AcquisitionMultipleThread¶
AcquisitionMultipleThread.cpp shows how to capture images from multiple cameras simultaneously using threads. It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.
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/**
* @example AcquisitionMultipleThread.cpp
*
* @brief AcquisitionMultipleThread.cpp shows how to capture images from multiple
* cameras simultaneously using threads. It relies on information provided in the
* Enumeration, Acquisition, and NodeMapInfo examples.
*
* This example is similar to the Acquisition example, except that threads
* are used to allow for simultaneous acquisitions.
*
* 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>
#ifndef _WIN32
#include <pthread.h>
#endif
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo example for more in-depth comments on printing
// device information from the nodemap.
int PrintDeviceInfo(INodeMap& nodeMap, std::string camSerial)
{
int result = 0;
cout << "[" << camSerial << "] Printing device information ..." << endl << endl;
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;
}
// Disables or enables heartbeat on GEV cameras so debugging does not incur timeout errors
int ConfigureGVCPHeartbeat(CameraPtr pCam, bool enableHeartbeat)
{
//
// Write to boolean node controlling the camera's heartbeat
//
// *** NOTES ***
// This applies only to GEV cameras.
//
// GEV cameras have a heartbeat built in, but when debugging applications the
// camera may time out due to its heartbeat. Disabling the heartbeat prevents
// this timeout from occurring, enabling us to continue with any necessary
// debugging.
//
// *** LATER ***
// Make sure that the heartbeat is reset upon completion of the debugging.
// If the application is terminated unexpectedly, the camera may not locked
// to Spinnaker indefinitely due to the the timeout being disabled. When that
// happens, a camera power cycle will reset the heartbeat to its default setting.
// Retrieve TL device nodemap
INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
// Retrieve GenICam nodemap
INodeMap& nodeMap = pCam->GetNodeMap();
CEnumerationPtr ptrDeviceType = nodeMapTLDevice.GetNode("DeviceType");
if (!IsReadable(ptrDeviceType))
{
return -1;
}
if (ptrDeviceType->GetIntValue() != DeviceType_GigEVision)
{
return 0;
}
if (enableHeartbeat)
{
cout << endl << "Resetting heartbeat..." << endl << endl;
}
else
{
cout << endl << "Disabling heartbeat..." << endl << endl;
}
CBooleanPtr ptrDeviceHeartbeat = nodeMap.GetNode("GevGVCPHeartbeatDisable");
if (!IsWritable(ptrDeviceHeartbeat))
{
cout << "Unable to configure heartbeat. Continuing with execution as this may be non-fatal..." << endl << endl;
}
else
{
ptrDeviceHeartbeat->SetValue(!enableHeartbeat);
if (!enableHeartbeat)
{
cout << "WARNING: Heartbeat has been disabled for the rest of this example run." << endl;
cout << " Heartbeat will be reset upon the completion of this run. If the " << endl;
cout << " example is aborted unexpectedly before the heartbeat is reset, the" << endl;
cout << " camera may need to be power cycled to reset the heartbeat." << endl << endl;
}
else
{
cout << "Heartbeat has been reset." << endl;
}
}
return 0;
}
int ResetGVCPHeartbeat(CameraPtr pCam)
{
return ConfigureGVCPHeartbeat(pCam, true);
}
int DisableGVCPHeartbeat(CameraPtr pCam)
{
return ConfigureGVCPHeartbeat(pCam, false);
}
// This function acquires and saves 10 images from a camera.
