basler camera works

4 files changed, 26 insertions, 36 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 5a3c014..9630a72 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -15,14 +15,14 @@ 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)
 
 # --- Find frame grabber interfaces
-#find_package(FgLib5)
-#find_package(ClSerMe4)
+find_package(FgLib5)
+find_package(ClSerMe4)
 
 # --- Miscellanous packages
 find_package(PkgConfig)
@@ -101,6 +101,7 @@ if (PYLON_FOUND)
     set(uca_LIBS ${uca_LIBS} ${PYLON_LIBS})
 
     include_directories(${PYLON_INCLUDE_DIRS})
+    link_directories(/opt/pylon/lib64)
   endif()
 
 endif()
diff --git a/src/cameras/pylon_camera.cpp b/src/cameras/pylon_camera.cpp
index eafcf06..d27b6c4 100644
--- a/src/cameras/pylon_camera.cpp
+++ b/src/cameras/pylon_camera.cpp
@@ -8,24 +8,19 @@
 namespace {
 
   GrabAPI::IGrabber* pGrabber = 0;
-  //yat::Mutex* pImageMutex = NULL;
-  //yat::Condition* pImageCondition = NULL;
-  //yat::Mutex pImageMutex;
-  //yat::Condition pImageCondition(pImageMutex);
+  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);
+    yat::MutexLock lock(pImageMutex);
     delete image;
     image = newImage;
     imageCounter++;
-    std::cerr << "signal next image ready " << std::endl;
-    //pImageCondition.signal();
+    pImageCondition.signal();
   }
 
   void yat_exception_to_gerror(const yat::Exception& e, GError** error)
@@ -70,13 +65,9 @@ namespace {
 
 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<yat::IPlugInInfo*, yat::IPlugInFactory*> pp = 
       pm.load((std::string(lib_path) + "/libbaslerpylon.so").c_str());
@@ -91,7 +82,6 @@ void pylon_camera_new(const char* lib_path, const char* camera_ip, GError** erro
     pGrabber->initialize();
     pGrabber->set_image_handler(GrabAPI::ImageHandlerCallback::instanciate(handle_image));
     pGrabber->open();
-
   } 
   catch (const yat::Exception& e) {
     yat_exception_to_gerror(e, error);
@@ -146,6 +136,7 @@ void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error)
 
 void pylon_camera_get_bit_depth(guint* depth, GError** error)
 {
+  std::cerr << __func__ << std::endl;
   g_assert(pGrabber);
   try
   {
@@ -162,11 +153,10 @@ void pylon_camera_get_bit_depth(guint* depth, GError** error)
 void pylon_camera_start_acquision(GError** error)
 {
   g_assert(pGrabber);
-  //g_assert(pImageMutex);
   try
   {
     {
-      //yat::MutexLock lock(pImageMutex);
+      yat::MutexLock lock(pImageMutex);
       imageCounter = 0;
       currentImage = 0;
     }
@@ -194,24 +184,22 @@ void pylon_camera_stop_acquision(GError** 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);
+      yat::MutexLock lock(pImageMutex);
       g_assert(currentImage <= imageCounter);
 
       while (currentImage == imageCounter)
       {
         std::cerr << "wait for next image... " << currentImage << std::endl;
-        //pImageCondition.wait();
+        pImageCondition.wait();
       }
 
-      std::cerr << "grab next image " << currentImage << ", " << imageCounter << std::endl;
+      std::cerr << "grab next image " << currentImage << ", " << imageCounter 
+        << "; width: " << image->width() << ", height: " << image->height() << std::endl;
       g_assert(currentImage < imageCounter);
       currentImage = imageCounter;
-      //memcpy(*data, image->base(), image->width() * image->height() * 2);
+      memcpy(*data, image->base(), image->width() * image->height() * 2);
 
   }
   catch (const yat::Exception& e)
diff --git a/src/cameras/uca-pylon-camera.c b/src/cameras/uca-pylon-camera.c
index 82380bc..1bc8ee2 100644
--- a/src/cameras/uca-pylon-camera.c
+++ b/src/cameras/uca-pylon-camera.c
@@ -77,8 +77,6 @@ static GParamSpec *pylon_properties[N_PROPERTIES] = { NULL, };
 
 
 struct _UcaPylonCameraPrivate {
-    guint frame_width;
-    guint frame_height;
     guint bit_depth;
     gsize num_bytes;
 
@@ -99,6 +97,11 @@ UcaPylonCamera *uca_pylon_camera_new(GError **error)
     return NULL;
   }
 
+  pylon_camera_get_sensor_size(&priv->width, &priv->height, error);
+  if (*error) {
+    g_print("Error when calling pylon_camera_get_sensor_size %s\n", (*error)->message);
+    return NULL;
+  }
   return camera;
 }
 
@@ -115,7 +118,6 @@ static void uca_pylon_camera_start_recording(UcaCamera *camera, GError **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);
 }
 
@@ -125,14 +127,14 @@ static void uca_pylon_camera_grab(UcaCamera *camera, gpointer *data, GError **er
     UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
 
     if (*data == NULL) {
-        *data = g_malloc0(priv->frame_width * priv->frame_height * priv->num_bytes); 
+        *data = g_malloc0(priv->width * priv->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);
+    /*UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);*/
 
     switch (property_id) {
         default:
@@ -143,7 +145,7 @@ static void uca_pylon_camera_set_property(GObject *object, guint property_id, co
 
 static void uca_pylon_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec)
 {
-  printf("pylon_get_property\n");
+  fprintf(stderr, "pylon_get_property\n");
     UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
     GError* error = NULL;
 
@@ -152,13 +154,13 @@ static void uca_pylon_camera_get_property(GObject *object, guint property_id, GV
         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);
+            g_print("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);
+            g_print("pylon_get_property sensor height %d\n", priv->height);
             break;
 
             /*
@@ -170,7 +172,7 @@ static void uca_pylon_camera_get_property(GObject *object, guint property_id, GV
         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);
+            g_print("pylon_get_property depth %d\n", priv->bit_depth);
             break;
 
             /*
diff --git a/src/cameras/uca-pylon-camera.h b/src/cameras/uca-pylon-camera.h
index 2f441dc..eebf63c 100644
--- a/src/cameras/uca-pylon-camera.h
+++ b/src/cameras/uca-pylon-camera.h
@@ -19,7 +19,6 @@
 #define __UCA_PYLON_CAMERA_H
 
 #include <glib-object.h>
-
 #include "uca-camera.h"
 
 G_BEGIN_DECLS