AcquisitionMultipleCamerasWriteToFile¶
AcquisitionMultipleCamerasWriteToFile.cpp shows how to acquire images from one or more cameras and write the images to a binary file. Thereafter, the acquired images can be retrieved from the file and saved using a desired file format supported by the current Spinnaker SDK.
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/**
* @example AcquisitionMultipleCamerasWriteToFile.cpp
*
* @brief AcquisitionMultipleCamerasWriteToFile.cpp shows how to acquire
* images from one or more cameras and write the images to a binary file. Thereafter,
* the acquired images can be retrieved from the file and saved using a desired file
* format supported by the current Spinnaker SDK.
*
* This example covers most of the basics for getting started with the
* Spinnaker API including acquiring system objects, camera list acquisition
* and initialization of cameras, acquisition of images and writing to a file,
* image retrieval from a file, conversion and saving with desired file format is
* covered as well.
*
* 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 "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <sstream>
#include <fstream>
#include <vector>
#include <assert.h>
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
// Directory to save data to.
// Modify this to save images to a different directory
const string kDestinationDirectory = "";
// Number of images to grab
const unsigned int k_numImages = 30;
// This struct defines image information for each unique device
// An ImageInfo struct is created for each device detected
struct ImageInfo
{
size_t imageWidth;
size_t imageHeight;
PixelFormatEnums pixelFormat;
string imageFileName;
std::shared_ptr<fstream> imageFile;
ImageInfo(string filename)
: imageWidth(0), imageHeight(0), pixelFormat(UNKNOWN_PIXELFORMAT), imageFileName(filename)
{
}
};
// This vector stores all the ImageInfo for all cameras
vector<ImageInfo> imageInfos;
// Create files to save each of the camera images
bool CreateFiles(unsigned int numCameras)
{
bool result = true;
for (unsigned int cameraCnt = 0; cameraCnt < numCameras; cameraCnt++)
{
stringstream sstream;
string tmpFilename;
sstream << kDestinationDirectory << "camera" << cameraCnt << ".tmp";
sstream >> tmpFilename;
imageInfos.push_back(ImageInfo(tmpFilename));
cout << "Creating " << tmpFilename << "..." << endl;
// Create temporary files
imageInfos.at(cameraCnt).imageFile = std::make_shared<fstream>(
tmpFilename.c_str(), fstream::trunc | fstream::in | fstream::out | fstream::binary);
if (!imageInfos.at(cameraCnt).imageFile)
{
assert(false);
result = false;
}
}
return result;
}
// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo example for more in-depth comments on printing
// device information from the nodemap.
int PrintDeviceInfo(INodeMap& nodeMap)
{
int result = 0;
cout << endl << "*** DEVICE INFORMATION ***" << endl << endl;
try
{
FeatureList_t features;
CCategoryPtr category = nodeMap.GetNode("DeviceInformation");
if (IsReadable(category))
{
category->GetFeatures(features);
FeatureList_t::const_iterator it;
for (it = features.begin(); it != features.end(); ++it)
{
try
{
CNodePtr pfeatureNode = *it;
cout << pfeatureNode->GetName() << " : ";
CValuePtr pValue = (CValuePtr)pfeatureNode;
cout << (IsReadable(pValue) ? pValue->ToString() : gcstring("Node not readable"));
cout << endl;
}
catch (Spinnaker::Exception)
{
cout << "Node not readable" << endl;
}
}
}
else
{
cout << "Device control information not readable." << endl;
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// This function configure each of the cameras including the acquisition mode
bool ConfigureCameras(CameraList& camList, unsigned int numCameras)
{
bool result = true;
cout << endl << endl << "*** CONFIGURING CAMERAS... ***" << endl << endl;
try
{
for (unsigned int cameraCnt = 0; cameraCnt < numCameras; cameraCnt++)
{
// Get the camera node Map
INodeMap& nodeMap = camList.GetByIndex(cameraCnt)->GetNodeMap();
// Set acquisition mode to continuous
CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
if (!IsReadable(ptrAcquisitionMode))
{
cout << "Unable to get acquisition mode to continuous (node retrieval). Aborting..." << endl << endl;
return false;
}
CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
if (!IsReadable(ptrAcquisitionModeContinuous))
{
cout << "Unable to set acquisition mode to continuous (entry 'continuous' retrieval). Aborting..."
