AcquisitionUserBuffer.cpp

AcquisitionUserBuffer.cpp shows how to use User Buffers for image acquisition.

AcquisitionUserBuffer.cpp shows how to use User Buffers for image acquisition. The acquisition engine uses a pool of memory buffers. The memory of a buffer can be allocated by the library (default) or the user. User Buffers refer to the latter. This example relies on information provided in the Acquisition example.

This example demonstrates setting up the user allocated memory just before the acquisition of images. First, the size of each buffer is determined based on the data payload size. Then, depending on the the number of buffers (numBuffers) specified, the corresponding amount of memory is allocated. Finally, after setting the buffer ownership to be users, the image acquisition can commence.

It is important to note that if the user provides the memory for the buffers, the user is ultimately responsible for freeing up memory.

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//=============================================================================
// Copyright (c) 2001-2024 FLIR Systems, Inc. All Rights Reserved.
//
// This software is the confidential and proprietary information of FLIR
// Integrated Imaging Solutions, Inc. ("Confidential Information"). You
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// with FLIR Integrated Imaging Solutions, Inc. (FLIR).
//
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// SOFTWARE, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
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// THIS SOFTWARE OR ITS DERIVATIVES.
//=============================================================================
 
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <sstream>
 
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
 
// Whether the user memory is contiguous or non-contiguous
const bool isContiguous = true;
 
// Disables or enables heartbeat on GEV cameras so debugging does not incur timeout errors
int ConfigureGVCPHeartbeat(CameraPtr pCam, bool enableHeartbeat)
{
    //
    // Write to boolean node controlling the camera's heartbeat
    //
    // *** NOTES ***
    // This applies only to GEV cameras.
    //
    // GEV cameras have a heartbeat built in, but when debugging applications the
    // camera may time out due to its heartbeat. Disabling the heartbeat prevents
    // this timeout from occurring, enabling us to continue with any necessary
    // debugging.
    //
    // *** LATER ***
    // Make sure that the heartbeat is reset upon completion of the debugging.
    // If the application is terminated unexpectedly, the camera may not locked
    // to Spinnaker indefinitely due to the the timeout being disabled.  When that
    // happens, a camera power cycle will reset the heartbeat to its default setting.
 
    // Retrieve TL device nodemap
    INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
 
    // Retrieve GenICam nodemap
    INodeMap& nodeMap = pCam->GetNodeMap();
 
    CEnumerationPtr ptrDeviceType = nodeMapTLDevice.GetNode("DeviceType");
    if (!IsReadable(ptrDeviceType))
    {
        return -1;
    }
 
    if (ptrDeviceType->GetIntValue() != DeviceType_GigEVision)
    {
        return 0;
    }
 
    if (enableHeartbeat)
    {
        cout << endl << "Resetting heartbeat..." << endl << endl;
    }
    else
    {
        cout << endl << "Disabling heartbeat..." << endl << endl;
    }
 
    CBooleanPtr ptrDeviceHeartbeat = nodeMap.GetNode("GevGVCPHeartbeatDisable");
    if (!IsWritable(ptrDeviceHeartbeat))
    {
        cout << "Unable to configure heartbeat. Continuing with execution as this may be non-fatal..." << endl << endl;
    }
    else
    {
        ptrDeviceHeartbeat->SetValue(!enableHeartbeat);
 
        if (!enableHeartbeat)
        {
            cout << "WARNING: Heartbeat has been disabled for the rest of this example run." << endl;
            cout << "         Heartbeat will be reset upon the completion of this run.  If the " << endl;
            cout << "         example is aborted unexpectedly before the heartbeat is reset, the" << endl;
            cout << "         camera may need to be power cycled to reset the heartbeat." << endl << endl;
        }
        else
        {
            cout << "Heartbeat has been reset." << endl;
        }
    }
 
    return 0;
}
 
int ResetGVCPHeartbeat(CameraPtr pCam)
{
    return ConfigureGVCPHeartbeat(pCam, true);
}
 
int DisableGVCPHeartbeat(CameraPtr pCam)
{
    return ConfigureGVCPHeartbeat(pCam, false);
}
 
// This function acquires and saves 10 images from a device.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, INodeMap& nodeMapTLDevice)
{
    int result = 0;
 
    cout << endl << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
 
    try
    {
        // Set acquisition mode to continuous
 
        // Retrieve enumeration node from nodemap
        CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
        if (!IsReadable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
        {
            cout << "Unable to get or set acquisition mode to continuous (enum retrieval). Aborting..." << endl << endl;
            return -1;
        }
 
        // Retrieve entry node from enumeration node
        CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
        if (!IsReadable(ptrAcquisitionModeContinuous))
        {
            cout << "Unable to set acquisition mode to continuous (entry retrieval). Aborting..." << endl << endl;
            return -1;
        }
 
