ChunkData_C¶
ChunkData_C.c shows how to get chunk data on an image, either from the nodemap or from the image itself. It relies on information provided in the Enumeration_C, Acquisition_C, and NodeMapInfo_C examples.
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/**
* @example ChunkData_C.c
*
* @brief ChunkData_C.c shows how to get chunk data on an image, either from
* the nodemap or from the image itself. It relies on information provided in
* the Enumeration_C, Acquisition_C, and NodeMapInfo_C examples.
*
* It can also be helpful to familiarize yourself with the ImageFormatControl_C
* and Exposure_C examples. As they are somewhat shorter and simpler, either
* provides a strong introduction to camera customization.
*
* Chunk data provides information on various traits of an image. This includes
* identifiers such as frame ID, properties such as black level, and more. This
* information can be acquired from either the nodemap or the image itself.
*
* It may be preferable to grab chunk data from each individual image, as it
* can be hard to verify whether data is coming from the correct image when
* using the nodemap. This is because chunk data retrieved from the nodemap is
* only valid for the current image; when spinCameraGetNextImage() or
* spinCameraGetNextImageEx() is called, chunk data will be updated to that of
* the new current image.
*
* 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
*/
#include "SpinnakerC.h"
#include "stdio.h"
#include "string.h"
#include "stdlib.h"
// This macro helps with C-strings.
#define MAX_BUFF_LEN 256
char lastErrorMessage[MAX_BUFF_LEN];
size_t lenLastErrorMessage = MAX_BUFF_LEN;
// Helper for getting error messages
char* GetLastErrorMessage()
{
// Note: lastErrorMessage is shared across multiple threads; a different thread could overwrite the last error
// message before this function is called to grab the latest message
spinErrorGetLastMessage(lastErrorMessage, &lenLastErrorMessage);
return lastErrorMessage;
}
// This function helps to check if a node is readable
bool8_t IsReadable(spinNodeHandle hNode, char nodeName[])
{
spinError err = SPINNAKER_ERR_SUCCESS;
bool8_t pbReadable = False;
err = spinNodeIsReadable(hNode, &pbReadable);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve node readability (%s node) with error: %s [%d]\n\n",
nodeName,
GetLastErrorMessage(),
err);
}
return pbReadable;
}
// This function helps to check if a node is writable
bool8_t IsWritable(spinNodeHandle hNode, char nodeName[])
{
spinError err = SPINNAKER_ERR_SUCCESS;
bool8_t pbWritable = False;
err = spinNodeIsWritable(hNode, &pbWritable);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve node writability (%s node) with error: %s [%d]\n\n",
nodeName,
GetLastErrorMessage(),
err);
}
return pbWritable;
}
// Use the following enum and global constant to select whether chunk data is
// displayed from the image or the nodemap.
typedef enum _chunkDataType
{
IMAGE,
NODEMAP
} chunkDataType;
const chunkDataType chosenChunkData = IMAGE;
// This function configures the camera to add chunk data to each image. It does
// this by enabling each type of chunk data after enabling chunk data mode.
// When chunk data mode is turned on, the data is made available in both the nodemap
// and each image.
spinError ConfigureChunkData(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
unsigned int i = 0;
printf("\n\n*** CONFIGURING CHUNK DATA ***\n\n");
//
// Activate chunk mode
//
// *** NOTES ***
// Once enabled, chunk data will be available at the end of hte payload of
// every image captured until it is disabled. Chunk data can also be
// retrieved from the nodemap.
//
spinNodeHandle hChunkModeActive = NULL;
err = spinNodeMapGetNode(hNodeMap, "ChunkModeActive", &hChunkModeActive);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to activate chunk mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Check if available and writable
if (IsWritable(hChunkModeActive, "ChunkModeActive"))
{
err = spinBooleanSetValue(hChunkModeActive, True);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to activate chunk mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to write to chunk mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Chunk mode activated...\n");
//
// Enable all types of chunk data
//
// *** NOTES ***
// Enabling chunk data requires working with nodes: "ChunkSelector" is an
// enumeration selector node and "ChunkEnable" is a boolean. It requires
// retrieving the selector node (which is of enumeration node type),
// selecting the entry of the chunk data to be enabled, retrieving the
// corresponding boolean, and setting it to true.
