GigEVisionPerformance.cpp

GigEVisionPerformance.cpp measures GigE Vision performance.

GigEVisionPerformance.cpp measures GigE Vision performance. It is built on top of Acquisition example.

This example measures CPU related performance statistics and print them out at the end.

//=============================================================================
// Copyright (c) 2024 FLIR Integrated Imaging Solutions, Inc. All Rights Reserved.
//
// This software is the confidential and proprietary information of FLIR
// Integrated Imaging Solutions, Inc. ("Confidential Information"). You
// shall not disclose such Confidential Information and shall use it only in
// accordance with the terms of the license agreement you entered into
// with FLIR Integrated Imaging Solutions, Inc. (FLIR).
//
// FLIR MAKES NO REPRESENTATIONS OR WARRANTIES ABOUT THE SUITABILITY OF THE
// SOFTWARE, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
// PURPOSE, OR NON-INFRINGEMENT. FLIR SHALL NOT BE LIABLE FOR ANY DAMAGES
// SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR DISTRIBUTING
// THIS SOFTWARE OR ITS DERIVATIVES.
//=============================================================================
 
#include "Spinnaker.h"
#include <iostream>
#include <sstream>
#include <sys/types.h>
#include "CpuUtil.h"
#include "GigEVisionPerformance.h"
 
using namespace std;
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
 
CpuUtil::CpuUsageInfo cpuUsageInfo;
 
// Following parameters can be configured through command-line arguments.
// Use "-?" argument to see detailed usage information.
int TestDuration = 0; // seconds
char* PixelFormatToSet = nullptr;
int PacketSizeToSet = 9000;
int PacketDelayToSet = 0;
bool IsRelease = false; // whether to call release() on the image Pointer or let it be done implicitly by the grab loop
bool UseDuration = false;
bool UseMaxFramerate = false;
float UserSetFramerate = 0.0;
int NumImagesToGrab = 100;
 
// Supported command-line arguments
const char* argNumImages = "-numimages";
const char* argDuration = "-duration";
const char* argRelease = "-callrelease";
const char* argBayerRG = "-bayerrg";
const char* argPacketSize = "-packetsize";
const char* argPacketDelay = "-packetdelay";
const char* argMaxFrames = "-maxfps";
const char* argUserSetFrames = "-fps";
const char* argPrintUsage = "-?";
 
void PrintUsage()
{
    cout << argPrintUsage << "                  <Displays this usage information>" << endl;
    cout << argNumImages << "           <Optional. Sets number of images to stream>" << endl;
    cout << argDuration << "            <Optional. Sets time in seconds to stream>" << endl;
    cout << argRelease << "             <Optional. Calls Release() explicitly on grabbed image pointer if set>" << endl;
    cout << argBayerRG
         << "           <Optional. Sets Pixel Format to BayerRG 8 or BayerRG16 for color cameras, using 8 or 16 as "
            "argument>"
         << endl;
    cout << argPacketSize << "          <Optional. Sets desired Packet Size>" << endl;
    cout << argPacketDelay << "         <Optional. Sets desired Packet Delay>" << endl;
    cout << argMaxFrames << "                   <Optional. Sets AcquisitionFramerate to max>" << endl;
    cout << argUserSetFrames << "                       <Optional. Sets desired AcquisitionFramerate>" << endl;
    cout << endl;
}
 
bool ParseArguments(int argc, char* argv[])
{
    cout << endl << "*** PARSING ARGUMENTS ***" << endl << endl;
 
    cout << "Use '-?' to see list of supported arguments." << endl << endl;
 
    if (argc == 1)
    {
        // Grabbing 100 images using maximum framerate by default.
        cout << "Grabbing 100 images using maximum framerate..." << endl << endl;
        NumImagesToGrab = 100;
        UseMaxFramerate = true;
 