        // Retrieve integer value from entry node
        const int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
 
        // Set integer value from entry node as new value of enumeration node
        ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
 
        // Retrieve Stream Parameters device nodemap
        const INodeMap& sNodeMap = pCam->GetTLStreamNodeMap();
 
        // Set stream buffer Count Mode to manual
        CEnumerationPtr ptrStreamBufferCountMode = sNodeMap.GetNode("StreamBufferCountMode");
        if (!IsReadable(ptrStreamBufferCountMode) || !IsWritable(ptrStreamBufferCountMode))
        {
            cout << "Unable to get or set Buffer Count Mode (node retrieval). Aborting..." << endl << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrStreamBufferCountModeManual = ptrStreamBufferCountMode->GetEntryByName("Manual");
        if (!IsReadable(ptrStreamBufferCountModeManual))
        {
            cout << "Unable to get Buffer Count Mode entry (Entry retrieval). Aborting..." << endl << endl;
            return -1;
        }
 
        ptrStreamBufferCountMode->SetIntValue(ptrStreamBufferCountModeManual->GetValue());
 
        cout << "Stream Buffer Count Mode set to manual..." << endl;
 
        cout << "Acquisition mode set to continuous..." << endl;
 
        //
        // Allocate buffers
        //
        // *** NOTES ***
        //
        // When allocating memory for user buffers, keep in mind that implicitly you are specifying how many
        // buffers are used for the acquisition engine.  There are two ways to set user buffers for Spinnaker
        // to utilize.  You can either pass a pointer to a contiguous buffer, or pass a pointer to pointers to
        // non-contiguous buffers into the library.  In either case, you will be responsible for allocating and
        // de-allocating the memory buffers that the pointers point to.
        //
        // The acquisition engine will be utilizing a bufferCount equal to totalSize divided by bufferSize,
        // where totalSize is the total allocated memory in bytes, and bufferSize is the image payload size.
        //
        // This example here demonstrates how to determine how much memory needs to be allocated based on the
        // retrieved payload size from the node map for both cases.
        //
        // Note that the acquisition engine may use up to two buffers as a cycling buffer in the event that
        // images are not released (Release()) in time, so it is advised to allocate enough memory for at
        // least 2 buffers for OldestFirst and NewestFirst stream modes, and allocate enough memory for 3 buffers in
        // OldestFirstOverwrite and NewestOnly mode.
 
        CIntegerPtr ptrPayloadSize = nodeMap.GetNode("PayloadSize");
        if (!IsReadable(ptrPayloadSize))
        {
            cout << "Unable to determine the payload size from the nodemap. Aborting..." << endl << endl;
            return -1;
        }
        uint64_t bufferSize = ptrPayloadSize->GetValue();
 
        // Calculate the 1024 aligned image size to be used for USB cameras
        CEnumerationPtr ptrDeviceType = pCam->GetTLDeviceNodeMap().GetNode("DeviceType");
        if (ptrDeviceType != nullptr && ptrDeviceType->GetIntValue() == DeviceType_USB3Vision)
        {
            const uint64_t usbPacketSize = 1024;
            bufferSize = ((bufferSize + usbPacketSize - 1) / usbPacketSize) * usbPacketSize;
        }
 
        const unsigned int numBuffers = 10;
 
        // Contiguous memory buffer
        unique_ptr<unsigned char[]> pMemBuffersContiguous;
        // Non-contiguous memory buffer
        vector<unique_ptr<unsigned char[]>> ppMemBuffersNonContiguous;
        vector<void*> ppMemBuffersNonContiguousVoid;
 
        // Set buffer ownership to user.
        // This must be set before using user buffers when calling BeginAcquisition().
        // If not set, BeginAcquisition() will use the system's buffers.
        if (pCam->GetBufferOwnership() != SPINNAKER_BUFFER_OWNERSHIP_USER)
        {
            pCam->SetBufferOwnership(SPINNAKER_BUFFER_OWNERSHIP_USER);
        }
 
        // Contiguous memory buffer
        if (isContiguous)
        {
            try
            {
                // Smart pointers will clean themselves up when they go out of scope,
                // so there is no need to clean them up manually
                pMemBuffersContiguous =
                    unique_ptr<unsigned char[]>(new unsigned char[numBuffers * static_cast<unsigned int>(bufferSize)]);
            }
            catch (bad_alloc& /*e*/)
            {
                cout << "Unable to allocate the memory required. Aborting..." << endl << endl;
                return -1;
            }
 
            pCam->SetUserBuffers(pMemBuffersContiguous.get(), numBuffers * bufferSize);
 