<< endl
<< endl;
return false;
}
int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
if (!IsWritable(ptrAcquisitionMode))
{
cout << "Unable to set acquisition mode to continuous (node retrieval). Aborting..." << endl << endl;
return false;
}
ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
cout << "Camera[" << cameraCnt << "]: Acquisition mode set to continuous..." << endl;
CEnumerationPtr ptrPixelFormat = nodeMap.GetNode("PixelFormat");
if (!IsWritable(ptrPixelFormat))
{
cout << "Unable to set Pixel Format mode (node retrieval). Aborting..." << endl << endl;
return false;
}
CEnumEntryPtr ptrPixelFormatBayerRG8 = ptrPixelFormat->GetEntryByName("BayerRG8");
CEnumEntryPtr ptrMono8 = ptrPixelFormat->GetEntryByName("Mono8");
if (IsReadable(ptrPixelFormatBayerRG8))
{
ptrPixelFormat->SetIntValue(ptrPixelFormatBayerRG8->GetValue());
// Keep the track of the pixel Format
imageInfos.at(cameraCnt).pixelFormat = PixelFormatEnums::PixelFormat_BayerRG8;
cout << "Camera[" << cameraCnt
<< "]: Pixel format set to: " << ptrPixelFormat->GetCurrentEntry()->GetName() << endl;
}
else if (IsReadable(ptrMono8))
{
ptrPixelFormat->SetIntValue(ptrMono8->GetValue());
// Keep the track of the pixel Format
imageInfos.at(cameraCnt).pixelFormat = PixelFormatEnums::PixelFormat_Mono8;
cout << "Camera[" << cameraCnt << "]: Pixel format set to "
<< ptrPixelFormat->GetCurrentEntry()->GetName() << endl;
}
else
{
cout << "Unable to set pixel format (enum entry retrieval). Aborting..." << endl << endl;
return false;
}
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
return result;
}
// This function acquires and saves k_numImages images from a device; please see
// Acquisition example for more in-depth comments on acquiring images.
bool AcquireImagesAndSaveToFile(CameraList& camList, unsigned int numCameras)
{
bool result = true;
uint64_t missedImageCnts = 0;
cout << endl << endl << "*** ACQUIRING AND SAVING IMAGES TO A FILE ***" << endl << endl;
try
{
// Begin acquiring images in all cameras
for (unsigned int cameraCnt = 0; cameraCnt < numCameras; cameraCnt++)
{
camList.GetByIndex(cameraCnt)->BeginAcquisition();
cout << "Camera[" << cameraCnt << "]: Started acquiring images" << endl;
}
for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
// Loop through each of the cameras
for (unsigned int cameraCnt = 0; cameraCnt < numCameras; cameraCnt++)
{
try
{
// Retrieve the next received image
ImagePtr pResultImage = camList.GetByIndex(cameraCnt)->GetNextImage(1000);
if (pResultImage->IsIncomplete())
{
cout << "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
<< endl;
}
else
{
char* imageData = static_cast<char*>(pResultImage->GetData());
// Do the writing
imageInfos.at(cameraCnt).imageFile->write(imageData, pResultImage->GetImageSize());
// Check if the writing is successful
if (!imageInfos.at(cameraCnt).imageFile->good())
{
cout << "Error writing to file for camera " << cameraCnt << " !" << endl;
return false;
}
if (imageCnt == 0)
{
// This is the first image, save image size
imageInfos.at(cameraCnt).imageHeight = pResultImage->GetHeight();
imageInfos.at(cameraCnt).imageWidth = pResultImage->GetWidth();
}
}
// Release image
pResultImage->Release();
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
}
}
// End acquisition for all cameras
for (unsigned int cameraCnt = 0; cameraCnt < numCameras; cameraCnt++)
{
// Check for any dropped images
CIntegerPtr pDroppedImages =
camList.GetByIndex(cameraCnt)->GetTLStreamNodeMap().GetNode("StreamDroppedFrameCount");
if (IsReadable(pDroppedImages))
{
if (pDroppedImages->GetValue() > 0)
{
missedImageCnts += pDroppedImages->GetValue();
cout << pDroppedImages->GetValue() << " images "
<< " missed at camera " << cameraCnt << endl;
}
}
else
{
cout << "Unable to determine the dropped frame count from the nodemap at camera " << cameraCnt << endl
<< endl;
}
camList.GetByIndex(cameraCnt)->EndAcquisition();
cout << "Camera[" << cameraCnt << "]: Stop acquiring images " << endl;
}
cout << endl;
cout << "We missed a total of " << missedImageCnts << " images!" << endl << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
return result;
}
bool RetrieveImagesFromFiles(unsigned int numCameras, string fileFormat = "bmp")
{
bool result = true;
try
{
// Loop through the saved files for each camera and retrieve the images
for (unsigned int cameraCnt = 0; cameraCnt < numCameras; cameraCnt++)
{
string tempFilename = imageInfos.at(cameraCnt).imageFileName;
size_t imageSize = imageInfos.at(cameraCnt).imageHeight * imageInfos.at(cameraCnt).imageWidth;
cout << "Opening " << tempFilename.c_str() << "..." << endl;
std::shared_ptr<fstream> rawFile = imageInfos.at(cameraCnt).imageFile;
if (!rawFile->good())
{
cout << "Error opening file: " << imageInfos.at(cameraCnt).imageFileName.c_str() << " Aborting..."
