Sequencer_C¶
Sequencer_C.c shows how to use the sequencer to grab images with various settings. It relies on information provided in the Enumeration_C, Acquisition_C, and NodeMapInfo_C examples.
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/**
* @example Sequencer_C.c
*
* @brief Sequencer_C.c shows how to use the sequencer to grab images with
* various settings. 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 these provide a strong
* introduction to camera customization.
*
* The sequencer is another very powerful tool that can be used to create and
* store multiple sets of customized image settings. A very useful
* application of the sequencer is creating high dynamic range images.
*
* This example is probably the most complex and definitely the longest. As
* such, the configuration has been split between three functions. The first
* prepares the camera to set the sequences, the second sets the settings for
* a single sequence (it is run five times), and the third configures the
* camera to use the sequencer when it acquires images.
*
* 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"
// 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)
{
bool8_t pbReadable = False;
spinError err = spinNodeIsReadable(hNode, &pbReadable);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node readability, with error %s [%d]...\n\n", GetLastErrorMessage(), err);
}
return pbReadable;
}
// This function helps to check if a node is writable
bool8_t IsWritable(spinNodeHandle hNode)
{
bool8_t pbWritable = False;
spinError err = spinNodeIsWritable(hNode, &pbWritable);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node writability, with error %s [%d]...\n\n", GetLastErrorMessage(), err);
}
return pbWritable;
}
// This function handles the error prints when a node or entry is
// not readable/writable on the connected camera
void PrintRetrieveNodeFailure(char node[], char name[])
{
printf("Unable to get %s (%s %s retrieval failed).\n\n", node, name, node);
printf("The %s may not be readable or writable on all camera models...\n", node);
printf("Please try a Blackfly S camera.\n\n");
}
// This function prepares the sequencer to accept custom configurations by
// ensuring sequencer mode is off (this is a requirement to the enabling of
// sequencer configuration mode), disabling automatic gain and exposure, and
// turning sequencer configuration mode on.
int ConfigureSequencerPartOne(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
printf("\n\n*** SEQUENCER CONFIGURATION ***\n\n");
//
// Ensure sequencer is off for configuration
//
// *** NOTES ***
// In order to set a new sequencer configuration, sequencer mode must
// be disabled and sequencer configuration mode must be enabled. In
// order to manually disable sequencer mode, the sequencer configuration
// must be valid; otherwise, we know that sequencer mode is off, but an
// exception will be raised when we try to manually disable it.
//
// Therefore, in order to ensure that sequencer mode is off, we first
// check whether the current sequencer configuration is valid. If it
// isn't, then we know that sequencer mode is off and we can move on;
// however, if it is, then we know it is safe to manually disable
// sequencer mode.
//
// Also note that sequencer configuration mode needs to be off in order
// to manually disable sequencer mode. It should be off by default, so
// the example skips checking this.
//
spinNodeHandle hSequencerConfigurationValid = NULL;
spinNodeHandle hSequencerConfigurationValidCurrent = NULL;
spinNodeHandle hSequencerConfigurationValidYes = NULL;
spinNodeHandle hSequencerMode = NULL;
spinNodeHandle hSequencerModeOff = NULL;
int64_t sequencerModeOff = 0;
// Validate sequencer configuration
err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationValid", &hSequencerConfigurationValid);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationValid))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetCurrentEntry(hSequencerConfigurationValid, &hSequencerConfigurationValidCurrent);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationValidCurrent))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerConfigurationValid, "Yes", &hSequencerConfigurationValidYes);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationValidYes))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
// If valid, disable sequencer mode; otherwise, do nothing
if (hSequencerConfigurationValidCurrent == hSequencerConfigurationValidYes)
{
err = spinNodeMapGetNode(hNodeMap, "SequencerMode", &hSequencerMode);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerMode, "Off", &hSequencerModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerMode 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerModeOff))
{
PrintRetrieveNodeFailure("entry", "SequencerMode 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerModeOff, &sequencerModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable sequencer mode (entry int value retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hSequencerMode, sequencerModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable sequencer mode (entry int value setting). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
}
printf("Sequencer mode disabled...\n");
//
// Turn off automatic exposure mode
//
// *** NOTES ***
// Automatic exposure prevents the manual configuration of exposure
// times and needs to be turned off for this example.