            cout << "User-allocated memory 0x" << hex << static_cast<void*>(&pMemBuffersContiguous)
                 << " will be used for user buffers..." << endl;
        }
        // Non-contiguous memory buffer
        else
        {
            try
            {
                // Smart pointers will clean themselves up when they go out of scope,
                // so there is no need to clean them up manually
                for (unsigned int i = 0; i < numBuffers; i++)
                {
                    ppMemBuffersNonContiguous.emplace_back(
                        unique_ptr<unsigned char[]>(new unsigned char[static_cast<unsigned int>(bufferSize)]));
                }
            }
            catch (bad_alloc& /*e*/)
            {
                cout << "Unable to allocate the memory required. Aborting..." << endl << endl;
                return -1;
            }
 
            for (unsigned int i = 0; i < ppMemBuffersNonContiguous.size(); i++)
            {
                ppMemBuffersNonContiguousVoid.emplace_back(ppMemBuffersNonContiguous.at(i).get());
            }
 
            const uint64_t bufferCount = ppMemBuffersNonContiguousVoid.size();
 
            pCam->SetUserBuffers(ppMemBuffersNonContiguousVoid.data(), bufferCount, bufferSize);
 
            cout << "User-allocated memory:" << endl;
            for (size_t i = 0; i < ppMemBuffersNonContiguousVoid.size(); i++)
            {
                cout << "\t0x" << hex << &ppMemBuffersNonContiguousVoid.at(i) << endl;
            }
            cout << "will be used for user buffers..." << endl;
        }
 
        // Begin acquiring images
        pCam->BeginAcquisition();
 
        // Retrieve the resulting stream buffer count nBuffers
        // Note: the buffer count result is dependent on the Stream Buffer Count Mode (Auto/Manual).
        // For Manual mode, Spinnaker uses the allocated memory size and payload size to calculate the number
        // of buffers. For auto mode, a deprecated buffer count mode, Spinnaker used additional information
        // such as frame rate to determine the number of buffers.
        CIntegerPtr ptrStreamBufferCountResult = sNodeMap.GetNode("StreamBufferCountResult");
        if (!IsReadable(ptrStreamBufferCountResult))
        {
            cout << "Unable to retrieve Buffer Count result (node retrieval). Aborting..." << endl << endl;
            return -1;
        }
        const int64_t streamBufferCountResult = ptrStreamBufferCountResult->GetValue();
 
        cout << "Resulting stream buffer count: " << dec << streamBufferCountResult << "." << endl << endl;
 
        cout << "Acquiring images..." << endl;
        // Retrieve device serial number for filename
        gcstring deviceSerialNumber("");
        CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
        if (IsReadable(ptrStringSerial))
        {
            deviceSerialNumber = ptrStringSerial->GetValue();
 
            cout << "Device serial number retrieved as " << deviceSerialNumber << "..." << endl;
        }
        cout << endl;
 
        // Retrieve, convert, and save images
        const unsigned int k_numImages = 10;
 
        //
        // Create ImageProcessor instance for post processing images
        //
        ImageProcessor processor;
 
        //
        // Set default image processor color processing method
        //
        // *** NOTES ***
        // By default, if no specific color processing algorithm is set, the image
        // processor will default to NEAREST_NEIGHBOR method.
        //
        processor.SetColorProcessing(SPINNAKER_COLOR_PROCESSING_ALGORITHM_HQ_LINEAR);
 
        for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
        {
            try
            {
                // Retrieve next received image
                ImagePtr pResultImage = pCam->GetNextImage(1000);
 
                // Ensure image completion
                if (pResultImage->IsIncomplete())
                {
                    // Retrieve and print the image status description
                    cout << "Image incomplete: " << Image::GetImageStatusDescription(pResultImage->GetImageStatus())
                         << "..." << endl
                         << endl;
                }
                else
                {
                    // Print image information; height and width recorded in pixels
 
                    const size_t width = pResultImage->GetWidth();
 
                    const size_t height = pResultImage->GetHeight();
 
                    cout << "Grabbed image " << imageCnt << ", width = " << width << ", height = " << height << endl;
 
                    // Convert image to mono 8
                    ImagePtr convertedImage = processor.Convert(pResultImage, PixelFormat_Mono8);
 
                    // Create a unique filename
                    ostringstream filename;
 
                    filename << "AcquisitionUserBuffer-";
                    if (!deviceSerialNumber.empty())
                    {
                        filename << deviceSerialNumber.c_str() << "-";
                    }
                    filename << imageCnt << ".jpg";
 
                    // Save image
                    convertedImage->Save(filename.str().c_str());
 
                    cout << "Image saved at " << filename.str() << endl;
                }
 
                // Release image
                pResultImage->Release();
 
                cout << endl;
            }
            catch (Spinnaker::Exception& e)
            {
                cout << "Error: " << e.what() << endl;
                result = -1;
            }
        }
 