<< endl;
return false;
}
cout << "Splitting images" << endl;
rawFile->seekg(0);
// Read image into buffer
for (int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
string readImageFilename;
stringstream sstream;
std::shared_ptr<char> pBuffer(new char[imageSize], std::default_delete<char[]>());
rawFile->read(pBuffer.get(), imageSize);
// Import image into Image structure
ImagePtr pImage = Image::Create(
imageInfos.at(cameraCnt).imageWidth,
imageInfos.at(cameraCnt).imageHeight,
0,
0,
imageInfos.at(cameraCnt).pixelFormat,
pBuffer.get());
// Create file location and file name
sstream << kDestinationDirectory << "camera" << cameraCnt << "_" << imageCnt << "." << fileFormat;
sstream >> readImageFilename;
// Save image to disk
pImage->Save(readImageFilename.c_str());
// Check if reading is successful
if (!rawFile->good())
{
cout << "Error reading from image " << imageCnt << " for camera " << cameraCnt << ". Aborting..."
<< endl;
return false;
}
cout << "Camera[" << cameraCnt << "]: Retrieved image " << imageCnt << endl;
}
cout << endl << endl;
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
return false;
}
return result;
}
// This function acts as the body of the example; please see NodeMapInfo example
// for more in-depth comments on setting up cameras.
int RunCameras(CameraList& camList, unsigned int numCameras)
{
int result = 0;
try
{
// Retrieve TL device nodemap, print device information, and initialize camera
for (unsigned int i = 0; i < numCameras; i++)
{
cout << endl << "Printing device info for camera " << i << "..." << endl;
INodeMap& nodeMapTLDevice = camList.GetByIndex(i)->GetTLDeviceNodeMap();
result = PrintDeviceInfo(nodeMapTLDevice);
cout << endl << "Initializing camera " << i << "..." << endl;
camList.GetByIndex(i)->Init();
}
// Create files to write
if (!CreateFiles(numCameras))
{
cout << "There was an error creating the files. Aborting..." << endl;
return -1;
}
// Configure each of the cameras before starting the acquisition
if (!ConfigureCameras(camList, numCameras))
{
return -1;
}
// Acquire Imageas from each camera and save to a file
if (!AcquireImagesAndSaveToFile(camList, numCameras))
{
return -1;
}
// Retrieve all the images from each file and
// save the image using a particular file format
if (!RetrieveImagesFromFiles(numCameras, "bmp"))
{
return -1;
}
// Deinitialize camera
for (unsigned int i = 0; i < numCameras; i++)
{
cout << endl << "Deinitializing camera " << i << "..." << endl;
camList.GetByIndex(i)->DeInit();
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// Example entry point; please see Enumeration example for more in-depth
// comments on preparing and cleaning up the system.
int main(int /*argc*/, char** /*argv*/)
{
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
string testFile = kDestinationDirectory + "test.txt";
FILE* tempFile = fopen(testFile.c_str(), "w+");
if (tempFile == nullptr)
{
cout << "Failed to create file in current folder. Please check "
"permissions."
<< endl;
cout << "Press Enter to exit..." << endl;
getchar();
return -1;
}
fclose(tempFile);
remove(testFile.c_str());
int result = 0;
// Print application build information
cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;
// Retrieve singleton reference to system object
SystemPtr system = System::GetInstance();
// Print out current library version
const LibraryVersion spinnakerLibraryVersion = system->GetLibraryVersion();
cout << "Spinnaker library version: " << spinnakerLibraryVersion.major << "." << spinnakerLibraryVersion.minor
<< "." << spinnakerLibraryVersion.type << "." << spinnakerLibraryVersion.build << endl
<< endl;
// Retrieve list of cameras from the system
CameraList camList = system->GetCameras();
unsigned int numCameras = camList.GetSize();
cout << "Number of cameras detected: " << numCameras << endl << endl;
// Finish if there are no cameras
if (numCameras == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << "Not enough cameras!" << endl;
cout << "Done! Press Enter to exit..." << endl;
getchar();
return -1;
}
// Run example on all cameras
result = result | RunCameras(camList, numCameras);
// Clear camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << endl << "Done! Press Enter to exit..." << endl;
getchar();
return result;
}