//
// In this example, all chunk data is enabled, so these steps are performed
// in a loop. Once this is complete, chunk mode still needs to be activated.
//
spinNodeHandle hChunkSelector = NULL;
size_t numEntries = 0;
// Retrieve selector node, check if available and readable and writable
err = spinNodeMapGetNode(hNodeMap, "ChunkSelector", &hChunkSelector);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve chunk selector entries. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Retrieve number of entries
if (IsReadable(hChunkSelector, "ChunkSelector"))
{
err = spinEnumerationGetNumEntries(hChunkSelector, &numEntries);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve number of entries. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to read number of entries. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Enabling entries...\n");
for (i = 0; i < numEntries; i++)
{
// Retrieve entry node
spinNodeHandle hEntry = NULL;
err = spinEnumerationGetEntryByIndex(hChunkSelector, i, &hEntry);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\tUnable to enable chunk entry (error %d)...\n\n", err);
continue;
}
// Check if readable, retrieve entry name
char entryName[MAX_BUFF_LEN];
size_t lenEntryName = MAX_BUFF_LEN;
if (IsReadable(hEntry, "ChunkEntry"))
{
err = spinNodeGetDisplayName(hEntry, entryName, &lenEntryName);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to retrieve chunk entry display name (error %d)...\n", entryName, err);
}
}
else
{
continue;
}
// Retrieve enum entry integer value
int64_t value = 0;
err = spinEnumerationEntryGetIntValue(hEntry, &value);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to get chunk entry value (error %d)...\n", entryName, err);
continue;
}
// Set integer value
if (IsWritable(hChunkSelector, "ChunkSelector"))
{
err = spinEnumerationSetIntValue(hChunkSelector, value);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to set chunk entry value (error %d)...\n", entryName, err);
continue;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("\t%s: unable to write to chunk entry value (error %d)...\n", entryName, err);
return err;
}
// Retrieve corresponding chunk enable node
spinNodeHandle hChunkEnable = NULL;
err = spinNodeMapGetNode(hNodeMap, "ChunkEnable", &hChunkEnable);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to get entry from nodemap (error %d)...\n", entryName, err);
continue;
}
// Retrieve chunk enable value and set to true if necessary
bool8_t isEnabled = False;
if (IsReadable(hChunkEnable, "ChunkEnable"))
{
err = spinBooleanGetValue(hChunkEnable, &isEnabled);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to get chunk entry boolean value (error %d)...\n", entryName, err);
continue;
}
}
else
{
printf("\t%s: not writable\n", entryName);
continue;
}
// Consider the case in which chunk data is enabled but not writable
if (!isEnabled || !IsWritable(hChunkEnable, "ChunkEnable"))
{
// Set chunk enable value to true
err = spinBooleanSetValue(hChunkEnable, True);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to set chunk entry boolean value (error %d)...\n", entryName, err);
continue;
}
}
printf("\t%s: enabled\n", entryName);
}
return err;
}
void printBytesAsHex(uint8_t* array, int64_t length)
{
printf("\n\t\t");
for (int64_t i = 0; i < length - 1; ++i)
{
if (i != 0 && i % 8 == 0)
{
printf("\n\t\t");
}
printf("0x%02x ", (unsigned int)(array[i]));
}
printf("\n");
}
// This function displays a select amount of chunk data from the image. Unlike
// accessing chunk data via the nodemap, there is no way to loop through all
// available data.
