AcquisitionUserBuffer¶
AcquisitionUserBuffer.cpp shows how to use User Buffers for image acquisition. The acquisition engine uses a pool of memory buffers. The memory of a buffer can be allocated by the library (default) or the user. User Buffers refer to the latter. This example relies on information provided in the Acquisition example.
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/**
* @example AcquisitionUserBuffer.cpp
*
* @brief AcquisitionUserBuffer.cpp shows how to use User Buffers for image
* acquisition. The acquisition engine uses a pool of memory buffers. The
* memory of a buffer can be allocated by the library (default) or the user.
* User Buffers refer to the latter. This example relies on information
* provided in the Acquisition example.
*
* This example demonstrates setting up the user allocated memory just before
* the acquisition of images. First, the size of each buffer is determined
* based on the data payload size. Then, depending on the the number of
* buffers (numBuffers) specified, the corresponding amount of memory is
* allocated. Finally, after setting the buffer ownership to be users,
* the image acquisition can commence.
*
* It is important to note that if the user provides the memory for the
* buffers, the user is ultimately responsible for freeing up memory.
*
* 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>
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
// Whether the user memory is contiguous or non-contiguous
const bool isContiguous = true;
// 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 device.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, INodeMap& nodeMapTLDevice)
{
int result = 0;
cout << endl << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
try
{
// Set acquisition mode to continuous
// Retrieve enumeration node from nodemap
CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
if (!IsReadable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
{
cout << "Unable to get or set acquisition mode to continuous (enum retrieval). Aborting..." << endl << endl;
return -1;
}
// Retrieve entry node from enumeration node
CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
if (!IsReadable(ptrAcquisitionModeContinuous))
{
cout << "Unable to set acquisition mode to continuous (entry retrieval). Aborting..." << endl << endl;
return -1;
}
// Retrieve integer value from entry node
const int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
// Set integer value from entry node as new value of enumeration node
ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
// Retrieve Stream Parameters device nodemap
const INodeMap& sNodeMap = pCam->GetTLStreamNodeMap();
// Set stream buffer Count Mode to manual
CEnumerationPtr ptrStreamBufferCountMode = sNodeMap.GetNode("StreamBufferCountMode");
if (!IsReadable(ptrStreamBufferCountMode) || !IsWritable(ptrStreamBufferCountMode))
{
cout << "Unable to get or set Buffer Count Mode (node retrieval). Aborting..." << endl << endl;
return -1;
}
CEnumEntryPtr ptrStreamBufferCountModeManual = ptrStreamBufferCountMode->GetEntryByName("Manual");
if (!IsReadable(ptrStreamBufferCountModeManual))
{
cout << "Unable to get Buffer Count Mode entry (Entry retrieval). Aborting..." << endl << endl;
return -1;
}
ptrStreamBufferCountMode->SetIntValue(ptrStreamBufferCountModeManual->GetValue());
cout << "Stream Buffer Count Mode set to manual..." << endl;
cout << "Acquisition mode set to continuous..." << endl;
//
// Allocate buffers
//
// *** NOTES ***
//
// When allocating memory for user buffers, keep in mind that implicitly you are specifying how many
// buffers are used for the acquisition engine. There are two ways to set user buffers for Spinnaker
// to utilize. You can either pass a pointer to a contiguous buffer, or pass a pointer to pointers to
// non-contiguous buffers into the library. In either case, you will be responsible for allocating and
// de-allocating the memory buffers that the pointers point to.
//
// The acquisition engine will be utilizing a bufferCount equal to totalSize divided by bufferSize,
// where totalSize is the total allocated memory in bytes, and bufferSize is the image payload size.
//
// This example here demonstrates how to determine how much memory needs to be allocated based on the
// retrieved payload size from the node map for both cases.
//
// Note that the acquisition engine may use up to two buffers as a cycling buffer in the event that
// images are not released (Release()) in time, so it is advised to allocate enough memory for at
// least 2 buffers for OldestFirst and NewestFirst stream modes, and allocate enough memory for 3 buffers in
// OldestFirstOverwrite and NewestOnly mode.
