G_END_DECLS - -#endif - diff --git a/src/cameras/uca-pylon-camera.c b/src/cameras/uca-pylon-camera.c index 23aa1a3..6fef112 100644 --- a/src/cameras/uca-pylon-camera.c +++ b/src/cameras/uca-pylon-camera.c @@ -18,9 +18,9 @@ #include #include #include +#include #include "uca-camera.h" #include "uca-pylon-camera.h" -#include "pylon_camera.h" /*#define HANDLE_PYLON_ERROR(err) \ diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 873b85f..36a5fd3 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -33,6 +33,20 @@ include_directories( message("${CMAKE_CURRENT_SOURCE_DIR}") +if (HAVE_PYLON_CAMERA) + set(GENICAM_ROOT $ENV{PYLON_ROOT}/genicam) + # check for 32/64 bit + if (CMAKE_SIZEOF_VOID_P EQUAL 8) + set(PYLON_LIB_DIRS $ENV{PYLON_ROOT}/lib64 $ENV{PYLON_ROOT}/bin ${GENICAM_ROOT}/bin/Linux64_x64 + ${GENICAM_ROOT}/bin/Linux64_x64/GenApi/Generic) + else() + set(PYLON_LIB_DIRS $ENV{PYLON_ROOT}/lib64 $ENV{PYLON_ROOT}/bin ${GENICAM_ROOT}/bin/Linux32_i86 + ${GENICAM_ROOT}/bin/Linux32_i86/GenApi/Generic) + endif() + message("PYLON LIB DIRS ${PYLON_LIB_DIRS}") + link_directories(${PYLON_LIB_DIRS}) +endif() + add_executable(grab grab.c) add_executable(grab-async grab-async.c) -- cgit v1.2.3