spinError DisplayChunkDataFromImage(spinImage hImage)
{
spinError err = SPINNAKER_ERR_SUCCESS;
printf("Print chunk data from image...\n");
//
// Retrieve exposure time; exposure time recorded in microseconds
//
// *** NOTES ***
// Floating point numbers are returned as a double
//
double exposureTime = 0.0;
err = spinImageChunkDataGetFloatValue(hImage, "ChunkExposureTime", &exposureTime);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve exposure time from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tExposure time: %f\n", exposureTime);
//
// Retrieve compression ratio
//
// *** NOTES ***
// Floating point numbers are returned as a double
//
double compressionRatio = 0.0;
err = spinImageChunkDataGetFloatValue(hImage, "ChunkCompressionRatio", &compressionRatio);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve compression ratio from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tCompression ratio: %f\n", compressionRatio);
//
// Retrieve frame ID
//
// *** NOTES ***
// Integers are returned as an int64_t.
//
int64_t frameID = 0;
err = spinImageChunkDataGetIntValue(hImage, "ChunkFrameID", &frameID);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve frame ID from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tFrame ID: %d\n", (int)frameID);
// Retrieve gain; gain recorded in decibels
double gain = 0.0;
err = spinImageChunkDataGetFloatValue(hImage, "ChunkGain", &gain);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve gain from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tGain: %f\n", gain);
// Retrieve height; height recorded in pixels
int64_t height = 0;
err = spinImageChunkDataGetIntValue(hImage, "ChunkHeight", &height);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve height from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tHeight: %d\n", (int)height);
// Retrieve offset X; offset X recorded in pixels
int64_t offsetX = 0;
err = spinImageChunkDataGetIntValue(hImage, "ChunkOffsetX", &offsetX);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve offset X from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tOffset X: %d\n", (int)offsetX);
// Retrieve offset Y; offset Y recorded in pixels
int64_t offsetY = 0;
err = spinImageChunkDataGetIntValue(hImage, "ChunkOffsetY", &offsetY);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve offset Y from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tOffset Y: %d\n", (int)offsetY);
// Retrieve width; width recorded in pixels
int64_t width = 0;
err = spinImageChunkDataGetIntValue(hImage, "ChunkWidth", &width);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve width from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tWidth: %d\n", (int)width);
// Retrieve Serial Data
int64_t serialDataLength = 0;
err = spinImageChunkDataGetIntValue(hImage, "ChunkSerialDataLength", &serialDataLength);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve serial data length from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
if (serialDataLength > 0)
{
printf("\tSerial Data (%lld) Bytes:", serialDataLength);
bool8_t serialReceiveOverFlow = 0;
err = spinImageChunkDataGetBoolValue(hImage, "ChunkSerialReceiveOverflow", &serialReceiveOverFlow);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve serial receive overflow value from image chunk data. Aborting with error: %s "
"[%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
if (serialReceiveOverFlow)
{
printf("\t Warning: Device serial data buffer overflow\n");
}
uint8_t* pSerialData = 0;
err = spinImageChunkDataGetRawData(hImage, "ChunkSerialData", &pSerialData);
if (err != SPINNAKER_ERR_SUCCESS || pSerialData == NULL)
{
if (pSerialData == NULL)
{
printf("Unable to retrieve serial data from image chunk data. Serial data was null\n\n");
}
printf(
"Unable to retrieve serial data from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printBytesAsHex(pSerialData, serialDataLength);
}
// Retrieve black level; black level recorded as a percentage
double blackLevel = 0.0;
err = spinImageChunkDataGetFloatValue(hImage, "ChunkBlackLevel", &blackLevel);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve black level from image chunk data. Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
printf("\tBlack level: %f\n", blackLevel);
return err;
}
// This function displays all available chunk data by looping through the chunk
// data category node on the nodemap.
spinError DisplayChunkDataFromNodeMap(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
unsigned int i = 0;
//
// Retrieve chunk data information nodes
//
// *** NOTES ***
// As well as being written into the payload of the image, chunk data is
// accessible on the GenICam nodemap. Insofar as chunk data is
// enabled, it is available from both sources.
