pylon (basler) camera added

13 files changed, 814 insertions, 5 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 109b7a6..91f0d14 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8)
-project(uca C)
+project(uca)
 
 set(TARNAME "libuca")
 set(UCA_VERSION_MAJOR "0")
diff --git a/cmake/FindPylon.cmake b/cmake/FindPylon.cmake
new file mode 100644
index 0000000..f446df2
--- /dev/null
+++ b/cmake/FindPylon.cmake
@@ -0,0 +1,47 @@
+
+# Try to find libpco.so
+#
+# Defines
+#
+# PCO_FOUND - system has libpco
+# PCO_INCLUDE_DIRS - libpco include directory
+# PCO_LIBRARIES - pco library
+
+find_package(YAT)
+
+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)
+
+# 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_package_handle_standard_args(PYLON DEFAULT_MSG PYLON_LIBS PYLON_INCLUDE_DIRS)
+
+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})
+
diff --git a/cmake/FindYAT.cmake b/cmake/FindYAT.cmake
new file mode 100644
index 0000000..92da3c8
--- /dev/null
+++ b/cmake/FindYAT.cmake
@@ -0,0 +1,6 @@
+
+find_package(PkgConfig)
+pkg_check_modules(YAT yat>=1.7.7 REQUIRED)
+
+find_library(YAT_LIB yat ${YAT_LIBRARY_DIRS})
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 02a1005..5a3c014 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 2.8)
+set(CMAKE_VERBOSE_MAKEFILE TRUE)
 
 # --- Set sources -------------------------------------------------------------
 set(uca_SRCS
@@ -14,13 +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)
@@ -90,6 +92,19 @@ if (IPE_FOUND)
     endif()
 endif()
 
+if (PYLON_FOUND)
+  option(HAVE_PYLON_CAMERA "Camera: Pylon based (Basler)" ON)
+
+  if (HAVE_PYLON_CAMERA)
+    set(uca_SRCS ${uca_SRCS} cameras/uca-pylon-camera.c cameras/pylon_camera.cpp)
+    set(uca_HDRS ${uca_HDRS} cameras/uca-pylon-camera.h)
+    set(uca_LIBS ${uca_LIBS} ${PYLON_LIBS})
+
+    include_directories(${PYLON_INCLUDE_DIRS})
+  endif()
+
+endif()
+
 if (HAVE_MOCK_CAMERA)
     list(APPEND uca_SRCS cameras/uca-mock-camera.c)
     list(APPEND uca_HDRS cameras/uca-mock-camera.h)
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 <yat/plugin/PlugInManager.h>
+#include <yat/threading/Condition.h>
+#include <baslerpylon/IGrabber.h>
+#include <iostream>
+
+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<yat::IPlugInInfo*, yat::IPlugInFactory*> pp = 
+      pm.load((std::string(lib_path) + "/libbaslerpylon.so").c_str());
+
+    yat::IPlugInObject* plugin_obj = 0;
+    pp.second->create(plugin_obj);
+    pGrabber = static_cast<GrabAPI::IGrabber*>(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<gdouble>(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<yat_int32_t>(w);
+    *height = yat::any_cast<yat_int32_t>(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<yat_int32_t>(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 <glib.h>
+
+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 <matthias.vogelgesang@kit.edu>
+   (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 <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#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 <matthias.vogelgesang@kit.edu>
+   (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 <glib-object.h>
+
+#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
diff --git a/src/config.h.in b/src/config.h.in
index 0b1dde9..e3911a1 100644
--- a/src/config.h.in
+++ b/src/config.h.in
@@ -2,6 +2,7 @@
 #cmakedefine HAVE_PHOTON_FOCUS
 #cmakedefine HAVE_PHOTRON_FASTCAM
 #cmakedefine HAVE_UFO_CAMERA
+#cmakedefine HAVE_PYLON_CAMERA
 
 #cmakedefine HAVE_MOCK_CAMERA
 #define CONTROL_GLADE_PATH "${CMAKE_INSTALL_PREFIX}/share/libuca/control.glade"
diff --git a/src/uca-camera.c b/src/uca-camera.c
index 1584569..602a3c4 100644
--- a/src/uca-camera.c
+++ b/src/uca-camera.c
@@ -24,6 +24,10 @@
 #include "cameras/uca-pco-camera.h"
 #endif
 
+#ifdef HAVE_PYLON_CAMERA
+#include "cameras/uca-pylon-camera.h"
+#endif
+
 #ifdef HAVE_MOCK_CAMERA
 #include "cameras/uca-mock-camera.h"
 #endif
@@ -65,6 +69,9 @@ static gchar *uca_camera_types[] = {
 #ifdef HAVE_PCO_CL
         "pco",
 #endif
+#ifdef HAVE_PYLON_CAMERA
+        "pylon",
+#endif
 #ifdef HAVE_MOCK_CAMERA
         "mock",
 #endif
@@ -418,6 +425,10 @@ UcaCamera *uca_camera_new(const gchar *type, GError **error)
 
     camera = uca_camera_new_from_type(type, &tmp_error);
 