        // Continue with default parameters
        return true;
    }
 
    for (int argument = 1; argument < argc; ++argument)
    {
        if (strncmp(argv[argument], argPrintUsage, strlen(argPrintUsage)) == 0)
        {
            // Print usage information
            PrintUsage();
            return false;
        }
 
        if (strncmp(argv[argument], argDuration, strlen(argDuration)) == 0)
        {
            if (argument + 1 <= argc)
            {
                UseDuration = true;
                TestDuration = atoi(argv[argument + 1]);
                argument++;
            }
        }
 
        if (strncmp(argv[argument], argNumImages, strlen(argNumImages)) == 0)
        {
            if (argument + 1 <= argc)
            {
                UseDuration = false;
                NumImagesToGrab = atoi(argv[argument + 1]);
                argument++;
            }
        }
 
        if (strncmp(argv[argument], argPacketSize, strlen(argPacketSize)) == 0)
        {
            if (argument + 1 <= argc)
            {
                PacketSizeToSet = atoi(argv[argument + 1]);
                argument++;
            }
        }
        if (strncmp(argv[argument], argPacketDelay, strlen(argPacketDelay)) == 0)
        {
            if (argument + 1 <= argc)
            {
                PacketDelayToSet = atoi(argv[argument + 1]);
                argument++;
            }
        }
        if (strncmp(argv[argument], argUserSetFrames, strlen(argUserSetFrames)) == 0)
        {
            if (argument + 1 <= argc)
            {
                UserSetFramerate = stof(argv[argument + 1]);
                argument++;
            }
        }
        if (strncmp(argv[argument], argBayerRG, strlen(argBayerRG)) == 0)
        {
            if (argument + 1 <= argc)
            {
                int bayerRG_bits = atoi(argv[argument + 1]);
                switch (bayerRG_bits)
                {
                case 8:
                    PixelFormatToSet = "BayerRG8";
                    break;
                case 16:
                    PixelFormatToSet = "BayerRG16";
                    break;
                default:
                    cout << "User did not specify BayerRG 8 or BayerRG 16" << endl << endl;
                }
                cout << "Using Pixel Format: " << PixelFormatToSet << endl << endl;
                argument++;
            }
        }
        if (strncmp(argv[argument], argRelease, strlen(argRelease)) == 0)
        {
            IsRelease = true;
        }
        if (strncmp(argv[argument], argMaxFrames, strlen(argMaxFrames)) == 0)
        {
            UseMaxFramerate = true;
        }
    }
 
    return true;
}
 
void getCameraCategory(INodeMap& nodeMap, string categoryString)
{
    try
    {
        stringstream cameraFeaturesFromCategoryStream;
 
        cout << endl << "*** Get Camera Config.. " << categoryString << endl;
 
        FeatureList_t features;
        CCategoryPtr category = nodeMap.GetNode(categoryString.c_str());
        category->GetFeatures(features);
 
        FeatureList_t::const_iterator it;
        for (it = features.begin(); it != features.end(); ++it)
        {
            CNodePtr pfeatureNode = *it;
            CValuePtr pValue = (CValuePtr)pfeatureNode;
 
            if (IsReadable(pValue))
            {
                gcstring featureName = pfeatureNode->GetName();
                gcstring sensorString = pValue->ToString();
 
                cameraFeaturesFromCategoryStream << pfeatureNode->GetName() << " : ";
                cameraFeaturesFromCategoryStream << sensorString;
                cameraFeaturesFromCategoryStream << endl;
            }
        }
 
        std::string stringToReturn = cameraFeaturesFromCategoryStream.str();
 
        cout << stringToReturn << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Exception in getCameraCategory():" << e.what() << endl;
    }
}
 
void PrintDataStreamInfo(const Spinnaker::CameraPtr pCamera)
{
    try
    {
        cout << endl << endl << "*** DATASTREAM STATS ***" << endl << endl;
 
        stringstream outSS;
 
