AcquisitionMultipleThread.cpp

AcquisitionMultipleThread.cpp shows how to capture images from multiple cameras simultaneously using threads.

AcquisitionMultipleThread.cpp shows how to capture images from multiple cameras simultaneously using threads. It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.

This example is similar to the Acquisition example, except that threads are used to allow for simultaneous acquisitions.

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//=============================================================================
// Copyright (c) 2025 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>
 
#ifndef _WIN32
#include <pthread.h>
#endif
 
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
 
// 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, std::string camSerial)
{
    int result = 0;
 
    cout << "[" << camSerial << "] Printing device information ..." << endl << endl;
 
    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;
            CValuePtr pValue = (CValuePtr)pfeatureNode;
            cout << "[" << camSerial << "] " << pfeatureNode->GetName() << " : "
                 << (IsReadable(pValue) ? pValue->ToString() : "Node not readable") << endl;
        }
    }
    else
    {
        cout << "[" << camSerial << "] "
             << "Device control information not readable." << endl;
    }
 
    cout << endl;
 
    return result;
}
 
// 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 camera.
#if defined(_WIN32)
DWORD WINAPI AcquireImages(LPVOID lpParam)
{
    CameraPtr pCam = *((CameraPtr*)lpParam);
#else
void* AcquireImages(void* arg)
{
    CameraPtr pCam = *((CameraPtr*)arg);
#endif
 
    try
    {
        // Retrieve TL device nodemap
        INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
 
        // Retrieve device serial number for filename
        CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
 
        std::string serialNumber = "";
 
        if (IsReadable(ptrStringSerial))
        {
            serialNumber = ptrStringSerial->GetValue();
        }
 
        cout << endl
             << "[" << serialNumber << "] "
             << "*** IMAGE ACQUISITION THREAD STARTING"
             << " ***" << endl
             << endl;
 
        // Print device information
        PrintDeviceInfo(nodeMapTLDevice, serialNumber);
 
        // Initialize camera
        pCam->Init();
 
        // Retrieve nodemap
        INodeMap& nodeMap = pCam->GetNodeMap();
 
#ifdef _DEBUG
        // Disable heartbeat for GEV camera for Debug mode
        if (DisableGVCPHeartbeat(pCam) != 0)
#else
        // Reset heartbeat for GEV camera for Release mode
        if (ResetGVCPHeartbeat(pCam) != 0)
#endif
        {
#if defined(_WIN32)
            return 0;
#else
            return (void*)0;
#endif
        }
 
        // Set acquisition mode to continuous
        CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
        if (!IsReadable(ptrAcquisitionMode) ||
            !IsWritable(ptrAcquisitionMode))
        {
            cout << "Unable to set acquisition mode to continuous (node retrieval; camera " << serialNumber
                 << "). Aborting..." << endl
                 << endl;
#if defined(_WIN32)
            return 0;
#else
            return (void*)0;
#endif
        }
 
        CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
        if (!IsReadable(ptrAcquisitionModeContinuous))
        {
            cout << "Unable to get acquisition mode to continuous (entry 'continuous' retrieval " << serialNumber
                 << "). Aborting..." << endl
                 << endl;
#if defined(_WIN32)
            return 0;
#else
            return (void*)0;
#endif
        }
 
        int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
 
        ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
 
        cout << "[" << serialNumber << "] "
             << "Acquisition mode set to continuous..." << endl;
 
        // Begin acquiring images
        pCam->BeginAcquisition();
 
        cout << "[" << serialNumber << "] "
             << "Started acquiring images..." << endl;
 
        //
        // Retrieve, convert, and save images for each camera
        //
        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);
 
        cout << endl;
 
        for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
        {
            try
            {
                // Retrieve next received image and ensure image completion
                ImagePtr pResultImage = pCam->GetNextImage(1000);
 
                if (pResultImage->IsIncomplete())
                {
                    cout << "[" << serialNumber << "] "
                         << "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
                         << endl;
                }
                else
                {
                    // Convert image to mono 8
                    ImagePtr convertedImage = processor.Convert(pResultImage, PixelFormat_Mono8);
 
                    // Create a unique filename
                    std::ostringstream filename;
 
                    filename << "AcquisitionMultipleThread-";
                    if (serialNumber != "")
                    {
                        filename << serialNumber.c_str();
                    }
 
                    filename << "-" << imageCnt << ".jpg";
 