//
// *** LATER ***
// If exposure time is not being manually set for a specific reason, it
// is best to let the camera take care of exposure time automatically.
//
spinNodeHandle hExposureAuto = NULL;
spinNodeHandle hExposureAutoOff = NULL;
int64_t exposureAutoOff;
err = spinNodeMapGetNode(hNodeMap, "ExposureAuto", &hExposureAuto);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "ExposureAuto");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hExposureAuto))
{
PrintRetrieveNodeFailure("node", "ExposureAuto");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hExposureAuto, "Off", &hExposureAutoOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "ExposureAuto 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hExposureAutoOff))
{
PrintRetrieveNodeFailure("entry", "ExposureAuto 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hExposureAutoOff, &exposureAutoOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable automatic exposure (entry int value retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hExposureAuto))
{
PrintRetrieveNodeFailure("node", "ExposureAuto");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hExposureAuto, exposureAutoOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable automatic exposure (entry int value setting). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Automatic exposure disabled...\n");
//
// Turn off automatic gain
//
// *** NOTES ***
// Automatic gain prevents the manual configuration of gain and needs to
// be turned off for this example.
//
// *** LATER ***
// If gain is not being manually set for a specific reason, it is best
// to let the camera take care of gain automatically.
//
spinNodeHandle hGainAuto = NULL;
spinNodeHandle hGainAutoOff = NULL;
int64_t gainAutoOff;
err = spinNodeMapGetNode(hNodeMap, "GainAuto", &hGainAuto);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "GainAuto");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hGainAuto))
{
PrintRetrieveNodeFailure("node", "GainAuto");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hGainAuto, "Off", &hGainAutoOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure(" entry", "GainAuto 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hGainAutoOff))
{
PrintRetrieveNodeFailure(" entry", "GainAuto 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hGainAutoOff, &gainAutoOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hGainAuto))
{
PrintRetrieveNodeFailure("node", "GainAuto");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hGainAuto, gainAutoOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Automatic gain disabled...\n");
//
// Turn configuration mode on
//
// *** NOTES ***
// Once sequencer mode is off, enabling sequencer configuration mode
// allows for the setting of individual sequences.
//
// *** LATER ***
// Before sequencer mode is turned back on, sequencer configuration
// mode must be turned off.
//
spinNodeHandle hSequencerConfigurationMode = NULL;
spinNodeHandle hSequencerConfigurationModeOn = NULL;
int64_t sequencerConfigurationModeOn = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationMode", &hSequencerConfigurationMode);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationMode))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerConfigurationMode, "On", &hSequencerConfigurationModeOn);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'On'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationModeOn))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'On'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerConfigurationModeOn, &sequencerConfigurationModeOn);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer configuration mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerConfigurationMode))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hSequencerConfigurationMode, sequencerConfigurationModeOn);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer configuration mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Sequencer configuration mode enabled...\n\n");
return 0;
}
// This function sets a single state. It sets the sequence number, applies
// custom settings, selects the trigger type and next state number, and saves
// the state. The custom values that are applied are all calculated in the
// function that calls this one, RunSingleCamera().
int SetSingleState(
spinNodeMapHandle hNodeMap,
unsigned int sequenceNumber,
int64_t widthToSet,
int64_t heightToSet,
double exposureTimeToSet,
double gainToSet)
{
spinError err = SPINNAKER_ERR_SUCCESS;
//
// Select the sequence number
//
// *** NOTES ***
// Select the index of the state to be set.
//
// *** LATER ***
// The next state - i.e. the state to be linked to -
// also needs to be set before saving the current state.