+#ifdef HAVE_PYLON_CAMERA
+    if (!g_strcmp0(type, "pylon"))
+        camera = UCA_CAMERA(uca_pylon_camera_new(&tmp_error));
+#endif
     if (tmp_error != NULL) {
         g_propagate_error(error, tmp_error);
         return NULL;
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 9050ce5..f6ca865 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -16,6 +16,18 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/control.glade ${CMAKE_CURRENT_BINARY_
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/run.py ${CMAKE_CURRENT_BINARY_DIR})
 
 # --- Build targets -----------------------------------------------------------
+#add_executable(enum enum.c)
+add_executable(grab grab.c)
+add_executable(grab_pylon grab_pylon.c)
+#add_executable(grab-async grab-async.c)
+#add_executable(benchmark benchmark.c)
+
+#target_link_libraries(enum uca)
+target_link_libraries(grab uca-gobject ${GLIB2_LIBRARIES} ${GOBJECT2_LIBRARIES})
+target_link_libraries(grab_pylon uca-gobject ${GLIB2_LIBRARIES} ${GOBJECT2_LIBRARIES})
+#target_link_libraries(grab-async uca)
+#target_link_libraries(benchmark uca)
+
 include_directories(
     ${GLIB2_INCLUDE_DIRS}
     ${GOBJECT2_INCLUDE_DIRS}
diff --git a/test/grab.c b/test/grab.c
index a4d4aa3..41e6d88 100644
--- a/test/grab.c
+++ b/test/grab.c
@@ -114,7 +114,7 @@ int main(int argc, char *argv[])
         uca_camera_start_recording(camera, &error);
         g_assert_no_error(error);
 
-        while (counter < 2) {
+        while (counter < 5) {
             g_print(" grab frame ... ");
             g_timer_start(timer);
             uca_camera_grab(camera, &buffer, &error);
@@ -131,6 +131,7 @@ int main(int argc, char *argv[])
             FILE *fp = fopen(filename, "wb");
             fwrite(buffer, roi_width * roi_height, pixel_size, fp);
             fclose(fp);
+            g_usleep(2 * G_USEC_PER_SEC);
         }
 
         g_print("Stop recording\n");
diff --git a/test/grab_pylon.c b/test/grab_pylon.c
new file mode 100644
index 0000000..cb1e534
--- /dev/null
+++ b/test/grab_pylon.c
@@ -0,0 +1,95 @@
+/* Copyright (C) 2011, 2012 Matthias Vogelgesang <matthias.vogelgesang@kit.edu>
+   (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 <glib-object.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "uca-camera.h"
+
+#define handle_error(errno) {if ((errno) != UCA_NO_ERROR) printf("error at <%s:%i>\n", \
+    __FILE__, __LINE__);}
+
+static UcaCamera *camera = NULL;
+
+void sigint_handler(int signal)
+{
+    printf("Closing down libuca\n");
+    uca_camera_stop_recording(camera, NULL);
+    g_object_unref(camera);
+    exit(signal);
+}
+
+int main(int argc, char *argv[])
+{
+    GError *error = NULL;
+    (void) signal(SIGINT, sigint_handler);
+
+    g_type_init();
+    camera = uca_camera_new("pylon", &error);
+
+    if (camera == NULL) {
+        g_print("Couldn't initialize camera\n");
+        return 1;
+    }
+
+    guint width, height, bits;
+    g_object_get(G_OBJECT(camera),
+            "sensor-width", &width,
+            "sensor-height", &height,
+            "sensor-bitdepth", &bits,
+            NULL);
+
+    const int pixel_size = bits == 8 ? 1 : 2;
+    gpointer buffer = g_malloc0(width * height * pixel_size);
+
+    gchar filename[FILENAME_MAX];
+
+    for (int i = 0; i < 2; i++) {
+        gint counter = 0;
+        g_print("Start recording\n");
+        uca_camera_start_recording(camera, &error);
+        g_assert_no_error(error);
+
+        while (counter < 50) {
+            g_print(" grab frame ... ");
+            uca_camera_grab(camera, &buffer, &error);
+            if (error != NULL) {
+                g_print("\nError: %s\n", error->message);
+                goto cleanup;
+            }
+            g_print("done\n");
+
+            snprintf(filename, FILENAME_MAX, "frame-%08i.raw", counter++);
+            FILE *fp = fopen(filename, "wb");
+            fwrite(buffer, width*height, pixel_size, fp);
+            fclose(fp);
+            //g_usleep(2 * G_USEC_PER_SEC);
+        }
+
+        g_print("Stop recording\n");
+        uca_camera_stop_recording(camera, &error);
+        g_assert_no_error(error);
+    }
+
+cleanup:
+    uca_camera_stop_recording(camera, NULL);
+    g_object_unref(camera);
+    g_free(buffer);
+
+    return error != NULL ? 1 : 0;
+}