Merged PR 26069: changes for pylon 7.5 and 3D

pyproject.toml

@@ -1,5 +1,5 @@
 [build-system]
-requires = ["setuptools>=42", "swig>=4.0", "wheel"]
+requires = ["setuptools>=42", "swig>=4.2", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [tool.cibuildwheel]

samples/datacontainer_load.py

@@ -0,0 +1,68 @@
+# ===============================================================================
+# This sample shows how to access data containers.
+# This is needed when using 3D cameras, e.g., Basler blaze.
+# ===============================================================================
+import os
+from pypylon import pylon
+from pypylon import genicam
+
+import sys
+
+# This is used for visualization.
+import cv2
+import time
+
+# The exit code of the sample application.
+exitCode = 0
+
+try:
+    # Create a pylon data container object.
+    pylonDataContainer = pylon.PylonDataContainer()
+
+    # Load the recipe file.
+    thisdir = os.path.dirname(__file__)
+    filename = os.path.join(thisdir, 'images/3D/little_boxes.gendc')
+    pylonDataContainer.Load(filename)
+
+    print("Component Count: ", pylonDataContainer.DataComponentCount);
+
+    # Access data components if the component type indicates image data
+    for componentIndex in range(pylonDataContainer.DataComponentCount):
+        pylonDataComponent = pylonDataContainer.GetDataComponent(componentIndex);
+        # Access the component data.
+        print("ComponentType: ", pylonDataComponent.ComponentType)
+        print("PixelType: ", pylonDataComponent.PixelType)
+        print("SizeX: ", pylonDataComponent.Width)
+        print("SizeY: ", pylonDataComponent.Height)
+        print("OffsetX: ", pylonDataComponent.OffsetX)
+        print("OffsetY: ", pylonDataComponent.OffsetY)
+        print("PaddingX: ", pylonDataComponent.PaddingX)
+        print("DataSize: ", pylonDataComponent.DataSize)
+        print("TimeStamp: ", pylonDataComponent.TimeStamp)
+        img = pylonDataComponent.Array
+        print("Gray value of first pixel: ", img[0, 0])
+        if pylonDataComponent.PixelType == pylon.PixelType_Coord3D_ABC32f:
+            None
+        else:
+            cv2.imshow('Image' + str(componentIndex), img)
+        # Release the data, otherwise it will not be freed
+        # The data is held by the container and the components until all of them are released.
+        pylonDataComponent.Release()
+
+    for i in range(60):
+        time.sleep(1)
+        # Break the endless loop by pressing ESC.
+        k = cv2.waitKey(5) & 0xFF
+        if k == 27:
+            break
+
+    # Free the data held by the container
+    pylonDataContainer.Release()
+
+except genicam.GenericException as e:
+    # Error handling.
+    print("An exception occurred.")
+    print(e)
+    exitCode = 1
+
+sys.exit(exitCode)

samples/grabdatacontainer.py

@@ -0,0 +1,82 @@
+# ===============================================================================
+#    This sample illustrates how to grab and process data using the CInstantCamera class.
+#    The data is grabbed and processed asynchronously, i.e.,
+#    while the application is processing a buffer, the acquisition of the next buffer is done
+#    in parallel.
+#
+#    Utilizes the API for accessing GenICam Generic Data Container (GenDC).
+#    This will allow the use of, e.g., Basler blaze 3D cameras.
+# ===============================================================================
+from pypylon import pylon
+from pypylon import genicam
+
+import sys
+
+# Number of results to be grabbed.
+countOfResultsToGrab = 100
+
+# The exit code of the sample application.
+exitCode = 0
+
+try:
+    # Create an instant camera object with the camera device found first.
+    camera = pylon.InstantCamera(pylon.TlFactory.GetInstance().CreateFirstDevice())
+    camera.Open()
+
+    # Print the model name of the camera.
+    print("Using device ", camera.GetDeviceInfo().GetModelName())
+
+    # demonstrate some feature access
+    new_width = camera.Width.Value - camera.Width.Inc
+    if new_width >= camera.Width.Min:
+        camera.Width.Value = new_width
+
+    # The parameter MaxNumBuffer can be used to control the count of buffers
+    # allocated for grabbing. The default value of this parameter is 10.
+    camera.MaxNumBuffer.Value = 5
+
+    # Start the grabbing of c_countOfImagesToGrab grab results.
+    # The camera device is parameterized with a default configuration which
+    # sets up free-running continuous acquisition.
+    camera.StartGrabbingMax(countOfResultsToGrab)
+
+    # Camera.StopGrabbing() is called automatically by the RetrieveResult() method
+    # when c_countOfImagesToGrab grab results have been retrieved.
+    while camera.IsGrabbing():
+        # Wait for grabbed data and then retrieve it. A timeout of 5000 ms is used.
+        grabResult = camera.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException)
+
+        # Data grabbed successfully?
+        if grabResult.GrabSucceeded():
+            # Get the grab result as a PylonDataContainer, e.g. when working with 3D cameras.
+            pylonDataContainer = grabResult.GetDataContainer();
+            print("Component Count: ", pylonDataContainer.DataComponentCount);
+            # Access data components if the component type indicates image data
+            for componentIndex in range(pylonDataContainer.DataComponentCount):
+                pylonDataComponent = pylonDataContainer.GetDataComponent(componentIndex);
+                if pylonDataComponent.ComponentType == pylon.ComponentType_Intensity:
+                    # Access the component data.
+                    print("PixelType: ", pylonDataComponent.PixelType)
+                    print("SizeX: ", pylonDataComponent.Width)
+                    print("SizeY: ", pylonDataComponent.Height)
+                    print("OffsetX: ", pylonDataComponent.OffsetX)
+                    print("OffsetY: ", pylonDataComponent.OffsetY)
+                    print("PaddingX: ", pylonDataComponent.PaddingX)
+                    print("DataSize: ", pylonDataComponent.DataSize)
+                    print("TimeStamp: ", pylonDataComponent.TimeStamp)
+                    img = pylonDataComponent.Array
+                    print("Gray value of first pixel: ", img[0, 0])
+                pylonDataComponent.Release()
+            pylonDataContainer.Release()
+        else:
+            print("Error: ", grabResult.ErrorCode, grabResult.ErrorDescription)
+        grabResult.Release()
+    camera.Close()
+
+except genicam.GenericException as e:
+    # Error handling.
+    print("An exception occurred.")
+    print(e)
+    exitCode = 1
+
+sys.exit(exitCode)