//
spinNodeHandle hSequencerSetSelector = NULL;
err = spinNodeMapGetNode(hNodeMap, "SequencerSetSelector", &hSequencerSetSelector);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to select current sequence. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerSetSelector))
{
printf("Unable to select current sequence. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinIntegerSetValue(hSequencerSetSelector, sequenceNumber);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to select current sequence. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Customizing sequence %d...\n", sequenceNumber);
//
// Set desired settings for the current state
//
// *** NOTES ***
// Width, height, exposure time, and gain are set in this example. If
// the sequencer isn't working properly, it may be important to ensure
// that each feature is enabled on the sequencer. Features are enabled
// by default, so this is not explored in this example.
//
// Changing the height and width for the sequencer is not readable/writable
// for all camera models.
//
// Set width; width recorded in pixels
spinNodeHandle hWidth = NULL;
int64_t widthInc = 0;
err = spinNodeMapGetNode(hNodeMap, "Width", &hWidth);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set width. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (IsReadable(hWidth) && IsWritable(hWidth))
{
err = spinIntegerGetInc(hWidth, &widthInc);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set width. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (widthToSet % widthInc != 0)
{
widthToSet = (widthToSet / widthInc) * widthInc;
}
err = spinIntegerSetValue(hWidth, widthToSet);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set width. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tWidth set to %d...\n", (int)widthToSet);
}
else
{
printf("\tUnable to get or set width; width for sequencer not readable/writable on all camera models...\n");
}
// Set height; height recorded in pixels
spinNodeHandle hHeight = NULL;
int64_t heightInc = 0;
err = spinNodeMapGetNode(hNodeMap, "Height", &hHeight);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set height. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (IsReadable(hHeight) && IsWritable(hHeight))
{
err = spinIntegerGetInc(hHeight, &heightInc);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set height. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (heightToSet % heightInc != 0)
{
heightToSet = (heightToSet / heightInc) * heightInc;
}
err = spinIntegerSetValue(hHeight, heightToSet);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set height. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tHeight set to %d...\n", (int)heightToSet);
}
else
{
printf("\tUnable to set height; height for sequencer not readable/writable on all camera models...\n");
}
// Set exposure time; exposure time recorded in microseconds
spinNodeHandle hExposureTime = NULL;
err = spinNodeMapGetNode(hNodeMap, "ExposureTime", &hExposureTime);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hExposureTime))
{
printf("Unable to set exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinFloatSetValue(hExposureTime, exposureTimeToSet);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tExposure time set to %f...\n", exposureTimeToSet);
// Set gain; gain recorded in decibels
spinNodeHandle hGain = NULL;
err = spinNodeMapGetNode(hNodeMap, "Gain", &hGain);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hGain))
{
printf("Unable to set gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinFloatSetValue(hGain, gainToSet);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tGain set to %f...\n", gainToSet);
//
// Set the trigger type for the current sequence
//
// *** NOTES ***
// It is a requirement of every state to have its trigger source set.
// The trigger source refers to the moment when the sequencer changes
// from one state to the next.
//
spinNodeHandle hSequencerTriggerSource = NULL;
spinNodeHandle hSequencerTriggerSourceFrameStart = NULL;
int64_t sequencerTriggerSourceFrameStart = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerTriggerSource", &hSequencerTriggerSource);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerTriggerSource))
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerTriggerSource, "FrameStart", &hSequencerTriggerSourceFrameStart);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerTriggerSourceFrameStart))
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerTriggerSourceFrameStart, &sequencerTriggerSourceFrameStart);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerTriggerSource))
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hSequencerTriggerSource, sequencerTriggerSourceFrameStart);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tTrigger source set to start of frame...\n");
//
// Set the next state in the sequence
//
// *** NOTES ***
// When setting the next state in the sequence, ensure it does not
// exceed the maximum and that the states loop appropriately.
//
spinNodeHandle hSequencerSetNext = NULL;
const unsigned int finalSequenceIndex = 4;
unsigned int nextSequence = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerSetNext", &hSequencerSetNext);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set next sequence. Aborting with err %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerSetNext))
{
printf("Unable to set next sequence. Aborting with err %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (sequenceNumber != finalSequenceIndex)
{
nextSequence = sequenceNumber + 1;
}
err = spinIntegerSetValue(hSequencerSetNext, nextSequence);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to set next sequence. Aborting with err %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tNext sequence set to %d...\n", nextSequence);
//
// Save current state
//
// *** NOTES ***
// Once all appropriate settings have been configured, make sure to
// save the state to the sequence. Notice that these settings will be
// lost when the camera is power-cycled.