//
spinNodeHandle hChunkDataControl = NULL;
size_t numFeatures = 0;
err = spinNodeMapGetNode(hNodeMap, "ChunkDataControl", &hChunkDataControl);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve chunk data control. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
if (!IsReadable(hChunkDataControl, "ChunkDataControl"))
{
printf("Unable to retrieve chunk data control. Aborting...\n\n");
return SPINNAKER_ERR_ERROR;
}
err = spinCategoryGetNumFeatures(hChunkDataControl, &numFeatures);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve number of nodes (error %d)...\n\n", err);
return err;
}
// Iterate through children
printf("Printing chunk data from nodemap...\n");
for (i = 0; i < numFeatures; i++)
{
spinNodeHandle hFeatureNode = NULL;
spinNodeType featureType = UnknownNode;
char featureName[MAX_BUFF_LEN];
size_t lenFeatureName = MAX_BUFF_LEN;
// Retrieve node
if (IsReadable(hChunkDataControl, "ChunkDataControl"))
{
err = spinCategoryGetFeatureByIndex(hChunkDataControl, i, &hFeatureNode);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node (error %d)...\n\n", err);
continue;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to retrieve node (error %d)...\n\n", err);
continue;
}
// Retrieve node name
err = spinNodeGetName(hFeatureNode, featureName, &lenFeatureName);
if (err != SPINNAKER_ERR_SUCCESS)
{
strcpy(featureName, "Unknown name");
}
if (IsReadable(hFeatureNode, featureName))
{
err = spinNodeGetType(hFeatureNode, &featureType);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node type. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
continue;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to retrieve node type. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
continue;
}
// Print integer node type value
if (featureType == IntegerNode)
{
int64_t featureValue = 0;
err = spinIntegerGetValue(hFeatureNode, &featureValue);
printf("\t%s: %d\n", featureName, (int)featureValue);
}
// Print float node type value
else if (featureType == FloatNode)
{
double featureValue = 0.0;
err = spinFloatGetValue(hFeatureNode, &featureValue);
printf("\t%s: %f\n", featureName, featureValue);
}
//
// Print boolean node type value
//
// *** NOTES ***
// Boolean information is manipulated to output the more-easily
// identifiable 'true' and 'false' as opposed to '1' and '0'.
//
else if (featureType == BooleanNode)
{
bool8_t featureValue = False;
err = spinBooleanGetValue(hFeatureNode, &featureValue);
if (featureValue)
{
printf("\t%s: true\n", featureName);
}
else
{
printf("\t%s: false\n", featureName);
}
}
}
return err;
}
// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo_C example for more in-depth comments on
// printing device information from the nodemap.
spinError PrintDeviceInfo(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
unsigned int i = 0;
printf("\n*** DEVICE INFORMATION ***\n\n");
// Retrieve device information category node
spinNodeHandle hDeviceInformation = NULL;
err = spinNodeMapGetNode(hNodeMap, "DeviceInformation", &hDeviceInformation);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Retrieve number of nodes within device information node
size_t numFeatures = 0;
if (IsReadable(hDeviceInformation, "DeviceInformation"))
{
err = spinCategoryGetNumFeatures(hDeviceInformation, &numFeatures);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve number of nodes. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to read device information. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Iterate through nodes and print information
for (i = 0; i < numFeatures; i++)
{
spinNodeHandle hFeatureNode = NULL;
err = spinCategoryGetFeatureByIndex(hDeviceInformation, i, &hFeatureNode);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
continue;
}
spinNodeType featureType = UnknownNode;
// Get feature node name
char featureName[MAX_BUFF_LEN];
size_t lenFeatureName = MAX_BUFF_LEN;
err = spinNodeGetName(hFeatureNode, featureName, &lenFeatureName);
if (err != SPINNAKER_ERR_SUCCESS)
{
strcpy(featureName, "Unknown name");
}
if (IsReadable(hFeatureNode, featureName))
{
err = spinNodeGetType(hFeatureNode, &featureType);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node type. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
continue;
}
}
else
{
printf("%s: Node not readable\n", featureName);
continue;
}
char featureValue[MAX_BUFF_LEN];
size_t lenFeatureValue = MAX_BUFF_LEN;
err = spinNodeToString(hFeatureNode, featureValue, &lenFeatureValue);
if (err != SPINNAKER_ERR_SUCCESS)
{
strcpy(featureValue, "Unknown value");
}
printf("%s: %s\n", featureName, featureValue);
}
printf("\n");
return err;
}
// This function acquires and saves 10 images from a device; please see
// Acquisition_C example for more in-depth comments on the acquisition of
// images.