        // End acquisition
        pCam->EndAcquisition();
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    // The smart pointers are cleaned up so you have no more allocated memory.
    // Therefore, we reset the buffer ownership to the system.
    if (pCam->GetBufferOwnership() != SPINNAKER_BUFFER_OWNERSHIP_SYSTEM)
    {
        pCam->SetBufferOwnership(SPINNAKER_BUFFER_OWNERSHIP_SYSTEM);
    }
 
    return result;
}
 
// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo example for more in-depth comments on printing
// device information from the nodemap.
int PrintDeviceInfo(INodeMap& nodeMap)
{
    cout << endl << "*** DEVICE INFORMATION ***" << endl << endl;
    int result = 0;
 
    try
    {
        FeatureList_t features;
        const CCategoryPtr category = nodeMap.GetNode("DeviceInformation");
        if (IsReadable(category))
        {
            category->GetFeatures(features);
 
            for (auto it = features.begin(); it != features.end(); ++it)
            {
                const CNodePtr pfeatureNode = *it;
                cout << pfeatureNode->GetName() << " : ";
                CValuePtr pValue = static_cast<CValuePtr>(pfeatureNode);
                cout << (IsReadable(pValue) ? pValue->ToString() : "Node not readable");
                cout << endl;
            }
        }
        else
        {
            cout << "Device control information not readable." << endl;
        }
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function acts as the body of the example; please see NodeMapInfo example
// for more in-depth comments on setting up cameras.
int RunSingleCamera(CameraPtr pCam)
{
    int result = 0;
 
    try
    {
        // Retrieve TL device nodemap and print device information
        INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
 
        result = PrintDeviceInfo(nodeMapTLDevice);
 
        // Initialize camera
        pCam->Init();
 
        // Retrieve GenICam nodemap
        INodeMap& nodeMap = pCam->GetNodeMap();
 
        // Configure heartbeat for GEV camera
#ifdef _DEBUG
        result = result | DisableGVCPHeartbeat(pCam);
#else
        result = result | ResetGVCPHeartbeat(pCam);
#endif
 
        // Acquire images
        result = result | AcquireImages(pCam, nodeMap, nodeMapTLDevice);
 
#ifdef _DEBUG
        // Reset heartbeat for GEV camera
        result = result | ResetGVCPHeartbeat(pCam);
#endif
 
        // Deinitialize camera
        pCam->DeInit();
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// Example entry point; please see Enumeration example for more in-depth
// comments on preparing and cleaning up the system.
int main(int /*argc*/, char** /*argv*/)
{
    // Since this application saves images in the current folder
    // we must ensure that we have permission to write to this folder.
    // If we do not have permission, fail right away.
 
    FILE* tempFile = fopen("test.txt", "w+");
    if (tempFile == nullptr)
    {
        cout << "Failed to create file in current folder.  Please check "
                "permissions."
             << endl;
        cout << "Press Enter to exit..." << endl;
        getchar();
        return -1;
    }
    fclose(tempFile);
    remove("test.txt");
 
    // Print application build information
    cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;
 
    // Retrieve singleton reference to system object
    SystemPtr system = System::GetInstance();
 
    // Print out current library version
    const LibraryVersion spinnakerLibraryVersion = system->GetLibraryVersion();
    cout << "Spinnaker library version: " << spinnakerLibraryVersion.major << "." << spinnakerLibraryVersion.minor
         << "." << spinnakerLibraryVersion.type << "." << spinnakerLibraryVersion.build << endl
         << endl;
 
    // Retrieve list of cameras from the system
    CameraList camList = system->GetCameras();
 
    const unsigned int numCameras = camList.GetSize();
 
    cout << "Number of cameras detected: " << numCameras << endl << endl;
 
    // Finish if there are no cameras
    if (numCameras == 0)
    {
        // Clear camera list before releasing system
        camList.Clear();
 
        // Release system
        system->ReleaseInstance();
 
        cout << "Not enough cameras!" << endl;
        cout << "Done! Press Enter to exit..." << endl;
        getchar();
 
        return -1;
    }
 
    // Create shared pointer to camera
    CameraPtr pCam = nullptr;
 
    int result = 0;
 
    // Run example on each camera
    for (unsigned int i = 0; i < numCameras; i++)
    {
        // Select camera
        pCam = camList.GetByIndex(i);
 
        cout << endl << "Running example for camera " << i << "..." << endl;
 
        // Run example
        result = result | RunSingleCamera(pCam);
 
        cout << "Camera " << i << " example complete..." << endl << endl;
    }
 
    // Release reference to the camera
    pCam = nullptr;
 
    // Clear camera list before releasing system
    camList.Clear();
 
    // Release system
    system->ReleaseInstance();
 
    cout << endl << "Done! Press Enter to exit..." << endl;
    getchar();
 
    return result;
}