        // Get model name
        const TransportLayerStream& camStreamInfo = pCamera->TLStream;
 
        if (IsReadable(camStreamInfo.StreamID))
        {
            outSS << "Stream ID: " << camStreamInfo.StreamID.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamType))
        {
            outSS << "Stream Type: " << camStreamInfo.StreamType.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamMode))
        {
            outSS << "Stream Mode: " << camStreamInfo.StreamMode.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamBufferCountResult))
        {
            outSS << "Stream Buffer Count: " << camStreamInfo.StreamBufferCountResult.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamBufferHandlingMode))
        {
            outSS << "Stream Buffer Handling Mode: " << camStreamInfo.StreamBufferHandlingMode.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamAnnounceBufferMinimum))
        {
            outSS << "Stream Announced Buffer Minimum: " << camStreamInfo.StreamAnnounceBufferMinimum.ToString()
                  << endl;
        }
        if (IsReadable(camStreamInfo.StreamAnnouncedBufferCount))
        {
            outSS << "Stream Announced Buffer Count: " << camStreamInfo.StreamAnnouncedBufferCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamStartedFrameCount))
        {
            outSS << "Stream Started Frame Count: " << camStreamInfo.StreamStartedFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamDeliveredFrameCount))
        {
            outSS << "Stream Delivered Frame Count: " << camStreamInfo.StreamDeliveredFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamIncompleteFrameCount))
        {
            outSS << "Stream Incomplete Frame Count: " << camStreamInfo.StreamIncompleteFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamReceivedFrameCount))
        {
            outSS << "Stream Received Frame Count: " << camStreamInfo.StreamReceivedFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamLostFrameCount))
        {
            outSS << "Stream Lost Frame Count: " << camStreamInfo.StreamLostFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamDroppedFrameCount))
        {
            outSS << "Stream Dropped Frame Count: " << camStreamInfo.StreamDroppedFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamInputBufferCount))
        {
            outSS << "Stream Input Buffer Count: " << camStreamInfo.StreamInputBufferCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamOutputBufferCount))
        {
            outSS << "Stream Output Buffer Count: " << camStreamInfo.StreamOutputBufferCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamChunkCountMaximum))
        {
            outSS << "Stream Chunk Maximum: " << camStreamInfo.StreamChunkCountMaximum.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamCRCCheckEnable))
        {
            outSS << "Stream CRC Check Enable: " << camStreamInfo.StreamCRCCheckEnable.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamReceivedPacketCount))
        {
            outSS << "Stream Received Packet Count: " << camStreamInfo.StreamReceivedPacketCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamMissedPacketCount))
        {
            outSS << "Stream Incomplete Packet Count: " << camStreamInfo.StreamMissedPacketCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendEnable))
        {
            outSS << "Stream Packet Resend Enable: " << camStreamInfo.StreamPacketResendEnable.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendTimeout))
        {
            outSS << "Stream Packet Resend Timeout: " << camStreamInfo.StreamPacketResendTimeout.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendMaxRequests))
        {
            outSS << "Stream Packet Resend Max Requests: " << camStreamInfo.StreamPacketResendMaxRequests.ToString()
                  << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendRequestCount))
        {
            outSS << "Stream Packet Resend Request Count: " << camStreamInfo.StreamPacketResendRequestCount.ToString()
                  << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendRequestTimeoutCount))
        {
            outSS << "Stream Packet Resend Request Success Count: "
                  << camStreamInfo.StreamPacketResendRequestTimeoutCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendRequestedPacketCount))
        {
            outSS << "Stream Packet Resend Requested Packet Count: "
                  << camStreamInfo.StreamPacketResendRequestedPacketCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketResendReceivedPacketCount))
        {
            outSS << "Stream Packet Resend Received Packet Count: "
                  << camStreamInfo.StreamPacketResendReceivedPacketCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketsDuplicatedCount))
        {
            outSS << "Stream Packets Duplicated Count: " << camStreamInfo.StreamPacketsDuplicatedCount.ToString()
                  << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketsTimeoutCount))
        {
            outSS << "Stream Packets Timeout Count: " << camStreamInfo.StreamPacketsTimeoutCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketsNotYetAvailableCount))
        {
            outSS << "Stream Packets Not Yet Available Count: "
                  << camStreamInfo.StreamPacketsNotYetAvailableCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketsTemporarilyUnavailableCount))
        {
            outSS << "Stream Packets Temporarily Unavailable Count: "
                  << camStreamInfo.StreamPacketsTemporarilyUnavailableCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketsPerFrameCount))
        {
            outSS << "Stream Packets Per Frame Count: " << camStreamInfo.StreamPacketsPerFrameCount.ToString() << endl;
        }
        if (IsReadable(camStreamInfo.StreamPacketsUnavailableCount))
        {
            outSS << "Stream Packets Unavailable Count: " << camStreamInfo.StreamPacketsUnavailableCount.ToString()
                  << endl;
        }
        cout << outSS.str() << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Problem reading device info : " << e.GetError() << " - " << e.GetErrorMessage() << endl;
    }
}
 
