Sequencer¶
Sequencer.cpp shows how to use the sequencer to grab images with various settings. It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.
//=============================================================================
// Copyright (c) 2026 FLIR Integrated Imaging Solutions, Inc. All Rights Reserved.
//
// This software is the confidential and proprietary information of FLIR
// Integrated Imaging Solutions, Inc. ("Confidential Information"). You
// shall not disclose such Confidential Information and shall use it only in
// accordance with the terms of the license agreement you entered into
// with FLIR Integrated Imaging Solutions, Inc. (FLIR).
//
// FLIR MAKES NO REPRESENTATIONS OR WARRANTIES ABOUT THE SUITABILITY OF THE
// SOFTWARE, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
// PURPOSE, OR NON-INFRINGEMENT. FLIR SHALL NOT BE LIABLE FOR ANY DAMAGES
// SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR DISTRIBUTING
// THIS SOFTWARE OR ITS DERIVATIVES.
//=============================================================================
/**
* @example Sequencer.cpp
*
* @brief Sequencer.cpp shows how to use the sequencer to grab images with
* various settings. 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 these examples provide a strong introduction to
* camera customization.
*
* The sequencer is another very powerful tool, which can be used to create
* and store multiple states 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 state (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 "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/writable on all camera models..." << endl;
cout << "Please try a Blackfly S camera." << endl << endl;
}
// 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(INodeMap& nodeMap)
{
int result = 0;
cout << endl << endl << "*** CONFIGURING SEQUENCER ***" << endl << endl;
try
{
//
// Ensure sequencer is off for configuration
//
// *** NOTES ***
// In order to configure a new sequence, sequencer configuration mode
// needs to be turned on. To do this, sequencer mode must be disabled.
// However, simply disabling sequencer mode might throw an exception if
// the current sequence is an invalid configuration.
//
// Thus, in order to ensure that sequencer mode is disabled, we first
// check whether the current sequence is valid. If it
// isn't, then we know that sequencer mode is off and we can move on;
// if it is, then we can 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.
//
// Validate sequencer configuration
CEnumerationPtr ptrSequencerConfigurationValid = nodeMap.GetNode("SequencerConfigurationValid");
if (!IsReadable(ptrSequencerConfigurationValid))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
return -1;
}
CEnumEntryPtr ptrSequencerConfigurationValidYes = ptrSequencerConfigurationValid->GetEntryByName("Yes");
if (!IsReadable(ptrSequencerConfigurationValidYes))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
return -1;
}
// If valid, disable sequencer mode; otherwise, do nothing
CEnumerationPtr ptrSequencerMode = nodeMap.GetNode("SequencerMode");
if (ptrSequencerConfigurationValid->GetCurrentEntry()->GetValue() ==
ptrSequencerConfigurationValidYes->GetValue())
{
if (!IsReadable(ptrSequencerMode) || !IsWritable(ptrSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return -1;
}
CEnumEntryPtr ptrSequencerModeOff = ptrSequencerMode->GetEntryByName("Off");
if (!IsReadable(ptrSequencerModeOff))
{
PrintRetrieveNodeFailure("entry", "SequencerMode Off");
return -1;
}
ptrSequencerMode->SetIntValue(static_cast<int64_t>(ptrSequencerModeOff->GetValue()));
}
cout << "Sequencer mode disabled..." << endl;
//
// Turn off automatic exposure
//
// *** NOTES ***
// Automatic exposure prevents the manual configuration of exposure
// times and needs to be turned off for this example.
//
// *** LATER ***
// Automatic exposure is turned back on at the end of the example in
// order to restore the camera to its default state.
//
CEnumerationPtr ptrExposureAuto = nodeMap.GetNode("ExposureAuto");
if (!IsReadable(ptrExposureAuto) || !IsWritable(ptrExposureAuto))
{
PrintRetrieveNodeFailure("node", "ExposureAuto");
return -1;
}
CEnumEntryPtr ptrExposureAutoOff = ptrExposureAuto->GetEntryByName("Off");
if (!IsReadable(ptrExposureAutoOff))
{
PrintRetrieveNodeFailure("entry", "ExposureAuto Off");
return -1;
}
ptrExposureAuto->SetIntValue(static_cast<int64_t>(ptrExposureAutoOff->GetValue()));
cout << "Automatic exposure disabled..." << endl;
//
// Turn off automatic gain
//
// *** NOTES ***
// Automatic gain prevents the manual configuration of gain and needs
// to be turned off for this example.