CIntegerPtr ptrPayloadSize = nodeMap.GetNode("PayloadSize");
if (!IsReadable(ptrPayloadSize))
{
cout << "Unable to determine the payload size from the nodemap. Aborting..." << endl << endl;
return -1;
}
uint64_t bufferSize = ptrPayloadSize->GetValue();
// Calculate the 1024 aligned image size to be used for USB cameras
CEnumerationPtr ptrDeviceType = pCam->GetTLDeviceNodeMap().GetNode("DeviceType");
if (ptrDeviceType != nullptr && ptrDeviceType->GetIntValue() == DeviceType_USB3Vision)
{
const uint64_t usbPacketSize = 1024;
bufferSize = ((bufferSize + usbPacketSize - 1) / usbPacketSize) * usbPacketSize;
}
const unsigned int numBuffers = 10;
// Contiguous memory buffer
unique_ptr<unsigned char[]> pMemBuffersContiguous;
// Non-contiguous memory buffer
vector<unique_ptr<unsigned char[]>> ppMemBuffersNonContiguous;
vector<void*> ppMemBuffersNonContiguousVoid;
// Set buffer ownership to user.
// This must be set before using user buffers when calling BeginAcquisition().
// If not set, BeginAcquisition() will use the system's buffers.
if (pCam->GetBufferOwnership() != SPINNAKER_BUFFER_OWNERSHIP_USER)
{
pCam->SetBufferOwnership(SPINNAKER_BUFFER_OWNERSHIP_USER);
}
// Contiguous memory buffer
if (isContiguous)
{
try
{
// Smart pointers will clean themselves up when they go out of scope,
// so there is no need to clean them up manually
pMemBuffersContiguous =
unique_ptr<unsigned char[]>(new unsigned char[numBuffers * static_cast<unsigned int>(bufferSize)]);
}
catch (bad_alloc& /*e*/)
{
cout << "Unable to allocate the memory required. Aborting..." << endl << endl;
return -1;
}
pCam->SetUserBuffers(pMemBuffersContiguous.get(), numBuffers * bufferSize);
cout << "User-allocated memory 0x" << hex << static_cast<void*>(&pMemBuffersContiguous)
<< " will be used for user buffers..." << endl;
}
// Non-contiguous memory buffer
else
{
try
{
// Smart pointers will clean themselves up when they go out of scope,
// so there is no need to clean them up manually
for (unsigned int i = 0; i < numBuffers; i++)
{
ppMemBuffersNonContiguous.emplace_back(
unique_ptr<unsigned char[]>(new unsigned char[static_cast<unsigned int>(bufferSize)]));
}
}
catch (bad_alloc& /*e*/)
{
cout << "Unable to allocate the memory required. Aborting..." << endl << endl;
return -1;
}
for (unsigned int i = 0; i < ppMemBuffersNonContiguous.size(); i++)
{
ppMemBuffersNonContiguousVoid.emplace_back(ppMemBuffersNonContiguous.at(i).get());
}
const uint64_t bufferCount = ppMemBuffersNonContiguousVoid.size();
pCam->SetUserBuffers(ppMemBuffersNonContiguousVoid.data(), bufferCount, bufferSize);
cout << "User-allocated memory:" << endl;
for (size_t i = 0; i < ppMemBuffersNonContiguousVoid.size(); i++)
{
cout << "\t0x" << hex << &ppMemBuffersNonContiguousVoid.at(i) << endl;
}
cout << "will be used for user buffers..." << endl;
}
// Begin acquiring images
pCam->BeginAcquisition();
// Retrieve the resulting stream buffer count nBuffers
// Note: the buffer count result is dependent on the Stream Buffer Count Mode (Auto/Manual).
// For Manual mode, Spinnaker uses the allocated memory size and payload size to calculate the number
// of buffers. For auto mode, a deprecated buffer count mode, Spinnaker used additional information
// such as frame rate to determine the number of buffers.