// This function acquires and saves x images from a device.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, INodeMap& nodeMapGenTL, int numImagesToAcquire, int iteration)
{
    int result = 0;
 
    cout << endl << endl << "*** ACQUIRING " << numImagesToAcquire << " IMAGES ***" << endl << endl;
 
    try
    {
        // Retrieve enumeration node from nodemap
        CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
        if (!IsReadable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
        {
            cout << "Unable to 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
        int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
 
        // Set integer value from entry node as new value of enumeration node
        ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
 
        cout << "Acquisition mode set to Continuous..." << endl;
 
        // Begin acquiring images
        pCam->BeginAcquisition();
 
        cout << "Acquiring images..." << endl;
 
        const unsigned int k_numImages = numImagesToAcquire;
 
        ImagePtr pResultImage;
 
        // Start Capturing CPU Stats
        CpuUtil::StartCpuTracing(&cpuUsageInfo);
        for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
        {
            try
            {
                pResultImage = pCam->GetNextImage(1000);
 
                if (IsRelease)
                {
                    pResultImage->Release();
                }
            }
            catch (Spinnaker::Exception& e)
            {
                cout << "Error: " << e.what() << endl;
                result = -1;
            }
        }
 
        // Stop Capturing CPU Stats
        CpuUtil::StopCpuTracing(&cpuUsageInfo);
 
        // Fetch CPU Stats
        CpuUtil::GetCpuStats(&cpuUsageInfo);
 
        // End Acquisition
        pCam->EndAcquisition();
 
        cout << "Finished acquiring images..." << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    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)
{
    int result = 0;
 
    cout << endl << "*** DEVICE INFORMATION ***" << endl << endl;
 
    try
    {
        FeatureList_t features;
        CCategoryPtr category = nodeMap.GetNode("DeviceInformation");
        if (IsReadable(category))
        {
            category->GetFeatures(features);
            FeatureList_t::const_iterator it;
            for (it = features.begin(); it != features.end(); ++it)
            {
                CNodePtr pfeatureNode = *it;
                cout << pfeatureNode->GetName() << " : ";
                CValuePtr pValue = (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;
}
 
void PrintCPUUsage()
{
    cout << endl << "*** CPU USAGE STATS ***" << endl << endl;
 
    stringstream outSS;
    outSS << "Kernel Time: " << cpuUsageInfo.kernelSystemTime.wHour << "H"
          << ":" << cpuUsageInfo.kernelSystemTime.wMinute << "M"
          << ":" << cpuUsageInfo.kernelSystemTime.wSecond << "S"
          << ":" << cpuUsageInfo.kernelSystemTime.wMilliseconds << "ms"
          << "\n";
    outSS << "User Time: " << cpuUsageInfo.userSystemTime.wHour << "H"
          << ":" << cpuUsageInfo.userSystemTime.wMinute << "M"
          << ":" << cpuUsageInfo.userSystemTime.wSecond << "S"
          << ":" << cpuUsageInfo.userSystemTime.wMilliseconds << "ms"
          << "\n";
 
