LogicBlock.cpp

LogicBlock.cpp shows how to use logic blocks to detect missing triggers and refire.

LogicBlock.cpp shows how to use logic blocks to detect missing triggers and refire. It relies on information provided in the Acquisition and Trigger examples.

A logic block is a collection of combinatorial logic and latches that allows users to create new, custom signals inside the camera. These custom signals can be used by the camera (for example to trigger exposure) or sent out to integrate with external systems.

Logic Block functionality is only available for BFS and Oryx Cameras. For details on logic blocks and how this example works, see our kb article, "Using Logic Blocks with Blackfly S and Oryx"; https://www.flir.com/support-center/iis/machine-vision/application-note/using-logic-blocks-with-blackfly-s-and-oryx

Please leave us feedback at: https://www.surveymonkey.com/r/TDYMVAPI More source code examples at: https://github.com/Teledyne-MV/Spinnaker-Examples Need help? Check out our forum at: https://teledynevisionsolutions.zendesk.com/hc/en-us/community/topics

//=============================================================================
// 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 "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <sstream>
 
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
 
// This function configures the camera to use a trigger. First, trigger mode is
// set to off in order to select the trigger source. Once the trigger source
// has been selected, trigger mode is then enabled.
int ConfigureTrigger(INodeMap& nodeMap)
{
    cout << endl << endl << "*** CONFIGURING TRIGGER ***" << endl << endl;
    int result = 0;
 
    try
    {
        //
        // Ensure trigger mode off
        //
        // *** NOTES ***
        // The trigger must be disabled in order to configure the source
        //
        CEnumerationPtr ptrTriggerMode = nodeMap.GetNode("TriggerMode");
        if (!IsReadable(ptrTriggerMode) ||
            !IsWritable(ptrTriggerMode))
        {
            cout << "Unable to disable trigger mode (node retrieval). Aborting..." << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrTriggerModeOff = ptrTriggerMode->GetEntryByName("Off");
        if (!IsReadable(ptrTriggerModeOff))
        {
            cout << "Unable to disable trigger mode (enum entry retrieval). Aborting..." << endl;
            return -1;
        }
 
        ptrTriggerMode->SetIntValue(ptrTriggerModeOff->GetValue());
 
        cout << "Trigger mode disabled..." << endl;
 
        // Set trigger source to Logic Block 0
        CEnumerationPtr ptrTriggerSource = nodeMap.GetNode("TriggerSource");
        if (!IsReadable(ptrTriggerSource) ||
            !IsWritable(ptrTriggerSource))
        {
            cout << "Unable to set trigger mode (node retrieval). Aborting..." << endl;
            return -1;
        }
 
        // Set trigger mode to software
        CEnumEntryPtr ptrTriggerSourceLogicBlock0 = ptrTriggerSource->GetEntryByName("LogicBlock0");
        if (!IsReadable(ptrTriggerSourceLogicBlock0))
        {
            cout << "Unable to set trigger mode (enum entry retrieval). Aborting..." << endl;
            return -1;
        }
 
        ptrTriggerSource->SetIntValue(ptrTriggerSourceLogicBlock0->GetValue());
 
        cout << "Trigger source set to software..." << endl;
 
        // Set trigger activation to level high
        CEnumerationPtr ptrTriggerActivation = nodeMap.GetNode("TriggerActivation");
        if (!IsReadable(ptrTriggerActivation) ||
            !IsWritable(ptrTriggerActivation))
        {
            cout << "Unable to get or set trigger activation (enum retrieval). Aborting..." << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrTriggerActivationLH = ptrTriggerActivation->GetEntryByName("LevelHigh");
        if (!IsReadable(ptrTriggerActivationLH))
        {
            cout << "Unable to get trigger mode ( entry retrieval). Aborting..." << endl;
            return -1;
        }
 
        ptrTriggerActivation->SetIntValue(ptrTriggerActivationLH->GetValue());
 
        cout << "Trigger activation set to level high..." << endl;
 
        // Turn trigger mode on
        CEnumEntryPtr ptrTriggerModeOn = ptrTriggerMode->GetEntryByName("On");
        if (!IsReadable(ptrTriggerModeOn))
        {
            cout << "Unable to enable trigger mode (enum entry retrieval). Aborting..." << endl;
            return -1;
        }
 
        ptrTriggerMode->SetIntValue(ptrTriggerModeOn->GetValue());
 
        cout << "Trigger mode turned back on..." << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function does the logic block configuration.
int ConfigureLogicBlock(INodeMap& nodeMap)
{
    cout << endl << endl << "*** CONFIGURING LOGIC BLOCKS ***" << endl << endl;
 