spinError AcquireImages(spinCamera hCam, spinNodeMapHandle hNodeMap, spinNodeMapHandle hNodeMapTLDevice)
{
spinError err = SPINNAKER_ERR_SUCCESS;
printf("\n*** IMAGE ACQUISITION ***\n\n");
// Set acquisition mode to continuous
spinNodeHandle hAcquisitionMode = NULL;
spinNodeHandle hAcquisitionModeContinuous = NULL;
int64_t acquisitionModeContinuous = 0;
err = spinNodeMapGetNode(hNodeMap, "AcquisitionMode", &hAcquisitionMode);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to set acquisition mode to continuous (node retrieval). Aborting with error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
return err;
}
if (IsReadable(hAcquisitionMode, "AcquisitionMode"))
{
err = spinEnumerationGetEntryByName(hAcquisitionMode, "Continuous", &hAcquisitionModeContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to set acquisition mode to continuous (entry 'continuous' retrieval). Aborting with error "
"%d...\n\n",
err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to read acquisition mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
if (IsReadable(hAcquisitionModeContinuous, "AcquisitionModeContinuous"))
{
err = spinEnumerationEntryGetIntValue(hAcquisitionModeContinuous, &acquisitionModeContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to set acquisition mode to continuous (entry int value retrieval). Aborting with error "
"%d...\n\n",
err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf(
"Unable to read acquisition mode continuous. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// set acquisition mode to continuous
if (IsWritable(hAcquisitionMode, "AcquisitionMode"))
{
err = spinEnumerationSetIntValue(hAcquisitionMode, acquisitionModeContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to set acquisition mode to continuous (entry int value setting). Aborting with error %d...\n\n",
err);
return err;
}
printf("Acquisition mode set to continuous...\n");
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to write to acquisition mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Begin acquiring images
err = spinCameraBeginAcquisition(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to begin image acquisition. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Acquiring images...\n");
// Retrieve device serial number for filename
spinNodeHandle hDeviceSerialNumber = NULL;
char deviceSerialNumber[MAX_BUFF_LEN];
size_t lenDeviceSerialNumber = MAX_BUFF_LEN;
err = spinNodeMapGetNode(hNodeMapTLDevice, "DeviceSerialNumber", &hDeviceSerialNumber);
if (err != SPINNAKER_ERR_SUCCESS)
{
strcpy(deviceSerialNumber, "");
lenDeviceSerialNumber = 0;
}
else
{
if (IsReadable(hDeviceSerialNumber, "DeviceSerialNumber"))
{
err = spinStringGetValue(hDeviceSerialNumber, deviceSerialNumber, &lenDeviceSerialNumber);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get device serial number. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
strcpy(deviceSerialNumber, "");
lenDeviceSerialNumber = 0;
}
printf("Device serial number retrieved as %s...\n", deviceSerialNumber);
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to get device serial number. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
strcpy(deviceSerialNumber, "");
lenDeviceSerialNumber = 0;
}
}
printf("\n");
// Retrieve, convert, and save images
const unsigned int k_numImages = 10;
unsigned int imageCnt = 0;
//
// Create Image Processor context for post processing images
//
spinImageProcessor hImageProcessor = NULL;
err = spinImageProcessorCreate(&hImageProcessor);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to create image processor. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
//
// 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.