CIntegerPtr ptrStreamBufferCountResult = sNodeMap.GetNode("StreamBufferCountResult");
if (!IsReadable(ptrStreamBufferCountResult))
{
cout << "Unable to retrieve Buffer Count result (node retrieval). Aborting..." << endl << endl;
return -1;
}
const int64_t streamBufferCountResult = ptrStreamBufferCountResult->GetValue();
cout << "Resulting stream buffer count: " << dec << streamBufferCountResult << "." << endl << endl;
cout << "Acquiring images..." << endl;
// Retrieve device serial number for filename
gcstring deviceSerialNumber("");
CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
if (IsReadable(ptrStringSerial))
{
deviceSerialNumber = ptrStringSerial->GetValue();
cout << "Device serial number retrieved as " << deviceSerialNumber << "..." << endl;
}
cout << endl;
// Retrieve, convert, and save images
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);
for (unsigned int imageCnt = 0; imageCnt < k_numImages; imageCnt++)
{
try
{
// Retrieve next received image
ImagePtr pResultImage = pCam->GetNextImage(1000);
// Ensure image completion
if (pResultImage->IsIncomplete())
{
// Retrieve and print the image status description
cout << "Image incomplete: " << Image::GetImageStatusDescription(pResultImage->GetImageStatus())
<< "..." << endl
<< endl;
}
else
{
// Print image information; height and width recorded in pixels
const size_t width = pResultImage->GetWidth();
const size_t height = pResultImage->GetHeight();
cout << "Grabbed image " << imageCnt << ", width = " << width << ", height = " << height << endl;
// Convert image to mono 8
ImagePtr convertedImage = processor.Convert(pResultImage, PixelFormat_Mono8);
// Create a unique filename
ostringstream filename;
filename << "AcquisitionUserBuffer-";
if (!deviceSerialNumber.empty())
{
filename << deviceSerialNumber.c_str() << "-";
}
filename << imageCnt << ".jpg";
// Save image
convertedImage->Save(filename.str().c_str());
cout << "Image saved at " << filename.str() << endl;
}
// Release image
pResultImage->Release();
cout << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
}
// End acquisition
pCam->EndAcquisition();
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
// The smart pointers are cleaned up so you have no more allocated memory.
// Therefore, we reset the buffer ownership to the system.
if (pCam->GetBufferOwnership() != SPINNAKER_BUFFER_OWNERSHIP_SYSTEM)
{
pCam->SetBufferOwnership(SPINNAKER_BUFFER_OWNERSHIP_SYSTEM);
}
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 acts as the body of the example; please see NodeMapInfo example
// for more in-depth comments on setting up cameras.
int RunSingleCamera(CameraPtr pCam)
{
int result = 0;
try
{
// Retrieve TL device nodemap and print device information
INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
result = PrintDeviceInfo(nodeMapTLDevice);
// Initialize camera
pCam->Init();
// Retrieve GenICam nodemap
INodeMap& nodeMap = pCam->GetNodeMap();
// Configure heartbeat for GEV camera
#ifdef _DEBUG
result = result | DisableGVCPHeartbeat(pCam);
#else
result = result | ResetGVCPHeartbeat(pCam);
#endif
// Acquire images
result = result | AcquireImages(pCam, nodeMap, nodeMapTLDevice);
#ifdef _DEBUG
// Reset heartbeat for GEV camera
result = result | ResetGVCPHeartbeat(pCam);
#endif
// Deinitialize camera
pCam->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.
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");
// 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();
const 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;
}
// Create shared pointer to camera
CameraPtr pCam = nullptr;
int result = 0;
// Run example on each camera
for (unsigned int i = 0; i < numCameras; i++)
{
// Select camera
pCam = camList.GetByIndex(i);
cout << endl << "Running example for camera " << i << "..." << endl;
// Run example
result = result | RunSingleCamera(pCam);
cout << "Camera " << i << " example complete..." << endl << endl;
}
// Release reference to the camera
pCam = nullptr;
// Clear camera list before releasing system
camList.Clear();
// Release system
system->ReleaseInstance();
cout << endl << "Done! Press Enter to exit..." << endl;
getchar();
return result;
}