    // Select Logic Block 0
    CEnumerationPtr ptrLogicBlockSelector = nodeMap.GetNode("LogicBlockSelector");
    if (!IsReadable(ptrLogicBlockSelector) ||
        !IsWritable(ptrLogicBlockSelector))
    {
        cout << "Unable to get or set logic block selector to Logic Block 0 (node retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    CEnumEntryPtr ptrLogicBlock0 = ptrLogicBlockSelector->GetEntryByName("LogicBlock0");
    if (!IsReadable(ptrLogicBlock0))
    {
        cout << "Unable to get logic block selector to Logic Block 0 (enum entry retrieval). Non-fatal error..."
             << endl;
        return -1;
    }
 
    ptrLogicBlockSelector->SetIntValue(ptrLogicBlock0->GetValue());
 
    cout << "Logic Block 0 selected...." << endl;
 
    // Set Logic Block Lut to Enable
    CEnumerationPtr ptrLBLUTSelector = nodeMap.GetNode("LogicBlockLUTSelector");
    if (!IsReadable(ptrLBLUTSelector) ||
        !IsWritable(ptrLBLUTSelector))
    {
        cout << "Unable to get or set LUT logic block selector to Enable (node retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    CEnumEntryPtr ptrLBLUTEnable = ptrLBLUTSelector->GetEntryByName("Enable");
    if (!IsReadable(ptrLBLUTEnable))
    {
        cout << "Unable to get LUT logic block selector to Enable (enum entry retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    ptrLBLUTSelector->SetIntValue(ptrLBLUTEnable->GetValue());
 
    cout << "Logic Block LUT set to to Enable..." << endl;
 
    // Set Logic Block LUT Output Value All to 0xFC
    CIntegerPtr ptrLBLUTOutputValueAll = nodeMap.GetNode("LogicBlockLUTOutputValueAll");
    if (!IsWritable(ptrLBLUTOutputValueAll))
    {
        cout << "Unable to set value to LUT logic block output value all (integer retrieval). Non-fatal error..."
             << endl;
        return -1;
    }
 
    ptrLBLUTOutputValueAll->SetValue(252);
 
    cout << "Logic Block LUT Output Value All set to to OxFC..." << endl;
 
    // Set Logic Block LUT Input Selector to Input 0
    CEnumerationPtr ptrLBLUTInputSelector = nodeMap.GetNode("LogicBlockLUTInputSelector");
    if (!IsReadable(ptrLBLUTInputSelector) ||
        !IsWritable(ptrLBLUTInputSelector))
    {
        cout << "Unable to get or set LUT logic block input selector to Input 0 (node retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    CEnumEntryPtr ptrLBLUTInput0 = ptrLBLUTInputSelector->GetEntryByName("Input0");
    if (!IsReadable(ptrLBLUTInput0))
    {
        cout << "Unable to get LUT logic block selector to Input 0 (enum entry retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    ptrLBLUTInputSelector->SetIntValue(ptrLBLUTInput0->GetValue());
 
    cout << "Logic Block LUT Input Selector set to to Input 0 ..." << endl;
 
    // Set Logic Block LUT Input Source to FrameTriggerWait
    CEnumerationPtr ptrLBLUTSource = nodeMap.GetNode("LogicBlockLUTInputSource");
    if (!IsReadable(ptrLBLUTSource) ||
        !IsWritable(ptrLBLUTSource))
    {
        cout << "Unable to get or set LUT logic block input source to Frame Trigger Wait (node retrieval). Non-fatal error..."
             << endl;
        return -1;
    }
 
    CEnumEntryPtr ptrLBLUTSourceFTW = ptrLBLUTSource->GetEntryByName("FrameTriggerWait");
    if (!IsReadable(ptrLBLUTSourceFTW))
    {
        cout << "Unable to get LUT logic block input source to Frame Trigger Wait (enum entry retrieval). Non-fatal "
                "error..."
             << endl;
        return -1;
    }
 
    ptrLBLUTSource->SetIntValue(ptrLBLUTSourceFTW->GetValue());
 
    cout << "Logic Block LUT Input Source set to to Frame Trigger Wait ..." << endl;
 
    // Set Logic Block LUT Activation Type to Level High
    CEnumerationPtr ptrLBLUTActivation = nodeMap.GetNode("LogicBlockLUTInputActivation");
    if (!IsReadable(ptrLBLUTActivation) ||
        !IsWritable(ptrLBLUTActivation))
    {
        cout << "Unable to get or set LUT logic block input activation to level high (node retrieval). Non-fatal error..."
             << endl;
        return -1;
    }
 
