From b5c90a21f289bb67c4806a8563d96fc674bba583 Mon Sep 17 00:00:00 2001 From: Volker Kaiser Date: Tue, 24 Apr 2012 08:53:21 +0200 Subject: pylon (basler) camera added --- src/cameras/pylon_camera.cpp | 232 +++++++++++++++++++++++++++++++++ src/cameras/pylon_camera.h | 26 ++++ src/cameras/uca-pylon-camera.c | 288 +++++++++++++++++++++++++++++++++++++++++ src/cameras/uca-pylon-camera.h | 75 +++++++++++ 4 files changed, 621 insertions(+) create mode 100644 src/cameras/pylon_camera.cpp create mode 100644 src/cameras/pylon_camera.h create mode 100644 src/cameras/uca-pylon-camera.c create mode 100644 src/cameras/uca-pylon-camera.h (limited to 'src/cameras') diff --git a/src/cameras/pylon_camera.cpp b/src/cameras/pylon_camera.cpp new file mode 100644 index 0000000..eafcf06 --- /dev/null +++ b/src/cameras/pylon_camera.cpp @@ -0,0 +1,232 @@ + +#include "pylon_camera.h" +#include +#include +#include +#include + +namespace { + + GrabAPI::IGrabber* pGrabber = 0; + //yat::Mutex* pImageMutex = NULL; + //yat::Condition* pImageCondition = NULL; + //yat::Mutex pImageMutex; + //yat::Condition pImageCondition(pImageMutex); + guint imageCounter = 0; + guint currentImage = 0; + GrabAPI::Image* image = NULL; + + void handle_image(GrabAPI::Image* newImage) + { + //g_assert(pImageMutex); + //g_assert(pImageCondition); + //yat::MutexLock lock(pImageMutex); + delete image; + image = newImage; + imageCounter++; + std::cerr << "signal next image ready " << std::endl; + //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 { + + //pImageMutex = new yat::Mutex; + //pImageCondition = new yat::Condition(*pImageMutex); + + 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_start_acquision(GError** error) +{ + g_assert(pGrabber); + //g_assert(pImageMutex); + 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); + //g_assert(pImageMutex); + //g_assert(pImageCondition); + sleep(1); + 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 << std::endl; + g_assert(currentImage < imageCounter); + currentImage = imageCounter; + //memcpy(*data, image->base(), image->width() * image->height() * 2); + + } + 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 new file mode 100644 index 0000000..8a474aa --- /dev/null +++ b/src/cameras/pylon_camera.h @@ -0,0 +1,26 @@ + +#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_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 new file mode 100644 index 0000000..82380bc --- /dev/null +++ b/src/cameras/uca-pylon-camera.c @@ -0,0 +1,288 @@ +/* Copyright (C) 2011, 2012 Matthias Vogelgesang + (Karlsruhe Institute of Technology) + + This library is free software; you can redistribute it and/or modify it + under the terms of the GNU Lesser General Public License as published by the + Free Software Foundation; either version 2.1 of the License, or (at your + option) any later version. + + This library is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser General Public License along + with this library; if not, write to the Free Software Foundation, Inc., 51 + Franklin St, Fifth Floor, Boston, MA 02110, USA */ + +#include +#include +#include +#include "uca-camera.h" +#include "uca-pylon-camera.h" +#include "pylon_camera.h" + + +/*#define HANDLE_PYLON_ERROR(err) \ + if ((err) != PYLON_NOERROR) { \ + g_set_error(error, UCA_PYLON_CAMERA_ERROR, \ + UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL,\ + "libpylon error %i", err); \ + return; \ + }*/ + +#define UCA_PYLON_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCameraPrivate)) + +G_DEFINE_TYPE(UcaPylonCamera, uca_pylon_camera, UCA_TYPE_CAMERA) + +/** + * UcapylonCameraError: + * @UCA_PYLON_CAMERA_ERROR_LIBPYLON_INIT: Initializing libpylon failed + * @UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL: General libpylon error + * @UCA_PYLON_CAMERA_ERROR_UNSUPPORTED: Camera type is not supported + * @UCA_PYLON_CAMERA_ERROR_FG_INIT: Framegrabber initialization failed + * @UCA_PYLON_CAMERA_ERROR_FG_GENERAL: General framegrabber error + * @UCA_PYLON_CAMERA_ERROR_FG_ACQUISITION: Framegrabber acquisition error + */ +GQuark uca_pylon_camera_error_quark() +{ + return g_quark_from_static_string("uca-pylon-camera-error-quark"); +} + +enum { + PROP_NAME = N_BASE_PROPERTIES, + N_PROPERTIES +}; + +static gint base_overrideables[] = { + PROP_SENSOR_WIDTH, + PROP_SENSOR_HEIGHT, + PROP_SENSOR_BITDEPTH, +// PROP_SENSOR_HORIZONTAL_BINNING, +// PROP_SENSOR_HORIZONTAL_BINNINGS, +// PROP_SENSOR_VERTICAL_BINNING, +// PROP_SENSOR_VERTICAL_BINNINGS, +// PROP_SENSOR_MAX_FRAME_RATE, +// PROP_ROI_X, +// PROP_ROI_Y, +// PROP_ROI_WIDTH, +// PROP_ROI_HEIGHT, +// PROP_HAS_STREAMING, +// PROP_HAS_CAMRAM_RECORDING, + 0 +}; + + +static GParamSpec *pylon_properties[N_PROPERTIES] = { NULL, }; + + +struct _UcaPylonCameraPrivate { + guint frame_width; + guint frame_height; + guint bit_depth; + gsize num_bytes; + + guint width; + guint height; +}; + + + +UcaPylonCamera *uca_pylon_camera_new(GError **error) +{ + UcaPylonCamera *camera = g_object_new(UCA_TYPE_PYLON_CAMERA, NULL); + UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera); + + pylon_camera_new("/usr/local/lib64", "141.52.111.110", error); + if (*error) { + g_print("Error when calling pylon_camera_new %s\n", (*error)->message); + return NULL; + } + + return camera; +} + +static void uca_pylon_camera_start_recording(UcaCamera *camera, GError **error) +{ + g_return_if_fail(UCA_IS_PYLON_CAMERA(camera)); + UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera); + + priv->num_bytes = 2; + pylon_camera_start_acquision(error); + +} + +static void uca_pylon_camera_stop_recording(UcaCamera *camera, GError **error) +{ + g_return_if_fail(UCA_IS_PYLON_CAMERA(camera)); + UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera); + pylon_camera_stop_acquision(error); +} + +static void uca_pylon_camera_grab(UcaCamera *camera, gpointer *data, GError **error) +{ + g_return_if_fail(UCA_IS_PYLON_CAMERA(camera)); + UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera); + + if (*data == NULL) { + *data = g_malloc0(priv->frame_width * priv->frame_height * priv->num_bytes); + } + pylon_camera_grab(data, error); +} + +static void uca_pylon_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec) +{ + UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object); + + switch (property_id) { + default: + G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec); + return; + } +} + +static void uca_pylon_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec) +{ + printf("pylon_get_property\n"); + UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object); + GError* error = NULL; + + switch (property_id) { + + case PROP_SENSOR_WIDTH: + pylon_camera_get_sensor_size(&priv->width, &priv->height, &error); + g_value_set_uint(value, priv->width); + printf("pylon_get_property sensor width %d\n", priv->width); + break; + + case PROP_SENSOR_HEIGHT: + pylon_camera_get_sensor_size(&priv->width, &priv->height, &error); + g_value_set_uint(value, priv->height); + printf("pylon_get_property sensor height %d\n", priv->height); + break; + + /* + case PROP_SENSOR_MAX_FRAME_RATE: + g_value_set_float(value, priv->camera_description->max_frame_rate); + break; + */ + + case PROP_SENSOR_BITDEPTH: + pylon_camera_get_bit_depth(&priv->bit_depth, &error); + g_value_set_uint(value, priv->bit_depth); + printf("pylon_get_property depth %d\n", priv->bit_depth); + break; + + /* + case PROP_HAS_STREAMING: + g_value_set_boolean(value, TRUE); + break; + + case PROP_HAS_CAMRAM_RECORDING: + g_value_set_boolean(value, priv->camera_description->has_camram); + break; + + case PROP_ROI_X: + { + guint16 roi[4] = {0}; + guint err = pylon_get_roi(priv->pylon, roi); + g_value_set_uint(value, roi[0]); + } + break; + + case PROP_ROI_Y: + { + guint16 roi[4] = {0}; + guint err = pylon_get_roi(priv->pylon, roi); + g_value_set_uint(value, roi[1]); + } + break; + + case PROP_ROI_WIDTH: + { + guint16 roi[4] = {0}; + guint err = pylon_get_roi(priv->pylon, roi); + g_value_set_uint(value, (roi[2] - roi[0])); + } + break; + + case PROP_ROI_HEIGHT: + { + guint16 roi[4] = {0}; + guint err = pylon_get_roi(priv->pylon, roi); + g_value_set_uint(value, (roi[3] - roi[1])); + } + break; +*/ + case PROP_NAME: + { + //char *name = NULL; + //pylon_get_name(priv->pylon, &name); + g_value_set_string(value, "TestName"); + //free(name); + } + break; + + default: + G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec); + break; + } +} + +static void uca_pylon_camera_finalize(GObject *object) +{ + /*UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object); + + if (priv->horizontal_binnings) + g_value_array_free(priv->horizontal_binnings); + + if (priv->vertical_binnings) + g_value_array_free(priv->vertical_binnings); + + if (priv->fg) { + if (priv->fg_mem) + Fg_FreeMem(priv->fg, priv->fg_port); + + Fg_FreeGrabber(priv->fg); + } + + if (priv->pylon) + pylon_destroy(priv->pylon); + */ + + G_OBJECT_CLASS(uca_pylon_camera_parent_class)->finalize(object); +} + +static void uca_pylon_camera_class_init(UcaPylonCameraClass *klass) +{ + GObjectClass *gobject_class = G_OBJECT_CLASS(klass); + gobject_class->set_property = uca_pylon_camera_set_property; + gobject_class->get_property = uca_pylon_camera_get_property; + gobject_class->finalize = uca_pylon_camera_finalize; + + UcaCameraClass *camera_class = UCA_CAMERA_CLASS(klass); + camera_class->start_recording = uca_pylon_camera_start_recording; + camera_class->stop_recording = uca_pylon_camera_stop_recording; + camera_class->grab = uca_pylon_camera_grab; + + for (guint i = 0; base_overrideables[i] != 0; i++) + g_object_class_override_property(gobject_class, base_overrideables[i], uca_camera_props[base_overrideables[i]]); + + pylon_properties[PROP_NAME] = + g_param_spec_string("name", + "Name of the camera", + "Name of the camera", + "", G_PARAM_READABLE); + + + for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++) + g_object_class_install_property(gobject_class, id, pylon_properties[id]); + + g_type_class_add_private(klass, sizeof(UcaPylonCameraPrivate)); +} + +static void uca_pylon_camera_init(UcaPylonCamera *self) +{ + self->priv = UCA_PYLON_CAMERA_GET_PRIVATE(self); +} + diff --git a/src/cameras/uca-pylon-camera.h b/src/cameras/uca-pylon-camera.h new file mode 100644 index 0000000..2f441dc --- /dev/null +++ b/src/cameras/uca-pylon-camera.h @@ -0,0 +1,75 @@ +/* Copyright (C) 2011, 2012 Matthias Vogelgesang + (Karlsruhe Institute of Technology) + + This library is free software; you can redistribute it and/or modify it + under the terms of the GNU Lesser General Public License as published by the + Free Software Foundation; either version 2.1 of the License, or (at your + option) any later version. + + This library is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser General Public License along + with this library; if not, write to the Free Software Foundation, Inc., 51 + Franklin St, Fifth Floor, Boston, MA 02110, USA */ + +#ifndef __UCA_PYLON_CAMERA_H +#define __UCA_PYLON_CAMERA_H + +#include + +#include "uca-camera.h" + +G_BEGIN_DECLS + +#define UCA_TYPE_PYLON_CAMERA (uca_pylon_camera_get_type()) +#define UCA_PYLON_CAMERA(obj) (G_TYPE_CHECK_INSTANCE_CAST((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCamera)) +#define UCA_IS_PYLON_CAMERA(obj) (G_TYPE_CHECK_INSTANCE_TYPE((obj), UCA_TYPE_PYLON_CAMERA)) +#define UCA_PYLON_CAMERA_CLASS(klass) (G_TYPE_CHECK_CLASS_CAST((klass), UFO_TYPE_PYLON_CAMERA, UfoPylonCameraClass)) +#define UCA_IS_PYLON_CAMERA_CLASS(klass) (G_TYPE_CHECK_CLASS_TYPE((klass), UCA_TYPE_PYLON_CAMERA)) +#define UCA_PYLON_CAMERA_GET_CLASS(obj) (G_TYPE_INSTANCE_GET_CLASS((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCameraClass)) + +#define UCA_PYLON_CAMERA_ERROR uca_pylon_camera_error_quark() +typedef enum { + UCA_PYLON_CAMERA_ERROR_LIBPYLON_INIT, + UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL, + UCA_PYLON_CAMERA_ERROR_UNSUPPORTED, +} UcaPylonCameraError; + +typedef struct _UcaPylonCamera UcaPylonCamera; +typedef struct _UcaPylonCameraClass UcaPylonCameraClass; +typedef struct _UcaPylonCameraPrivate UcaPylonCameraPrivate; + +/** + * UcaPylonCamera: + * + * Creates #UcaPylonCamera instances by loading corresponding shared objects. The + * contents of the #UcaPylonCamera structure are private and should only be + * accessed via the provided API. + */ +struct _UcaPylonCamera { + /*< private >*/ + UcaCamera parent; + + UcaPylonCameraPrivate *priv; +}; + +/** + * UcaPylonCameraClass: + * + * #UcaPylonCamera class + */ +struct _UcaPylonCameraClass { + /*< private >*/ + UcaCameraClass parent; +}; + +UcaPylonCamera *uca_pylon_camera_new(GError **error); + +GType uca_pylon_camera_get_type(void); + +G_END_DECLS + +#endif -- cgit v1.2.3