    outSS << "Kernel Time: "
          << ((cpuUsageInfo.kernelSystemTime.wHour * 60 * 60 * 1000) +
              (cpuUsageInfo.kernelSystemTime.wMinute * 60 * 1000) + (cpuUsageInfo.kernelSystemTime.wSecond * 1000) +
              (cpuUsageInfo.kernelSystemTime.wMilliseconds))
          << "ms"
          << "\n";
    outSS << "User Time: "
          << ((cpuUsageInfo.userSystemTime.wHour * 60 * 60 * 1000) + (cpuUsageInfo.userSystemTime.wMinute * 60 * 1000) +
              (cpuUsageInfo.userSystemTime.wSecond * 1000) + (cpuUsageInfo.userSystemTime.wMilliseconds))
          << "ms"
          << "\n";
 
    outSS << "CPU Usage: " << cpuUsageInfo.cpuPercentage << "%\n";
    outSS << "Total Time: " << cpuUsageInfo.elapsedTime << " seconds"
          << "\n";
    cout << outSS.str() << endl;
}
 
void PrintAllNodes(CameraPtr pCam)
{
    INodeMap& nodeMap = pCam->GetNodeMap();
    INodeMap& nodeMapDevice = pCam->GetTLDeviceNodeMap();
    INodeMap& nodeMapStream = pCam->GetTLStreamNodeMap();
    PrintDeviceInfo(nodeMap);
    PrintDeviceInfo(nodeMapDevice);
    PrintDeviceInfo(nodeMapStream);
}
 
bool EnableManualFramerate(CameraPtr pCam)
{
    INodeMap& NodeMap = pCam->GetNodeMap();
 
    // Turning AcquisitionFrameRateEnable on
    CBooleanPtr ptrFrameRateEnable = NodeMap.GetNode("AcquisitionFrameRateEnable");
    if (ptrFrameRateEnable == nullptr)
    {
        // AcquisitionFrameRateEnabled is used for Gen2 devices
        ptrFrameRateEnable = NodeMap.GetNode("AcquisitionFrameRateEnabled");
    }
 
    if (IsWritable(ptrFrameRateEnable))
    {
        ptrFrameRateEnable->SetValue(true);
 
        cout << "AcquisitionFrameRateEnable set to True" << endl;
    }
 
    // Turning AcquisitionFrameRateAuto off
    CEnumerationPtr ptrFrameRateAuto = NodeMap.GetNode("AcquisitionFrameRateAuto");
    if (!IsReadable(ptrFrameRateAuto) || !IsWritable(ptrFrameRateAuto))
    {
        cout << "Unable to get or set AcquisitionFrameRateAuto..." << endl << endl;
        return false;
    }
 
    CEnumEntryPtr ptrFrameRateAutoModeOff = ptrFrameRateAuto->GetEntryByName("Off");
    if (!IsReadable(ptrFrameRateAutoModeOff))
    {
        cout << "Unable to get AcquisitionFrameRateAuto to OFF. Aborting..." << endl << endl;
        return false;
    }
 
    // Retrieve integer value from entry node
    const int64_t valueFrameRateAutoOff = ptrFrameRateAutoModeOff->GetValue();
 
    // Set integer value from entry node as new value of enumeration node
    ptrFrameRateAuto->SetIntValue(valueFrameRateAutoOff);
 
    cout << "AcquisitionFrameRateAuto set to OFF" << endl;
 
    return true;
}
 
bool SetFrameRate(CameraPtr pCam)
{
    //-IsMaxFrameRate
    if (UseMaxFramerate)
    {
        try
        {
            EnableManualFramerate(pCam);
 
            cout << "Setting maximum framerate" << endl;
 
            INodeMap& nodeMap = pCam->GetNodeMap();
 