    CEnumEntryPtr ptrLBLUTActivationLevelHigh = ptrLBLUTActivation->GetEntryByName("LevelHigh");
    if (!IsReadable(ptrLBLUTActivationLevelHigh))
    {
        cout
            << "Unable to get LUT logic block input activation to level high (enum entry retrieval). Non-fatal error..."
            << endl;
        return -1;
    }
 
    ptrLBLUTActivation->SetIntValue(ptrLBLUTActivationLevelHigh->GetValue());
 
    cout << "Logic Block LUT Input Activation set to level high..." << endl;
 
    // Set Logic Block LUT Input Selector to Input 1
    CEnumEntryPtr ptrLBLUTInput1 = ptrLBLUTInputSelector->GetEntryByName("Input1");
    if (!IsReadable(ptrLBLUTInput1))
    {
        cout << "Unable to get LUT logic block Input selector to input 1 (enum entry retrieval). Non-fatal error..."
             << endl;
        return -1;
    }
 
    ptrLBLUTInputSelector->SetIntValue(ptrLBLUTInput1->GetValue());
 
    cout << "Logic Block LUT Input Selector set to to Input 1 ..." << endl;
 
    // Set Logic Block LUT Source to User Output 0
    CEnumEntryPtr ptrLBLUTSourceUO0 = ptrLBLUTSource->GetEntryByName("UserOutput0");
    if (!IsReadable(ptrLBLUTSourceUO0))
    {
        cout << "Unable to get LUT logic block input source to User Output 0 (enum entry retrieval). Non-fatal error..."
             << endl;
        return -1;
    }
 
    ptrLBLUTSource->SetIntValue(ptrLBLUTSourceUO0->GetValue());
 
    cout << "Logic Block LUT Input Source set to to User Output 0 ..." << endl;
 
    // Set Logic Block LUT Activation Type to Rising Edge
    CEnumEntryPtr ptrLBLUTActivationRisingEdge = ptrLBLUTActivation->GetEntryByName("RisingEdge");
    if (!IsReadable(ptrLBLUTActivationRisingEdge))
    {
        cout << "Unable to get LUT logic block input activation to Rising Edge (enum entry retrieval). Non-fatal "
                "error..."
             << endl;
        return -1;
    }
 
    ptrLBLUTActivation->SetIntValue(ptrLBLUTActivationRisingEdge->GetValue());
 
    cout << "Logic Block LUT Input Activation set to Rising Edge..." << endl;
 
    // Set Logic Block LUT Input Selector to Input 2
    CEnumEntryPtr ptrLBLUTInput2 = ptrLBLUTInputSelector->GetEntryByName("Input2");
    if (!IsReadable(ptrLBLUTInput2))
    {
        cout << "Unable to get LUT logic block selector to input 2 (enum entry retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    ptrLBLUTInputSelector->SetIntValue(ptrLBLUTInput2->GetValue());
 
    cout << "Logic Block LUT Input Selector set to to Input 2 ..." << endl;
 
    // Set Logic Block LUT Source to Exposure Start
    CEnumEntryPtr ptrLBLUTSourceExposureStart = ptrLBLUTSource->GetEntryByName("ExposureStart");
    if (!IsReadable(ptrLBLUTSourceExposureStart))
    {
        cout
            << "Unable to get LUT logic block input source to Exposure Start (enum entry retrieval). Non-fatal error..."
            << endl;
        return -1;
    }
 
    ptrLBLUTSource->SetIntValue(ptrLBLUTSourceExposureStart->GetValue());
 
    cout << "Logic Block LUT Input Source set to to Exposure Start ..." << endl;
 
    // Set Logic Block LUT Activation Type to Rising Edge
    ptrLBLUTActivation->SetIntValue(ptrLBLUTActivationRisingEdge->GetValue());
 
    cout << "Logic Block LUT Input Activation set to Rising Edge..." << endl;
 
    // Set Logic Block Lut Selector to Value
    CEnumEntryPtr ptrLBLUTValue = ptrLBLUTSelector->GetEntryByName("Value");
    if (!IsReadable(ptrLBLUTValue))
    {
        cout << "Unable to get LUT logic block selector to Value (enum entry retrieval). Non-fatal error..." << endl;
        return -1;
    }
 
    ptrLBLUTSelector->SetIntValue(ptrLBLUTValue->GetValue());
 
    cout << "Logic Block LUT set to to Value..." << endl;
 