//
spinNodeHandle hSequencerSetSave = NULL;
err = spinNodeMapGetNode(hNodeMap, "SequencerSetSave", &hSequencerSetSave);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to save sequence. Aborting with err %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerSetSave))
{
printf("Unable to save sequence. Aborting with err %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinCommandExecute(hSequencerSetSave);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to save sequence. Aborting with err %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\tSequence %d saved...\n\n", sequenceNumber);
return 0;
}
// Now that the states have all been set, this function readies the camera
// to use the sequencer during image acquisition.
int ConfigureSequencerPartTwo(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
//
// Turn configuration mode off
//
// *** NOTES ***
// Once all desired states have been set, turn sequencer
// configuration mode off in order to turn sequencer mode on.
//
spinNodeHandle hSequencerConfigurationMode = NULL;
spinNodeHandle hSequencerConfigurationModeOff = NULL;
int64_t sequencerConfigurationModeOff = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationMode", &hSequencerConfigurationMode);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerConfigurationMode))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerConfigurationMode, "Off", &hSequencerConfigurationModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationModeOff))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'Off'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerConfigurationModeOff, &sequencerConfigurationModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable sequencer configuration mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hSequencerConfigurationMode, sequencerConfigurationModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to disable sequencer configuration mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Sequencer configuration mode disabled...\n");
//
// Turn sequencer mode on
//
// *** NOTES ***
// Once sequencer mode is turned on, the camera will begin using the
// saved states in the order that they were set.
//
// *** LATER ***
// Once all images have been captured, disable the sequencer in order
// to restore the camera to its initial state.
//
spinNodeHandle hSequencerMode = NULL;
spinNodeHandle hSequencerModeOn = NULL;
int64_t sequencerModeOn = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerMode", &hSequencerMode);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerMode, "On", &hSequencerModeOn);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerMode 'On'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerModeOn))
{
PrintRetrieveNodeFailure("entry", "SequencerMode 'On'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerModeOn, &sequencerModeOn);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hSequencerMode, sequencerModeOn);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Sequencer mode enabled...\n");
//
// Validate sequencer settings
//
// *** NOTES ***
// Once all states have been set, it is a good idea to
// validate them. Although this node cannot ensure that the states
// have been set up correctly, it does ensure that the states have
// been set up in such a way that the camera can function.
//
spinNodeHandle hSequencerConfigurationValid = NULL;
spinNodeHandle hSequencerConfigurationValidCurrent = NULL;
spinNodeHandle hSequencerConfigurationValidYes = NULL;
int64_t sequencerConfigurationValidCurrent = 0;
int64_t sequencerConfigurationValidYes = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationValid", &hSequencerConfigurationValid);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationValid))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetCurrentEntry(hSequencerConfigurationValid, &hSequencerConfigurationValidCurrent);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationValidCurrent))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerConfigurationValid, "Yes", &hSequencerConfigurationValidYes);
if (err != SPINNAKER_ERR_SUCCESS)
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerConfigurationValidYes))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerConfigurationValidCurrent, &sequencerConfigurationValidCurrent);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to validate sequencer configuration ('current' value retrieval). Aborting with error %d...\n\n",
err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerConfigurationValidYes, &sequencerConfigurationValidYes);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf(
"Unable to validate sequencer configuration ('yes' value retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (sequencerConfigurationValidCurrent != sequencerConfigurationValidYes)
{
err = SPINNAKER_ERR_ERROR;
printf("Sequencer configuration not valid. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Sequencer configuration valid...\n\n");
return 0;
}
// This function restores the camera to its default state by turning sequencer
// mode off and re-enabling automatic exposure and gain.
int ResetSequencer(spinNodeMapHandle hNodeMap)
{
spinError err = SPINNAKER_ERR_SUCCESS;
//
// Turn sequencer mode back off
//
// *** NOTES ***
// The sequencer is turned off in order to return the camera to its default
// state.
