LookupTable¶
LookupTable.cpp shows how to configure lookup tables on the camera. It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.
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/**
* @example LookupTable.cpp
*
* @brief LookupTable.cpp shows how to configure lookup tables on the camera.
* It relies on information provided in the Enumeration, Acquisition, and
* NodeMapInfo examples.
*
* It can also be helpful to familiarize yourself with the ImageFormatControl
* and Exposure examples. As they are somewhat shorter and simpler, either
* provides a strong introduction to camera customization.
*
* Lookup tables allow for the customization and control of individual pixels.
* This can be a very powerful and deeply useful tool; however, because use
* cases are context dependent, this example only explores lookup table
* configuration.
*
* 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;
// This function handles the error prints when a node or entry is
// not readable on the connected camera
void PrintRetrieveNodeFailure(string node, string name)
{
cout << "Unable to get " << node << " (" << name << " " << node << " retrieval failed)." << endl << endl;
cout << "The " << node << " may not be readable on all camera models..." << endl;
cout << "Please try a Blackfly S camera." << endl << endl;
}
// This function configures lookup tables linearly. This involves selecting the
// type of lookup table, finding the appropriate increment calculated from the
// maximum value, and enabling lookup tables on the camera.
int ConfigureLookupTables(INodeMap& nodeMap)
{
int result = 0;
cout << endl << endl << "*** CONFIGURING LOOKUP TABLES ***" << endl << endl;
try
{
//
// Select lookup table type
//
// *** NOTES ***
// Setting the lookup table selector. It is important to note that this
// does not enable lookup tables.
//
CEnumerationPtr ptrLUTSelector = nodeMap.GetNode("LUTSelector");
if (!IsReadable(ptrLUTSelector) || !IsWritable(ptrLUTSelector))
{
// Some cameras have an LUT type that must be "User Defined"
CEnumerationPtr ptrLUTType = nodeMap.GetNode("lutType");
CEnumEntryPtr ptrLUTTypeType = nodeMap.GetNode("UserDefined");
if (!IsReadable(ptrLUTTypeType) || !IsWritable(ptrLUTTypeType))
{
PrintRetrieveNodeFailure("node", "LUTSelector");
return -1;
}
ptrLUTType->SetIntValue(static_cast<int64_t>(ptrLUTTypeType->GetValue()));
}
CEnumEntryPtr ptrLUTSelectorLUT = ptrLUTSelector->GetEntryByName("LUT1");
// Try out alternate node name
if (!IsReadable(ptrLUTSelectorLUT))
{
ptrLUTSelectorLUT = ptrLUTSelector->GetEntryByName("UserDefined1");
if (!IsReadable(ptrLUTSelectorLUT))
{
PrintRetrieveNodeFailure("entry", "LUTSelector LUT1 or User Defined 1");
return -1;
}
cout << "Lookup table selector set to User Defined 1..." << endl;
}
else
{
cout << "Lookup table selector set to LUT 1..." << endl;
}
ptrLUTSelector->SetIntValue(static_cast<int64_t>(ptrLUTSelectorLUT->GetValue()));
//
// Determine pixel increment and set indexes and values as desired
//
// *** NOTES ***
// To get the pixel increment, the maximum range of the value node must
// first be retrieved. The value node represents an index, so its value
// should be one less than a power of 2 (e.g. 511, 1023, etc.). Add 1 to
// this index to get the maximum range. Divide the maximum range by 512
// to calculate the pixel increment.
//
// Finally, all values (in the value node) and their corresponding
// indexes (in the index node) need to be set. The goal of this example
// is to set the lookup table linearly. As such, the slope of the values
// should be set according to the increment, but the slope of the
// indexes is inconsequential.
//
// Retrieve value node
CIntegerPtr ptrLUTValue = nodeMap.GetNode("LUTValue");
if (!IsReadable(ptrLUTValue) || !IsWritable(ptrLUTValue))
{
PrintRetrieveNodeFailure("node", "LUTValue");
return -1;
}
// Retrieve index node
CIntegerPtr ptrLUTIndex = nodeMap.GetNode("LUTIndex");
if (!IsWritable(ptrLUTIndex))
{
PrintRetrieveNodeFailure("node", "LUTIndex");
return -1;
}
// Retrieve maximum value
int maxVal = (int)ptrLUTValue->GetMax();
cout << "\tMaximum Value: " << maxVal << endl;
// Retrieve maximum index
int maxIndex = (int)ptrLUTIndex->GetMax();
cout << "\tMaximum Index: " << maxIndex << endl;
// Calculate increment
int increment = maxVal / maxIndex;
// Set LUT Values
if (increment > 0)
{
cout << "\tIncrement: " << increment << endl;
for (int i = 0; i < maxIndex; i++)
{
ptrLUTIndex->SetValue(i);
ptrLUTValue->SetValue(i * increment);
}
}
else
{
int denominator = maxIndex / maxVal;
cout << "\tIncrement: 1/" << denominator << endl;
for (int i = 0; i < maxIndex; i++)
{
ptrLUTIndex->SetValue(i);
ptrLUTValue->SetValue(i / denominator);
}
}
cout << "All lookup table values set..." << endl;
//
// Enable lookup tables
//
// *** NOTES ***
// Once lookup tables have been configured, don't forget to enable them
// with the appropriate node.