    // Set Logic Block LUT output Value All to 0x4C
    ptrLBLUTOutputValueAll->SetValue(76);
 
    cout << "Logic Block LUT Output Value All set to to Ox4C..." << endl << endl;
 
    return 0;
}
 
// This function retrieves two images, using user output 0 as a makeshift trigger
int GrabTwoImages(INodeMap& nodeMap, CameraPtr pCam)
{
    int result = 0;
 
    try
    {
        // Select User Output 0
        CEnumerationPtr ptrUserOutputSelector = nodeMap.GetNode("UserOutputSelector");
        if (!IsReadable(ptrUserOutputSelector) ||
            !IsWritable(ptrUserOutputSelector))
        {
            cout << "Unable to get or set User Output Selector (enum retrieval). Aborting..." << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrUserOutput0 = ptrUserOutputSelector->GetEntryByName("UserOutput0");
        if (!IsReadable(ptrUserOutput0))
        {
            cout << "Unable to get User Output Selector (entry retrieval). Aborting..." << endl;
            return -1;
        }
 
        ptrUserOutputSelector->SetIntValue(ptrUserOutput0->GetValue());
 
        // Set user output value to true to capture an image
        CBooleanPtr ptrUserOutputValue = nodeMap.GetNode("UserOutputValue");
        if (!IsWritable(ptrUserOutputValue))
        {
            cout << "Unable to set User Output value (boolean retrieval). Aborting..." << endl;
            return -1;
        }
 
        // Trigger the camera twice with two consecutive triggers
        //
        // *** NOTES ***
        // User Output 0's value is changed from false to true twice,
        // causing the camera to be triggered to capture an image for each
        // transition (rising edge). One trigger captures an image,
        // and the second trigger will be detected and cause the
        // camera to capture an image once the first triggered image
        // is complete.
        //
        ptrUserOutputValue->SetValue(false);
        ptrUserOutputValue->SetValue(true);
        ptrUserOutputValue->SetValue(false);
        ptrUserOutputValue->SetValue(true);
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function returns the camera to a normal state by turning off trigger
// mode.
int ResetTrigger(INodeMap& nodeMap)
{
    int result = 0;
 
    try
    {
        //
        // Turn trigger mode back off
        //
        // *** NOTES ***
        // Once all images have been captured, turn trigger mode back off to
        // restore the camera to a clean state.
        //
        CEnumerationPtr ptrTriggerMode = nodeMap.GetNode("TriggerMode");
        if (!IsReadable(ptrTriggerMode) ||
            !IsWritable(ptrTriggerMode))
        {
            cout << "Unable to disable trigger mode (node retrieval). Non-fatal error..." << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrTriggerModeOff = ptrTriggerMode->GetEntryByName("Off");
        if (!IsReadable(ptrTriggerModeOff))
        {
            cout << "Unable to disable trigger mode (enum entry retrieval). Non-fatal error..." << endl;
            return -1;
        }
 
        ptrTriggerMode->SetIntValue(ptrTriggerModeOff->GetValue());
 
        cout << "Trigger mode disabled..." << endl << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function returns the camera to its default state by re-enabling automatic
// exposure.
int ResetExposure(INodeMap& nodeMap)
{
    int result = 0;
 
    try
    {
        //
        // Turn automatic exposure back on
        //
        // *** NOTES ***
        // Automatic exposure is turned on in order to return the camera to its
        // default state.
        //
        CEnumerationPtr ptrExposureAuto = nodeMap.GetNode("ExposureAuto");
        if (!IsReadable(ptrExposureAuto) ||
            !IsWritable(ptrExposureAuto))
        {
            cout << "Unable to enable automatic exposure (node retrieval). Non-fatal error..." << endl << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrExposureAutoContinuous = ptrExposureAuto->GetEntryByName("Continuous");
        if (!IsReadable(ptrExposureAutoContinuous))
        {
            cout << "Unable to enable automatic exposure (enum entry retrieval). Non-fatal error..." << endl << endl;
            return -1;
        }
 
        ptrExposureAuto->SetIntValue(ptrExposureAutoContinuous->GetValue());
 
        cout << "Automatic exposure enabled..." << endl << 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;
}
 