//
spinNodeHandle hSequencerMode = NULL;
spinNodeHandle hSequencerModeOff = NULL;
int64_t sequencerModeOff = 0;
err = spinNodeMapGetNode(hNodeMap, "SequencerMode", &hSequencerMode);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerMode))
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hSequencerMode, "Off", &hSequencerModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hSequencerModeOff))
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hSequencerModeOff, &sequencerModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hSequencerMode))
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hSequencerMode, sequencerModeOff);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Sequencer mode disabled...\n");
//
// Turn automatic exposure back on
//
// *** NOTES ***
// Automatic exposure is turned on in order to return the camera to its
// default state.
//
spinNodeHandle hExposureAuto = NULL;
spinNodeHandle hExposureAutoContinuous = NULL;
int64_t exposureAutoContinuous;
err = spinNodeMapGetNode(hNodeMap, "ExposureAuto", &hExposureAuto);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hExposureAuto))
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hExposureAuto, "Continuous", &hExposureAutoContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hExposureAutoContinuous))
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hExposureAutoContinuous, &exposureAutoContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hExposureAuto))
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hExposureAuto, exposureAutoContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Automatic exposure enabled...\n");
//
// Turn automatic gain back on
//
// *** NOTES ***
// Automatic gain is turned on in order to return the camera to its
// default state.
//
spinNodeHandle hGainAuto = NULL;
spinNodeHandle hGainAutoContinuous = NULL;
int64_t gainAutoContinuous;
err = spinNodeMapGetNode(hNodeMap, "GainAuto", &hGainAuto);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hGainAuto))
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationGetEntryByName(hGainAuto, "Continuous", &hGainAutoContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hGainAutoContinuous))
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationEntryGetIntValue(hGainAutoContinuous, &gainAutoContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hGainAuto))
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinEnumerationSetIntValue(hGainAuto, gainAutoContinuous);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Automatic gain enabled...\n\n");
return 0;
}
// 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.
int 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 %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hDeviceInformation))
{
printf("Unable to retrieve node. Non-fatal error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Retrieve number of nodes within device information node
size_t numFeatures = 0;
err = spinCategoryGetNumFeatures(hDeviceInformation, &numFeatures);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve number of nodes. Non-fatal error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// 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 %d...\n\n", err);
continue;
}
spinNodeType featureType = UnknownNode;
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))
{
err = spinNodeGetType(hFeatureNode, &featureType);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve node type. Non-fatal error %d...\n\n", 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);
}
return 0;
}
// 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.
int AcquireImages(spinCamera hCam, spinNodeMapHandle hNodeMap, spinNodeMapHandle hNodeMapTLDevice, uint64_t timeout)
{
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 %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hAcquisitionMode))
{
printf("Unable to set acquisition mode to continuous (node retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
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 SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hAcquisitionModeContinuous))
{
printf(
"Unable to set acquisition mode to continuous (entry 'continuous' retrieval). Aborting with error "
"%d...\n\n",
err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
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 SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsWritable(hAcquisitionMode))
{