setup.py

@@ -102,7 +102,6 @@ class BuildSupport(object):
         "gentl",
         "extra",
         "pylondataprocessing",
-        "cxp",
         }
 
     # Global switch to toggle pylon data processing support on or off
@@ -457,18 +456,11 @@ class BuildSupportWindows(BuildSupport):
         "gentl": [
             ("PylonGtc_*.dll", ""),
             ],
-
-        "cxp": [
-            ],
         }
 
-    GENTL_CXP_PRODUCER_DIR = "pylonCXP"
     PYLON_DATA_PROCESSING_VTOOLS_DIR = "pylonDataProcessingPlugins"
 
     RuntimeFolders = {
-        "cxp": [
-            (GENTL_CXP_PRODUCER_DIR, GENTL_CXP_PRODUCER_DIR, ()),
-            ],
         "pylondataprocessing": [
             (PYLON_DATA_PROCESSING_VTOOLS_DIR, PYLON_DATA_PROCESSING_VTOOLS_DIR, ("*Editor*.dll",)),
             ],
@@ -485,7 +477,6 @@ class BuildSupportWindows(BuildSupport):
     DefineMacros = [
         ("UNICODE", None),
         ("_UNICODE", None),
-        ("GENTL_CXP_PRODUCER_DIR", gentl_dir_fmt % GENTL_CXP_PRODUCER_DIR),
 
         # let swig share its type information between the 'genicam' and the
         # 'pylon' module by using the same name for the type table.
@@ -702,8 +693,6 @@ class BuildSupportLinux(BuildSupport):
         "usb": [
             (r"pylon-libusb-.*\.so", ""),
             ],
-        "cxp": [
-            ],
         }
 
     # up to one symlink per library -> match shared objects only
@@ -752,11 +741,11 @@ class BuildSupportLinux(BuildSupport):
             (r"libpylonutilitypcl\.so\.\d+\.\d+", ""),
             ],
         "gentl": [
-            ("libpylon_TL_gtc\.so", ""),
+            (r"libpylon_TL_gtc\.so", ""),
             ],
         "pylondataprocessing": [
             (r"libPylonDataProcessing\.so\.\d+", ""),
-            ("libPylonDataProcessing.sig", ""),
+            (r"libPylonDataProcessing.sig", ""),
             (r"libPylonDataProcessingCore\.so\.\d+", ""),
             ],
         }
@@ -1019,7 +1008,7 @@ def copy_runtime(self):
             # cleanup double TL entries in pylon 6.2.0
             if self.get_pylon_version() == "6.2.0.18677":
                 for p in Path(f"{full_dst}").glob("**/*TL*.so"):
-                    if re.match(".*TL_[a-z]+\.so", p.name):
+                    if re.match(r".*TL_[a-z]+\.so", p.name):
                         info(f"DELETE {p}")
                         os.remove(p)
 

src/pylon/GrabResultData.i

@@ -63,19 +63,6 @@
 %#endif
     }
 
-    int GetNumBufferExports(PyObject * omv)
-    {
-// need at least Python 3.3 for memory view
-%#if PY_VERSION_HEX >= 0x03030000
-        PyMemoryViewObject * mv = (PyMemoryViewObject *) omv;
-        int ret = (int) mv->mbuf->exports;
-        Py_DECREF(omv);
-        return ret;
-%#else
-        return 0;
-%#endif
-    }
-
     PyObject * _Unpack10or12BitPacked()
     {
         // Current pixel type of our data

src/pylon/GrabResultPtr.i

@@ -3,6 +3,11 @@
 %ignore operator IImage&;
 %rename(GrabResult) Pylon::CGrabResultPtr;
 