                    // Save image
                    convertedImage->Save(filename.str().c_str());
 
                    // Print image information
                    cout << "[" << serialNumber << "] "
                         << "Grabbed image " << imageCnt << ", width = " << pResultImage->GetWidth()
                         << ", height = " << pResultImage->GetHeight() << ". Image saved at " << filename.str() << endl;
                }
 
                // Release image
                pResultImage->Release();
 
                cout << endl;
            }
            catch (Spinnaker::Exception& e)
            {
                cout << "[" << serialNumber << "] "
                     << "Error: " << e.what() << endl;
            }
        }
 
        // End acquisition
        pCam->EndAcquisition();
            
#ifdef _DEBUG
        // Reset heartbeat for GEV camera
        ResetGVCPHeartbeat(pCam);
#endif
 
        // Deinitialize camera
        pCam->DeInit();
 
#if defined(_WIN32)
        return 1;
#else
        return (void*)1;
#endif
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
#if defined(_WIN32)
        return 0;
#else
        return (void*)0;
#endif
    }
}
 
// This function acts as the body of the example
int RunMultipleCameras(CameraList camList)
{
    int result = 0;
    unsigned int camListSize = 0;
 
    try
    {
        // Retrieve camera list size
        camListSize = camList.GetSize();
 
        // Create an array of CameraPtrs. This array maintenances smart pointer's reference
        // count when CameraPtr is passed into grab thread as void pointer
 
        // Create an array of handles
        CameraPtr* pCamList = new CameraPtr[camListSize];
#if defined(_WIN32)
        HANDLE* grabThreads = new HANDLE[camListSize];
#else
        pthread_t* grabThreads = new pthread_t[camListSize];
#endif
 
        for (unsigned int i = 0; i < camListSize; i++)
        {
            // Select camera
            pCamList[i] = camList.GetByIndex(i);
            // Start grab thread
#if defined(_WIN32)
            grabThreads[i] = CreateThread(nullptr, 0, AcquireImages, &pCamList[i], 0, nullptr);
            assert(grabThreads[i] != nullptr);
#else
            int err = pthread_create(&(grabThreads[i]), nullptr, &AcquireImages, &pCamList[i]);
            assert(err == 0);
#endif
        }
 
#if defined(_WIN32)
        // Wait for all threads to finish
        WaitForMultipleObjects(
            camListSize, // number of threads to wait for
            grabThreads, // handles for threads to wait for
            TRUE,        // wait for all of the threads
            INFINITE     // wait forever
        );
 
        // Check thread return code for each camera
        for (unsigned int i = 0; i < camListSize; i++)
        {
            DWORD exitcode;
 
            BOOL rc = GetExitCodeThread(grabThreads[i], &exitcode);
            if (!rc)
            {
                cout << "Handle error from GetExitCodeThread() returned for camera at index " << i << endl;
                result = -1;
            }
            else if (!exitcode)
            {
                cout << "Grab thread for camera at index " << i
                     << " exited with errors."
                        "Please check onscreen print outs for error details"
                     << endl;
                result = -1;
            }
        }
 
#else
        for (unsigned int i = 0; i < camListSize; i++)
        {
            // Wait for all threads to finish
            void* exitcode;
            int rc = pthread_join(grabThreads[i], &exitcode);
            if (rc != 0)
            {
                cout << "Handle error from pthread_join returned for camera at index " << i << endl;
                result = -1;
            }
            else if ((int)(intptr_t)exitcode == 0) // check thread return code for each camera
            {
                cout << "Grab thread for camera at index " << i
                     << " exited with errors."
                        "Please check onscreen print outs for error details"
                     << endl;
                result = -1;
            }
        }
#endif
 
        // Clear CameraPtr array and close all handles
        for (unsigned int i = 0; i < camListSize; i++)
        {
            pCamList[i] = 0;
#if defined(_WIN32)
            CloseHandle(grabThreads[i]);
#endif
        }
 
        // Delete array pointer
        delete[] pCamList;
 
        // Delete array pointer
        delete[] grabThreads;
    }
    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");
 
    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 all cameras
    cout << endl << "Running example for all cameras..." << endl;
 
    result = RunMultipleCameras(camList);
 
    cout << "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;
}