printf("Unable to set acquisition mode to continuous (node retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
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 SPINNAKER_ERR_ACCESS_DENIED;
}
printf("Acquisition mode set to continuous...\n");
// Begin acquiring images
err = spinCameraBeginAcquisition(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to begin image acquisition. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
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))
{
strcpy(deviceSerialNumber, "");
lenDeviceSerialNumber = 0;
}
else
{
err = spinStringGetValue(hDeviceSerialNumber, deviceSerialNumber, &lenDeviceSerialNumber);
if (err != SPINNAKER_ERR_SUCCESS)
{
strcpy(deviceSerialNumber, "");
lenDeviceSerialNumber = 0;
}
printf("Device serial number retrieved as %s...\n", deviceSerialNumber);
}
}
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 %d...\n\n", 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 %d...\n\n", err);
}
for (imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Retrieve next received image
spinImage hResultImage = NULL;
err = spinCameraGetNextImageEx(hCam, timeout, &hResultImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get next image. Non-fatal error %d...\n\n", 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 %d...\n\n", 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 %d...\n\n", 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 %d...\n\n", 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 %d...\n", err);
}
err = spinImageGetHeight(hResultImage, &height);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve image height. Non-fatal error %d...\n", 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 %d...\n\n", err);
hasFailed = True;
}
err = spinImageProcessorConvert(hImageProcessor, hResultImage, hConvertedImage, PixelFormat_Mono8);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to convert image. Non-fatal error %d...\n\n", err);
hasFailed = True;
}
// Create unique file name
char filename[MAX_BUFF_LEN];
if (lenDeviceSerialNumber == 0)
{
sprintf(filename, "Sequencer-C-%d.jpg", imageCnt);
}
else
{
sprintf(filename, "Sequencer-C-%s-%d.jpg", deviceSerialNumber, imageCnt);
}
// Save image
err = spinImageSave(hConvertedImage, filename, SPINNAKER_IMAGE_FILE_FORMAT_JPEG);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to save image. Non-fatal error %d...\n", err);
}
else
{
printf("Image saved at %s\n\n", filename);
}
// Destroy converted image
err = spinImageDestroy(hConvertedImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy image. Non-fatal error %d...\n\n", err);
}
// Release image
err = spinImageRelease(hResultImage);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release image. Non-fatal error %d...\n\n", 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 %d...\n\n", err);
}
// End acquisition
err = spinCameraEndAcquisition(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to end acquisition. Non-fatal error %d...\n\n", err);
}
return 0;
}
// This function acts very similarly to the RunSingleCamera() functions of other
// examples, except that the values for the sequences are also calculated here;
// please see NodeMapInfo example for additional information on the steps in
// this function.
int RunSingleCamera(spinCamera hCam)
{
spinError err = SPINNAKER_ERR_SUCCESS;
int result = 0;
// 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 %d...\n\n", err);
}
else
{
result = PrintDeviceInfo(hNodeMapTLDevice);
}
// Initialize camera
err = spinCameraInit(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to initialize camera. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Retrieve GenICam nodemap
spinNodeMapHandle hNodeMap = NULL;
err = spinCameraGetNodeMap(hCam, &hNodeMap);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve GenICam nodemap. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Configure sequencer to be ready to set sequences
if (ConfigureSequencerPartOne(hNodeMap) != 0)
{
return SPINNAKER_ERR_ACCESS_DENIED;
}
//
// Set sequences
//
// *** NOTES ***
// In the following section, the sequencer values are calculated. This
// section does not appear in the configuration, as the values
// calculated are somewhat arbitrary: width and height are both set to
// 25% of their maximum values, incrementing by 10%; exposure time is
// set to its minimum, also incrementing by 10% of its maximum; and gain
// is set to its minimum, incrementing by 2% of its maximum.