// This function acquires and saves 10 images from a device; please see
// Acquisition example for more in-depth comments on acquiring images.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, INodeMap& nodeMapTLDevice)
{
    int result = 0;
 
    cout << endl << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
 
    try
    {
 
        // Set acquisition mode to continuous
        CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
        if (!IsReadable(ptrAcquisitionMode) ||
            !IsWritable(ptrAcquisitionMode))
        {
            cout << "Unable to get or set acquisition mode to continuous (node retrieval). Aborting..." << endl << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
        if (!IsReadable(ptrAcquisitionModeContinuous))
        {
            cout << "Unable to get acquisition mode to continuous (entry 'continuous' retrieval). Aborting..." << endl
                 << endl;
            return -1;
        }
 
        int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
 
        ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
 
        cout << "Acquisition mode set to continuous..." << endl;
 
        // Turn off auto exposure functionality
        CEnumerationPtr ptrExposureAuto = nodeMap.GetNode("ExposureAuto");
        if (!IsReadable(ptrExposureAuto) ||
            !IsWritable(ptrExposureAuto))
        {
            cout << "Unable to get or set Exposure Auto (enum retrieval). Aborting...." << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrExposureAutoEntry = ptrExposureAuto->GetEntryByName("Off");
        if (!IsReadable(ptrExposureAutoEntry))
        {
            cout << "Unable to get Exposure Auto (enum entry Retrieval). Aborting..." << endl;
        }
 
        ptrExposureAuto->SetIntValue(ptrExposureAutoEntry->GetValue());
 
        // Set exposure time to 0.5 seconds
        CFloatPtr ptrExposureTime = nodeMap.GetNode("ExposureTime");
        if (!IsWritable(ptrExposureTime))
        {
            cout << "Unable to set Exposure Time (float retrieaval).  Aborting...";
        }
 
        ptrExposureTime->SetValue(500000);
 
        // Begin acquiring images
        //
        // *** NOTES ***
        // Due to the logic block configuration we are using, after
        // first initializing the logic block setup, the camera will automatically
        // capture an image after calling beginacquisition(); calling endacquisition
        // then beginacquisition() will clear this image and restart the capture
        //
        pCam->BeginAcquisition();
        pCam->EndAcquisition();
        pCam->BeginAcquisition();
 
        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;
 
        unsigned int imageCnt = 0;
 
        //
        // 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);
 
        while (imageCnt < k_numImages)
        {
            try
            {
                // Retrieve the next two images from the trigger
                result = result | GrabTwoImages(nodeMap, pCam);
 
                for (unsigned int imageCntb = 0; imageCntb < 2; imageCntb++)
                {
                    // Retrieve the next received image
                    ImagePtr pResultImage = pCam->GetNextImage(1000);
 
                    if (pResultImage->IsIncomplete())
                    {
                        cout << "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
                             << endl;
                    }
                    else
                    {
                        // Print image information
                        cout << "Grabbed image " << imageCnt << ", width = " << pResultImage->GetWidth()
                             << ", height = " << pResultImage->GetHeight() << endl;
 
                        // Convert image to mono 8
                        ImagePtr convertedImage = processor.Convert(pResultImage, PixelFormat_Mono8);
 
                        // Create a unique filename
                        ostringstream filename;
 
                        filename << "LogicBlock-";
                        if (deviceSerialNumber != "")
                        {
                            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;
                    imageCnt++;
                }
            }
            catch (Spinnaker::Exception& e)
            {
                cout << "Error: " << e.what() << endl << endl;
                result = -1;
            }
        }
 
        // End acquisition
        pCam->EndAcquisition();
    }
    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;
    int err = 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 Logic Block
        err = ConfigureLogicBlock(nodeMap);
        if (err < 0)
        {
            return err;
        }
 
        // Configure trigger
        err = ConfigureTrigger(nodeMap);
        if (err < 0)
        {
            return err;
        }
 
        // Acquire images
        result = result | AcquireImages(pCam, nodeMap, nodeMapTLDevice);
 
        // Reset trigger
        result = result | ResetTrigger(nodeMap);
 
        // Reset Exposure
        result = result | ResetExposure(nodeMap);
 
        // 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 == NULL)
    {
        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");
 
    int result = 0;
 
    // 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();
 
    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;
    }
 
    // Run example on each camera
    for (unsigned int i = 0; i < numCameras; i++)
    {
        cout << endl << "Running example for camera " << i << "..." << endl;
 
        result = result | RunSingleCamera(camList.GetByIndex(i));
 
        cout << "Camera " << i << " example complete..." << endl << endl;
    }
 
    // Clear camera list before releasing system
    camList.Clear();
 
    // Release system
    system->ReleaseInstance();
 
    cout << endl << "Done! Press Enter to exit..." << endl;
    getchar();
 
    return result;
}