//
// *** LATER ***
// Once the images with lookup tables have been collected, turn the
// feature off with the same node.
//
CBooleanPtr ptrLUTEnable = nodeMap.GetNode("LUTEnable");
if (!IsWritable(ptrLUTEnable))
{
// Try alternate name
CEnumerationPtr ptrLUTMode = nodeMap.GetNode("lutMode");
if (!IsWritable(ptrLUTMode))
{
PrintRetrieveNodeFailure("node", "LUTEnable");
return -1;
}
CEnumEntryPtr ptrLUTModeActive = ptrLUTMode->GetEntryByName("Active");
ptrLUTMode->SetIntValue(ptrLUTModeActive->GetValue());
}
else
{
ptrLUTEnable->SetValue(true);
}
cout << "Lookup tables enabled..." << endl << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// This function resets the camera by disabling lookup tables.
int ResetLookupTables(INodeMap& nodeMap)
{
int result = 0;
try
{
//
// Disable lookup tables
//
// *** NOTES ***
// Turn look up tables off when they are not needed to reduce overhead.
//
CBooleanPtr ptrLUTEnable = nodeMap.GetNode("LUTEnable");
if (!IsWritable(ptrLUTEnable))
{
// Try alternate name
CEnumerationPtr ptrLUTMode = nodeMap.GetNode("lutMode");
if (!IsWritable(ptrLUTMode))
{
cout << endl << "Unable to disable lookup tables. Non-fatal error..." << endl << endl;
return -1;
}
else
{
CEnumEntryPtr ptrLUTModeOff = ptrLUTMode->GetEntryByName("Off");
ptrLUTMode->SetIntValue(ptrLUTModeOff->GetValue());
}
}
else
{
ptrLUTEnable->SetValue(false);
}
cout << "Lookup tables disabled..." << endl << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
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 acquires and saves 10 images from a device; please see
// Acquisition example for more in-depth comments on acquiring images.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, INodeMap& nodeMapTLDevice)
{
int result = 0;
cout << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
try
{
// Set acquisition mode to continuous
CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
if (!IsReadable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode))
{
cout << "Unable to get or set acquisition mode to continuous (node retrieval). Aborting..." << endl << endl;
return -1;
}
CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
if (!IsReadable(ptrAcquisitionModeContinuous))
{
cout << "Unable to get acquisition mode to continuous (entry 'continuous' retrieval). Aborting..." << endl
<< endl;
return -1;
}
int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
cout << "Acquisition mode set to continuous..." << endl;
// Begin acquiring images
pCam->BeginAcquisition();
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 and ensure image completion
ImagePtr pResultImage = pCam->GetNextImage(1000);
if (pResultImage->IsIncomplete())
{
cout << "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
<< endl;
}
else
{
// Print image information
cout << "Grabbed image " << imageCnt << ", width = " << pResultImage->GetWidth()
<< ", height = " << pResultImage->GetHeight() << endl;
// Convert image to mono 8
ImagePtr convertedImage = processor.Convert(pResultImage, PixelFormat_Mono8);
// Create a unique filename
ostringstream filename;
filename << "LookupTable-";
if (deviceSerialNumber != "")
{
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;
}
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;
int err = 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 lookup tables
err = ConfigureLookupTables(nodeMap);
if (err < 0)
{
return err;
}
// Acquire images
result = result | AcquireImages(pCam, nodeMap, nodeMapTLDevice);
// Reset lookup tables
result = result | ResetLookupTables(nodeMap);
// 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 additional
// commnets on the steps in this function.
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 each camera
for (unsigned int i = 0; i < numCameras; i++)
{
cout << endl << "Running example for camera " << i << "..." << endl;
result = result | RunSingleCamera(camList.GetByIndex(i));
cout << "Camera " << i << " 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;
}