//
const unsigned int k_numSequences = 5;
// Retrieve maximum width; width recorded in pixels
spinNodeHandle hWidth = NULL;
int64_t widthMax = 0;
err = spinNodeMapGetNode(hNodeMap, "Width", &hWidth);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get max width (node retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hWidth))
{
printf("Unable to get max width (node retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinIntegerGetMax(hWidth, &widthMax);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get max width (max retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Retrieve maximum height; height recorded in pixels
spinNodeHandle hHeight = NULL;
int64_t heightMax = 0;
err = spinNodeMapGetNode(hNodeMap, "Height", &hHeight);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get max height (node retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hHeight))
{
printf("Unable to get max height (node retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinIntegerGetMax(hHeight, &heightMax);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to get max height (max retrieval). Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Retrieve maximum exposure time; exposure time recorded in microseconds
spinNodeHandle hExposureTime = NULL;
const double exposureTimeMaxToSet = 2000000.0;
double exposureTimeMax = 0.0;
double exposureTimeMin = 0.0;
err = spinNodeMapGetNode(hNodeMap, "ExposureTime", &hExposureTime);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve exposure time node. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hHeight))
{
printf("Unable to retrieve exposure time node. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinFloatGetMax(hExposureTime, &exposureTimeMax);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve maximum exposure time. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (exposureTimeMax > exposureTimeMaxToSet)
{
exposureTimeMax = exposureTimeMaxToSet;
}
err = spinFloatGetMin(hExposureTime, &exposureTimeMin);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve minimum exposure time. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Retrieve maximum and minimum gain; gain recorded in decibels
spinNodeHandle hGain = NULL;
double gainMax = 0.0;
double gainMin = 0.0;
err = spinNodeMapGetNode(hNodeMap, "Gain", &hGain);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve gain node. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
if (!IsReadable(hGain))
{
printf("Unable to retrieve gain node. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinFloatGetMax(hGain, &gainMax);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve maximum gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinFloatGetMin(hGain, &gainMin);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve minimum gain. Aborting with error %d...\n\n", err);
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Set individual sequences
unsigned int sequenceNumber;
int64_t widthToSet = widthMax / 4;
int64_t heightToSet = heightMax / 4;
double exposureTimeToSet = exposureTimeMin;
double gainToSet = gainMin;
for (sequenceNumber = 0; sequenceNumber < k_numSequences; sequenceNumber++)
{
if (SetSingleState(hNodeMap, sequenceNumber, widthToSet, heightToSet, exposureTimeToSet, gainToSet) != 0)
{
return SPINNAKER_ERR_ACCESS_DENIED;
}
widthToSet += widthMax / 10;
heightToSet += heightMax / 10;
exposureTimeToSet += exposureTimeMax / 10.0;
gainToSet += gainMax / 50.0;
}
// Calculate appropriate acquisition grab timeout window based on exposure time
// Note: exposureTimeToSet is in microseconds and needs to be converted to milliseconds
uint64_t timeout = (uint64_t)((exposureTimeToSet / 1000) + 1000);
// Configure sequencer to acquire images
if (ConfigureSequencerPartTwo(hNodeMap) != 0)
{
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Acquire images
if (AcquireImages(hCam, hNodeMap, hNodeMapTLDevice, timeout) != 0)
{
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Reset sequencer
if (ResetSequencer(hNodeMap) != 0)
{
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Deinitialize camera
err = spinCameraDeInit(hCam);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to deinitialize camera. Non-fatal error %d...\n\n", err);
}
return result;
}
// 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*/)
{
int errReturn = 0;
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 SPINNAKER_ERR_ACCESS_DENIED;
}
fclose(tempFile);
remove("test.txt");
// Print application build information
printf("Application build date: %s %s \n\n", __DATE__, __TIME__);
// Retrieve singleton reference to system object
spinSystem hSystem = NULL;
err = spinSystemGetInstance(&hSystem);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve system instance. Aborting with error %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
// 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 %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinSystemGetCameras(hSystem, hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to retrieve camera list. Aborting with error %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
// 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 %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
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 %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinCameraListDestroy(hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy camera list. Aborting with error %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Release system
err = spinSystemReleaseInstance(hSystem);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release system instance. Aborting with error %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
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 %d...\n\n", err);
errReturn = -1;
}
else
{
// Run example
if (RunSingleCamera(hCamera) != 0)
{
errReturn = -1;
}
}
// Release camera
err = spinCameraRelease(hCamera);
if (err != SPINNAKER_ERR_SUCCESS)
{
errReturn = -1;
printf("Unable to release camera instance. Aborting with error %d...\n\n", err);
continue;
}
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 %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
err = spinCameraListDestroy(hCameraList);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to destroy camera list. Aborting with error %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
// Release system
err = spinSystemReleaseInstance(hSystem);
if (err != SPINNAKER_ERR_SUCCESS)
{
printf("Unable to release system instance. Aborting with error %d...\n\n", err);
printf("\nDone! Press Enter to exit...\n");
getchar();
return SPINNAKER_ERR_ACCESS_DENIED;
}
printf("\nDone! Press Enter to exit...\n");
getchar();
return errReturn;
}