//
err = spinImageProcessorSetColorProcessing(hImageProcessor, SPINNAKER_COLOR_PROCESSING_ALGORITHM_HQ_LINEAR);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to set image processor color processing method. Non-fatal error: %s [%d]\n\n",
GetLastErrorMessage(),
err);
}
for (imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Retrieve next received image
spinImage hResultImage = NULL;
err = spinCameraGetNextImageEx(hCam, 1000, &hResultImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get next image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
continue;
}
// Ensure image completion
bool8_t isIncomplete = False;
bool8_t hasFailed = False;
err = spinImageIsIncomplete(hResultImage, &isIncomplete);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to determine image completion. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
hasFailed = True;
}
if (isIncomplete)
{
spinImageStatus imageStatus = SPINNAKER_IMAGE_STATUS_NO_ERROR;
err = spinImageGetStatus(hResultImage, &imageStatus);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve image status. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
else
{
printf("Image incomplete with image status %d...\n", imageStatus);
}
hasFailed = True;
}
// Release incomplete or failed image
if (hasFailed)
{
err = spinImageRelease(hResultImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
continue;
}
// Print image information
size_t width = 0;
size_t height = 0;
err = spinImageGetWidth(hResultImage, &width);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve image width. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
err = spinImageGetHeight(hResultImage, &height);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve image height. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
printf("Grabbed image %u, width = %u, height = %u\n", imageCnt, (unsigned int)width, (unsigned int)height);
// Convert image to mono 8
spinImage hConvertedImage = NULL;
err = spinImageCreateEmpty(&hConvertedImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to create image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
hasFailed = True;
}
err = spinImageProcessorConvert(hImageProcessor, hResultImage, hConvertedImage, PixelFormat_Mono8);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to convert image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
hasFailed = True;
}
// Create unique file name and save image
char filename[MAX_BUFF_LEN];
if (lenDeviceSerialNumber == 0)
{
sprintf(filename, "ChunkData-C-%d.jpg", imageCnt);
}
else
{
sprintf(filename, "ChunkData-C-%s-%d.jpg", deviceSerialNumber, imageCnt);
}
err = spinImageSave(hConvertedImage, filename, SPINNAKER_IMAGE_FILE_FORMAT_JPEG);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to save image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
else
{
printf("Image saved at %s\n", filename);
}
// Display chunk data
if (chosenChunkData == IMAGE)
{
err = DisplayChunkDataFromImage(hResultImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
}
else if (chosenChunkData == NODEMAP)
{
err = DisplayChunkDataFromNodeMap(hNodeMap);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
}
printf("\n");
// Destroy converted image
err = spinImageDestroy(hConvertedImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
// Release image
err = spinImageRelease(hResultImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release image. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
}
//
// Destroy Image Processor context
//
// *** NOTES ***
// Image processor context needs to be destroyed after all image processing
// are complete to avoid memory leaks.
//
err = spinImageProcessorDestroy(hImageProcessor);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy image processor. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
// End Acquisition
err = spinCameraEndAcquisition(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to end acquisition. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
return err;
}
// This function disables each type of chunk data before disabling chunk data mode.