#if defined(_WIN32)
DWORD WINAPI AcquireImages(LPVOID lpParam)
{
CameraPtr pCam = *((CameraPtr*)lpParam);
#else
void* AcquireImages(void* arg)
{
CameraPtr pCam = *((CameraPtr*)arg);
#endif
try
{
// Retrieve TL device nodemap
INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
// Retrieve device serial number for filename
CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
std::string serialNumber = "";
if (IsReadable(ptrStringSerial))
{
serialNumber = ptrStringSerial->GetValue();
}
cout << endl
<< "[" << serialNumber << "] "
<< "*** IMAGE ACQUISITION THREAD STARTING"
<< " ***" << endl
<< endl;
// Print device information
PrintDeviceInfo(nodeMapTLDevice, serialNumber);
// Initialize camera
pCam->Init();
// Retrieve nodemap
INodeMap& nodeMap = pCam->GetNodeMap();
#ifdef _DEBUG
// Disable heartbeat for GEV camera for Debug mode
if (DisableGVCPHeartbeat(pCam) != 0)
#else
// Reset heartbeat for GEV camera for Release mode
if (ResetGVCPHeartbeat(pCam) != 0)
#endif
{
#if defined(_WIN32)
return 0;
#else
return (void*)0;
#endif
}
// Set acquisition mode to continuous
CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
if (!IsReadable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
{
cout << "Unable to set acquisition mode to continuous (node retrieval; camera " << serialNumber
<< "). Aborting..." << endl
<< endl;
#if defined(_WIN32)
return 0;
#else
return (void*)0;
#endif
}
CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
if (!IsReadable(ptrAcquisitionModeContinuous))
{
cout << "Unable to get acquisition mode to continuous (entry 'continuous' retrieval " << serialNumber
<< "). Aborting..." << endl
<< endl;
#if defined(_WIN32)
return 0;
#else
return (void*)0;
#endif
}
int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
cout << "[" << serialNumber << "] "
<< "Acquisition mode set to continuous..." << endl;
// Begin acquiring images
pCam->BeginAcquisition();
cout << "[" << serialNumber << "] "
<< "Started acquiring images..." << endl;
//
// Retrieve, convert, and save images for each camera
//
const unsigned int k_numImages = 10;
//
// Create ImageProcessor instance for post processing images
//
ImageProcessor processor;
//
// Set default image processor color processing method
//
// *** NOTES ***
// By default, if no specific color processing algorithm Is set, the image
// processor will default to NEAREST_NEIGHBOR method.
//
processor.SetColorProcessing(SPINNAKER_COLOR_PROCESSING_ALGORITHM_HQ_LINEAR);
cout << endl;
for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
try
{
// Retrieve next received image and ensure image completion
ImagePtr pResultImage = pCam->GetNextImage(1000);
if (pResultImage->IsIncomplete())
{
cout << "[" << serialNumber << "] "
<< "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
<< endl;
}
else
{
// Convert image to mono 8
ImagePtr convertedImage = processor.Convert(pResultImage, PixelFormat_Mono8);
// Create a unique filename
std::ostringstream filename;
filename << "AcquisitionMultipleThread-";
if (serialNumber != "")
{
filename << serialNumber.c_str();
}
filename << "-" << imageCnt << ".jpg";
// Save image
convertedImage->Save(filename.str().c_str());
// Print image information
cout << "[" << serialNumber << "] "
<< "Grabbed image " << imageCnt << ", width = " << pResultImage->GetWidth()
<< ", height = " << pResultImage->GetHeight() << ". Image saved at " << filename.str() << endl;
}
// Release image
pResultImage->Release();
cout << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "[" << serialNumber << "] "
<< "Error: " << e.what() << endl;
}
}
// End acquisition
pCam->EndAcquisition();
#ifdef _DEBUG
// Reset heartbeat for GEV camera
ResetGVCPHeartbeat(pCam);
#endif
// Deinitialize camera
pCam->DeInit();
#if defined(_WIN32)
return 1;
#else
return (void*)1;
#endif
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
#if defined(_WIN32)
return 0;
#else
return (void*)0;
#endif
}
}
// This function acts as the body of the example
int RunMultipleCameras(CameraList camList)
{
int result = 0;
unsigned int camListSize = 0;
try
{