+%pythoncode %{
+    from contextlib import contextmanager
+    import sys
+%} 
+
 %extend Pylon::CGrabResultPtr {
 %pythoncode %{
     @needs_numpy
@@ -11,7 +16,7 @@
             pt = self.GetPixelType()
         if IsPacked(pt):
             raise ValueError("Packed Formats are not supported with numpy interface")
-        if pt in ( PixelType_Mono8, PixelType_BayerGR8, PixelType_BayerRG8, PixelType_BayerGB8, PixelType_BayerBG8 ):
+        if pt in ( PixelType_Mono8, PixelType_BayerGR8, PixelType_BayerRG8, PixelType_BayerGB8, PixelType_BayerBG8, PixelType_Confidence8, PixelType_Coord3D_C8 ):
             shape = (self.GetHeight(), self.GetWidth())
             format = "B"
             dtype = _pylon_numpy.uint8
@@ -23,7 +28,7 @@
             shape = (self.GetHeight(), self.GetWidth())
             format = "H"
             dtype = _pylon_numpy.uint16
-        elif pt in ( PixelType_Mono16, PixelType_BayerGR16, PixelType_BayerRG16, PixelType_BayerGB16, PixelType_BayerBG16 ):
+        elif pt in ( PixelType_Mono16, PixelType_BayerGR16, PixelType_BayerRG16, PixelType_BayerGB16, PixelType_BayerBG16, PixelType_Confidence16, PixelType_Coord3D_C16 ):
             shape = (self.GetHeight(), self.GetWidth())
             format = "H"
             dtype = _pylon_numpy.uint16
@@ -35,6 +40,10 @@
             shape = (self.GetHeight(), self.GetWidth(), 2)
             dtype = _pylon_numpy.uint8
             format = "B"
+        elif pt in ( PixelType_Coord3D_ABC32f, ):
+            shape = (self.GetHeight(), self.GetWidth(), 3)
+            dtype = _pylon_numpy.float32
+            format = "f"
         else:
             raise ValueError("Pixel format currently not supported")
 
@@ -115,52 +124,40 @@
     def __exit__(self, type, value, traceback):
         self.Release()
 
-    from sys import version_info as _gazc_python_version_info
-    # need at least Python 3.3 for memory view
-    if _gazc_python_version_info >= (3, 3, 0):
-        from contextlib import contextmanager
-        @contextmanager
-        @needs_numpy
-        def GetArrayZeroCopy(self, raw = False):
-            '''
-            Get a numpy array for the image buffer as zero copy reference to the underlying buffer.
-            Note: The context manager variable MUST be released before leaving the scope.
-            '''
-
-            # For packed formats, we cannot zero-copy, so use GetArray
-            pt = self.GetPixelType()
-            if IsPacked(pt):
-                yield self.GetArray()
-                return
+    @contextmanager
+    @needs_numpy
+    def GetArrayZeroCopy(self, raw = False):
+        '''
+        Get a numpy array for the image buffer as zero copy reference to the underlying buffer.
+        Note: The context manager variable MUST be released before leaving the scope.
+        '''
+
+        # For packed formats, we cannot zero-copy, so use GetArray
+        pt = self.GetPixelType()
+        if IsPacked(pt):
+            yield self.GetArray()
+            return
+
+        mv = self.GetImageMemoryView()
+        if not raw:
+            shape, dtype, format = self.GetImageFormat()
+            mv = mv.cast(format, shape)
+
+        ar = _pylon_numpy.asarray(mv)
+
+        # trace external references to array
+        initial_refcount = sys.getrefcount(ar)
+
+        # yield the array to the context code
+        yield ar
+
+        # detect if more refs than the one from the yield are held
+        if sys.getrefcount(ar) > initial_refcount + 1:
+            raise RuntimeError("Please remove any references to the array before leaving context manager scope!!!")
+
+        # release the memory view
+        mv.release()
 
-            # Here is the procedure:
-            #  1. prepare and get image format info
-            #  2. get a memory view for our image buffer and
-            #     cast it to the right shape and data format
-            #  3. build an array upon the view (zero copy!)
-            #  4. as context manager, we yield this array
-            #  5. delete the array and release our memory
-            #  6. check the number of exports of the encapsuled buffer
-            #     => if this is > 0 => somebody else still has a reference!
-
-            mv = self.GetImageMemoryView()
-            if not raw:
-                shape, dtype, format = self.GetImageFormat()
-                mv = mv.cast(format, shape)
-
-            ar = _pylon_numpy.asarray(mv)
-
-            yield ar
-
-            del ar
-            mv.release() # Only release() so we can check the references
-
-            # There will be one outstanding reference for the 'with target'.
-            # That is OK since that will be released right after this function
-            # returns.
-            if self.GetNumBufferExports(mv) > 1:
-                raise RuntimeError("Please remove any references to the array before leaving context manager scope!!!")
-    del _gazc_python_version_info
 %}
 }