spinError DisableChunkData(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
spinNodeHandle hChunkSelector = NULL;
size_t numEntries = 0;
unsigned int i = 0;
// Retrieve selector node
err = spinNodeMapGetNode(hNodeMap, "ChunkSelector", &hChunkSelector);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve chunk selector entries. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Retrieve number of entries, check if readable
if (IsReadable(hChunkSelector, "ChunkSelector"))
{
err = spinEnumerationGetNumEntries(hChunkSelector, &numEntries);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to retrieve number of entries. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to read number of entries. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Disabling entries...\n");
for (i = 0; i < numEntries; i++)
{
// Retrieve entry node
spinNodeHandle hEntry = NULL;
err = spinEnumerationGetEntryByIndex(hChunkSelector, i, &hEntry);
// Go to next node if problem occurs
if (err != SPINNAKER_ERR_SUCCESS)
{
continue;
}
// Retrieve entry name
char entryName[MAX_BUFF_LEN];
size_t lenEntryName = MAX_BUFF_LEN;
if (IsReadable(hEntry, "ChunkEntry"))
{
err = spinNodeGetDisplayName(hEntry, entryName, &lenEntryName);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to retrieve chunk entry by display name (error %d)...\n", entryName, err);
}
}
else
{
continue;
}
// Retrieve enum entry integer value
int64_t value = 0;
err = spinEnumerationEntryGetIntValue(hEntry, &value);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to get chunk entry value (error %d)...\n", entryName, err);
continue;
}
// Set integer value
if (IsWritable(hChunkSelector, "ChunkSelector"))
{
err = spinEnumerationSetIntValue(hChunkSelector, value);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to set chunk entry value (error %d)...\n", entryName, err);
continue;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("\t%s: unable to set chunk entry value (error %d)...\n", entryName, err);
return err;
}
// Retrieve corresponding chunk enable node
spinNodeHandle hChunkEnable = NULL;
err = spinNodeMapGetNode(hNodeMap, "ChunkEnable", &hChunkEnable);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to get entry from nodemap (error %d)...\n", entryName, err);
continue;
}
// Retrieve chunk enable value and set to false if necessary
bool8_t isEnabled = False;
if (IsWritable(hChunkEnable, "ChunkEnable"))
{
err = spinBooleanGetValue(hChunkEnable, &isEnabled);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to get chunk entry boolean value (error %d)...\n", entryName, err);
continue;
}
}
else
{
printf("\t%s: not writable\n", entryName);
continue;
}
// Consider the case in which chunk data is enabled but not writable
if (isEnabled)
{
// Set chunk enable value to false
err = spinBooleanSetValue(hChunkEnable, False);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("\t%s: unable to set chunk entry boolean value (error %d)...\n", entryName, err);
continue;
}
}
printf("\t%s: disabled\n", entryName);
}
printf("\n");
// Disabling ChunkModeActive
spinNodeHandle hChunkModeActive = NULL;
err = spinNodeMapGetNode(hNodeMap, "ChunkModeActive", &hChunkModeActive);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get ChunkModeActive node. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
if (IsWritable(hChunkModeActive, "ChunkModeActive"))
{
err = spinBooleanSetValue(hChunkModeActive, False);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to deactivate chunk mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
}
else
{
err = SPINNAKER_ERR_ACCESS_DENIED;
printf("Unable to write to chunk mode. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Chunk mode deactivated...\n");
return err;
}
// This function acts as the body of the example; please see NodeMapInfo_C
// example for more in-depth comments on setting up cameras.
spinError RunSingleCamera(spinCamera hCam)
{
spinError err = SPINNAKER_ERR_SUCCESS;
// Retrieve TL device nodemap and print device information
spinNodeMapHandle hNodeMapTLDevice = NULL;
err = spinCameraGetTLDeviceNodeMap(hCam, &hNodeMapTLDevice);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve TL device nodemap. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
else
{
err = PrintDeviceInfo(hNodeMapTLDevice);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
}
// This example is not compatible with BX (Bumblebee) stereo cameras, see StereoAcquisiton (C++ only) for this
// camera.