// Retrieve camera list size
camListSize = camList.GetSize();
// Create an array of CameraPtrs. This array maintenances smart pointer's reference
// count when CameraPtr is passed into grab thread as void pointer
// Create an array of handles
CameraPtr* pCamList = new CameraPtr[camListSize];
#if defined(_WIN32)
HANDLE* grabThreads = new HANDLE[camListSize];
#else
pthread_t* grabThreads = new pthread_t[camListSize];
#endif
for (unsigned int i = 0; i < camListSize; i++)
{
// Select camera
pCamList[i] = camList.GetByIndex(i);
// Start grab thread
#if defined(_WIN32)
grabThreads[i] = CreateThread(nullptr, 0, AcquireImages, &pCamList[i], 0, nullptr);
assert(grabThreads[i] != nullptr);
#else
int err = pthread_create(&(grabThreads[i]), nullptr, &AcquireImages, &pCamList[i]);
assert(err == 0);
#endif
}
#if defined(_WIN32)
// Wait for all threads to finish
WaitForMultipleObjects(
camListSize, // number of threads to wait for
grabThreads, // handles for threads to wait for
TRUE, // wait for all of the threads
INFINITE // wait forever
);
// Check thread return code for each camera
for (unsigned int i = 0; i < camListSize; i++)
{
DWORD exitcode;
BOOL rc = GetExitCodeThread(grabThreads[i], &exitcode);
if (!rc)
{
cout << "Handle error from GetExitCodeThread() returned for camera at index " << i << endl;
result = -1;
}
else if (!exitcode)
{
cout << "Grab thread for camera at index " << i
<< " exited with errors."
"Please check onscreen print outs for error details"
<< endl;
result = -1;
}
}
#else
for (unsigned int i = 0; i < camListSize; i++)
{
// Wait for all threads to finish
void* exitcode;
int rc = pthread_join(grabThreads[i], &exitcode);
if (rc != 0)
{
cout << "Handle error from pthread_join returned for camera at index " << i << endl;
result = -1;
}
else if ((int)(intptr_t)exitcode == 0) // check thread return code for each camera
{
cout << "Grab thread for camera at index " << i
<< " exited with errors."
"Please check onscreen print outs for error details"
<< endl;
result = -1;
}
}
#endif
// Clear CameraPtr array and close all handles
for (unsigned int i = 0; i < camListSize; i++)
{
pCamList[i] = 0;
#if defined(_WIN32)
CloseHandle(grabThreads[i]);
#endif
}
// Delete array pointer
delete[] pCamList;
// Delete array pointer
delete[] grabThreads;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// Example entry point; please see Enumeration example for more in-depth
// comments on preparing and cleaning up the system.
int main(int /*argc*/, char** /*argv*/)
{
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FILE* tempFile = fopen("test.txt", "w+");
if (tempFile == nullptr)
{
cout << "Failed to create file in current folder. Please check permissions." << endl;
cout << "Press Enter to exit..." << endl;
getchar();
return -1;
}
fclose(tempFile);
remove("test.txt");
int result = 0;
// Print application build information
cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;
// Retrieve singleton reference to system object
SystemPtr system = System::GetInstance();
// Print out current library version
const LibraryVersion spinnakerLibraryVersion = system->GetLibraryVersion();
cout << "Spinnaker library version: " << spinnakerLibraryVersion.major << "." << spinnakerLibraryVersion.minor
<< "." << spinnakerLibraryVersion.type << "." << spinnakerLibraryVersion.build << endl
<< endl;
// Retrieve list of cameras from the system
CameraList camList = system->GetCameras();
unsigned int numCameras = camList.GetSize();
cout << "Number of cameras detected: " << numCameras << endl << endl;
// Finish if there are no cameras
if (numCameras == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << "Not enough cameras!" << endl;
cout << "Done! Press Enter to exit..." << endl;
getchar();
return -1;
}
// Run example on all cameras
cout << endl << "Running example for all cameras..." << endl;
result = RunMultipleCameras(camList);
cout << "Example complete..." << endl << endl;
// Clear camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << endl << "Done! Press Enter to exit..." << endl;
getchar();
return result;
}