            // Set AcquisitionFrameRate to maximum
            CFloatPtr AcquisitionFrameRateNode = nodeMap.GetNode("AcquisitionFrameRate");
            if (!IsReadable(AcquisitionFrameRateNode) || !IsWritable(AcquisitionFrameRateNode))
            {
                cout << "Unable to get or set AcquisitionFrameRate to Max. Aborting..." << endl << endl;
                return false;
            }
 
            AcquisitionFrameRateNode->SetValue(AcquisitionFrameRateNode->GetMax());
        }
        catch (Spinnaker::Exception& e)
        {
            cout << "Exception setting FrameRate to maximum: " << e.what() << endl;
        }
 
        return true;
    }
 
    // User set framerate
    else if (UserSetFramerate > 0)
    {
        try
        {
            EnableManualFramerate(pCam);
            cout << "Setting framerate to: " << UserSetFramerate << endl << endl;
 
            INodeMap& nodeMap = pCam->GetNodeMap();
 
            // Set AcquisitionFrameRate to user defined value
            CFloatPtr AcquisitionFrameRateNode = nodeMap.GetNode("AcquisitionFrameRate");
            if (!IsWritable(AcquisitionFrameRateNode))
            {
                cout << "Unable to set AcquisitionFrameRate to " << UserSetFramerate << ". Aborting..." << endl << endl;
                return false;
            }
 
            AcquisitionFrameRateNode->SetValue(UserSetFramerate);
        }
        catch (Spinnaker::Exception& e)
        {
            cout << "Exception setting framerate: " << e.what() << endl;
        }
 
        return true;
    }
 
    return false;
}
 
// 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 GenTL nodemap and print device information
        INodeMap& nodeMapGenTL = pCam->GetTLDeviceNodeMap();
 
        result = PrintDeviceInfo(nodeMapGenTL);
 
        cout << endl << endl << "*** INITIALIZING DEVICE ***" << endl << endl;
 
        // Initialize camera
        pCam->Init();
 
        // Retrieve GenICam nodemap
        INodeMap& nodeMap = pCam->GetNodeMap();
 
        // set the packet size
        try
        {
            cout << "Setting the Packet Size to: " << PacketSizeToSet << endl << endl;
            CIntegerPtr PacketSizeNode = nodeMap.GetNode("GevSCPSPacketSize");
            if (!IsWritable(PacketSizeNode))
            {
                cout << "Unable to set Packet Size to: " << PacketSizeToSet << ". Aborting..." << endl << endl;
            }
 
            PacketSizeNode->SetValue(PacketSizeToSet);
 
            cout << "Setting the Packet Delay to: " << PacketDelayToSet << endl << endl;
            CIntegerPtr PacketDelayNode = nodeMap.GetNode("GevSCPD");
            if (!IsWritable(PacketDelayNode))
            {
                cout << "Unable to set Packet Delay to: " << PacketDelayToSet << ". Aborting..." << endl << endl;
            }
 
            PacketDelayNode->SetValue(PacketDelayToSet);
        }
        catch (Spinnaker::Exception& e)
        {
            cout << "Exception setting packet size to " << PacketSizeToSet << ". Exception: " << e.what() << endl;
        }
 
        // Set pixel format
        try
        {
            if (PixelFormatToSet)
            {
                cout << "Setting Pixel Format to: " << PixelFormatToSet << endl << endl;
                CEnumerationPtr PixalFormatNode = nodeMap.GetNode("PixelFormat");
                if (!IsReadable(PixalFormatNode))
                {
                    cout << "Unable to read PixalFormat. Aborting..." << endl << endl;
                    return false;
                }
 
                CEnumEntryPtr PixelFormat_entry = PixalFormatNode->GetEntryByName(PixelFormatToSet);
                if (!IsWritable(PixalFormatNode))
                {
                    cout << "Unable to set PixalFormat to: " << PixelFormatToSet << ". Aborting..." << endl << endl;
                    return false;
                }
 
                PixalFormatNode->SetIntValue(PixelFormat_entry->GetValue());
            }
        }
        catch (Spinnaker::Exception& e)
        {
            cout << "Exception setting Pixel Format to " << PixelFormatToSet << e.what() << endl;
        }
 