spinNodeHandle hDeviceModelName = NULL;
char deviceModelName[MAX_BUFF_LEN] = {0};
size_t modelNameLen = MAX_BUFF_LEN;
spinNodeMapGetNode(hNodeMapTLDevice, "DeviceModelName", &hDeviceModelName);
if (hDeviceModelName != NULL && IsReadable(hDeviceModelName, "DeviceModelName"))
{
err = spinStringGetValue(hDeviceModelName, deviceModelName, &modelNameLen);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
if (strstr(deviceModelName, "BX") != NULL)
{
printf("This example is not compatible with BX (Bumblebee) stereo cameras. Please see "
"StereoAcquisition (C++ Only) Example for ChunkData usage with this camera.\n");
return SPINNAKER_ERR_ERROR;
}
}
// Initialize camera
err = spinCameraInit(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to initialize camera. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Retrieve GenICam nodemap
spinNodeMapHandle hNodeMap = NULL;
err = spinCameraGetNodeMap(hCam, &hNodeMap);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve GenICam nodemap. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Configure chunk data
err = ConfigureChunkData(hNodeMap);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
// Acquire images and display chunk data
err = AcquireImages(hCam, hNodeMap, hNodeMapTLDevice);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
// Disable chunck data
err = DisableChunkData(hNodeMap);
if (err != SPINNAKER_ERR_SUCCESS)
{
return err;
}
// Deinitialize camera
err = spinCameraDeInit(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to deinitialize camera. Non-fatal error: %s [%d]\n\n", GetLastErrorMessage(), err);
}
return err;
}
// Example entry point; please see Enumeration_C example for more in-depth
// comments on preparing and cleaning up the system.
int main(/*int argc, char** argv*/)
{
spinError errReturn = SPINNAKER_ERR_SUCCESS;
spinError err = SPINNAKER_ERR_SUCCESS;
unsigned int i = 0;
// 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;
tempFile = fopen("test.txt", "w+");
if (tempFile == NULL)
{
printf("Failed to create file in current folder. Please check "
"permissions.\n");
printf("Press Enter to exit...\n");
getchar();
return -1;
}
fclose(tempFile);
remove("test.txt");
// Print application build information
printf("Application build date: %s %s \n\n", __DATE__, __TIME__);
// Retrieve singleton reference to system
spinSystem hSystem = NULL;
err = spinSystemGetInstance(&hSystem);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve system instance. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Print out current library version
spinLibraryVersion hLibraryVersion;
spinSystemGetLibraryVersion(hSystem, &hLibraryVersion);
printf(
"Spinnaker library version: %d.%d.%d.%d\n\n",
hLibraryVersion.major,
hLibraryVersion.minor,
hLibraryVersion.type,
hLibraryVersion.build);
// Retrieve list of cameras from the system
spinCameraList hCameraList = NULL;
err = spinCameraListCreateEmpty(&hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to create camera list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
err = spinSystemGetCameras(hSystem, hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve camera list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Retrieve number of cameras
size_t numCameras = 0;
err = spinCameraListGetSize(hCameraList, &numCameras);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve number of cameras. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Number of cameras detected: %u\n\n", (unsigned int)numCameras);
// Finish if there are no cameras
if (numCameras == 0)
{
// Clear and destroy camera list before releasing system
err = spinCameraListClear(hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to clear camera list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
err = spinCameraListDestroy(hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy camera list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Release system
err = spinSystemReleaseInstance(hSystem);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release system instance. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("Not enough cameras!\n");
printf("Done! Press Enter to exit...\n");
getchar();
return -1;
}
// Run example on each camera
for (i = 0; i < numCameras; i++)
{
printf("\nRunning example for camera %d...\n", i);
// Select camera
spinCamera hCamera = NULL;
err = spinCameraListGet(hCameraList, i, &hCamera);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve camera from list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
errReturn = err;
}
else
{
// Run example
err = RunSingleCamera(hCamera);
if (err != SPINNAKER_ERR_SUCCESS)
{
errReturn = err;
}
}
// Release camera
err = spinCameraRelease(hCamera);
if (err != SPINNAKER_ERR_SUCCESS)
{
errReturn = err;
}
printf("Camera %d example complete...\n\n", i);
}
// Clear and destroy camera list before releasing system
err = spinCameraListClear(hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to clear camera list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
err = spinCameraListDestroy(hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy camera list. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
// Release system
err = spinSystemReleaseInstance(hSystem);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release system instance. Aborting with error: %s [%d]\n\n", GetLastErrorMessage(), err);
return err;
}
printf("\nDone! Press Enter to exit...\n");
getchar();
return errReturn;
}