        // Setting exposure time
        try
        {
            try
            {
                cout << endl << "Turning off ExposureAuto..." << endl;
                CEnumerationPtr ExposureModeNode = nodeMap.GetNode("ExposureAuto");
                if (!IsWritable(ExposureModeNode))
                {
                    cout << "Unable to turn off ExposureAuto. Aborting..." << endl << endl;
                    return false;
                }
 
                ExposureModeNode->SetIntValue(0);
            }
            catch (Exception e)
            {
                cout << "Exception setting ExposureAuto to Off. Exception: " << e.what() << endl;
            }
 
            cout << endl << "Setting minimum Exposure Time" << endl;
            CFloatPtr ExposureTimeNode = nodeMap.GetNode("ExposureTime");
            if (!IsReadable(ExposureTimeNode) || !IsWritable(ExposureTimeNode))
            {
                cout << "Unable to get or set ExposureTime to minimum. Aborting..." << endl << endl;
                return false;
            }
 
            ExposureTimeNode->SetValue(ExposureTimeNode->GetMin() + 10);
        }
        catch (Spinnaker::Exception& e)
        {
            cout << "Exception setting minimum exposure time. Exception: " << e.what() << endl;
        }
 
        // Set FrameRate
        SetFrameRate(pCam);
 
        if (UseDuration)
        {
            cout << "Streaming for duration of: " << TestDuration << " seconds" << endl;
 
            // Get FrameRate
            INodeMap& nodeMap = pCam->GetNodeMap();
            CFloatPtr AcquisitionFrameRateNode = nodeMap.GetNode("AcquisitionFrameRate");
            if (!IsReadable(AcquisitionFrameRateNode))
            {
                cout << "Unable to read AcquisitionFrameRate. Aborting..." << endl << endl;
                return false;
            }
 
            double FrameRate = AcquisitionFrameRateNode->GetValue();
            NumImagesToGrab = static_cast<int>(FrameRate * TestDuration);
        }
 
        // Acquire images
        cout << "This iteration will stream: " << NumImagesToGrab << " images" << endl;
        result = result | AcquireImages(pCam, nodeMap, nodeMapGenTL, NumImagesToGrab, 0);
 
        // Print Data Stream Nodemap Information
        PrintDataStreamInfo(pCam);
 
        // Print CPU Usage Stats
        PrintCPUUsage();
 
        // 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[])
{
    // Print application build information
    cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;
 
    // Parse arguments
    if (!ParseArguments(argc, argv))
    {
        return -1;
    }
 
    int result = 0;
 
    // 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();
 
    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 << "No cameras detected." << endl;
        cout << "Done!" << endl;
        // getchar();
 
        return -1;
    }
 
    //
    // Create shared pointer to camera
    //
    // *** NOTES ***
    // The CameraPtr object is a shared pointer, and will generally clean itself
    // up upon exiting its scope. However, if a shared pointer is created in the
    // same scope that a system object is explicitly released (i.e. this scope),
    // the reference to the shared point must be broken manually.
    //
    // *** LATER ***
    // Shared pointers can be terminated manually by assigning them to nullptr.
    // This keeps releasing the system from throwing an exception.
    //
    CameraPtr pCam = nullptr;
 
    // Run example on each camera
    for (unsigned int i = 0; i < numCameras; i++)
    {
        // Select camera
        pCam = camList.GetByIndex(i);
 
        cout << endl << "Running code for camera " << i << "..." << endl;
        // Run example
        result = result | RunSingleCamera(pCam);
 
        cout << "Camera " << i << " complete..." << endl << endl;
    }
 
    //
    // Release reference to the camera
    //
    // *** NOTES ***
    // Had the CameraPtr object been created within the for-loop, it would not
    // be necessary to manually break the reference because the shared pointer
    // would have automatically cleaned itself up upon exiting the loop.
    //
    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;
}