//
// *** LATER ***
// Automatic gain is turned back on at the end of the example in
// order to restore the camera to its default state.
//
CEnumerationPtr ptrGainAuto = nodeMap.GetNode("GainAuto");
if (!IsReadable(ptrGainAuto) || !IsWritable(ptrGainAuto))
{
PrintRetrieveNodeFailure("node", "GainAuto");
return -1;
}
CEnumEntryPtr ptrGainAutoOff = ptrGainAuto->GetEntryByName("Off");
if (!IsReadable(ptrGainAutoOff))
{
PrintRetrieveNodeFailure("entry", "GainAuto Off");
return -1;
}
ptrGainAuto->SetIntValue(static_cast<int64_t>(ptrGainAutoOff->GetValue()));
cout << "Automatic gain disabled..." << endl;
//
// Turn configuration mode on
//
// *** NOTES ***
// Once sequencer mode is off, enabling sequencer configuration mode
// allows for the setting of each state.
//
// *** LATER ***
// Before sequencer mode is turned back on, sequencer configuration
// mode must be turned back off.
//
CEnumerationPtr ptrSequencerConfigurationMode = nodeMap.GetNode("SequencerConfigurationMode");
if (!IsReadable(ptrSequencerConfigurationMode) || !IsWritable(ptrSequencerConfigurationMode))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return -1;
}
CEnumEntryPtr ptrSequencerConfigurationModeOn = ptrSequencerConfigurationMode->GetEntryByName("On");
if (!IsReadable(ptrSequencerConfigurationModeOn))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode On");
return -1;
}
ptrSequencerConfigurationMode->SetIntValue(static_cast<int64_t>(ptrSequencerConfigurationModeOn->GetValue()));
cout << "Sequencer configuration mode enabled..." << endl << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// 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(
INodeMap& nodeMap,
unsigned int sequenceNumber,
int64_t widthToSet,
int64_t heightToSet,
double exposureTimeToSet,
double gainToSet)
{
int result = 0;
try
{
//
// Select the current 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.
//
CIntegerPtr ptrSequencerSetSelector = nodeMap.GetNode("SequencerSetSelector");
if (!IsWritable(ptrSequencerSetSelector))
{
cout << "Unable to set current state. Aborting..." << endl << endl;
return -1;
}
ptrSequencerSetSelector->SetValue(sequenceNumber);
cout << "Setting state " << sequenceNumber << "..." << endl;
//
// 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 available
// for all camera models.
//
// Set width; width recorded in pixels
CIntegerPtr ptrWidth = nodeMap.GetNode("Width");
if (IsReadable(ptrWidth) && IsWritable(ptrWidth))
{
int64_t widthInc = ptrWidth->GetInc();
if (widthToSet % widthInc != 0)
{
widthToSet = (widthToSet / widthInc) * widthInc;
}
ptrWidth->SetValue(widthToSet);
cout << "\tWidth set to " << ptrWidth->GetValue() << "..." << endl;
}
else
{
cout << "\tUnable to get or set width; width for sequencer not readable or writable on all camera models..."
<< endl;
}
// Set height; height recorded in pixels
CIntegerPtr ptrHeight = nodeMap.GetNode("Height");
if (IsReadable(ptrHeight) && IsWritable(ptrHeight))
{
int64_t heightInc = ptrHeight->GetInc();
if (heightToSet % heightInc != 0)
{
heightToSet = (heightToSet / heightInc) * heightInc;
}
ptrHeight->SetValue(heightToSet);
cout << "\tHeight set to " << ptrHeight->GetValue() << "..." << endl;
}
else
{
cout << "\tUnable to get or set height; height for sequencer not readable or writable on all camera "
"models..."
<< endl;
}
// Set exposure time; exposure time recorded in microseconds
CFloatPtr ptrExposureTime = nodeMap.GetNode("ExposureTime");
if (!IsReadable(ptrExposureTime) || !IsWritable(ptrExposureTime))
{
cout << "Unable to get or set exposure time (node retrieval). Aborting..." << endl << endl;
return -1;
}
double exposureTimeMax = ptrExposureTime->GetMax();
if (exposureTimeToSet > exposureTimeMax)
{
exposureTimeToSet = exposureTimeMax;
}
ptrExposureTime->SetValue(exposureTimeToSet);
cout << "\tExposure set to " << ptrExposureTime->GetValue() << "..." << endl;
// Set gain; gain recorded in decibels
CFloatPtr ptrGain = nodeMap.GetNode("Gain");
if (!IsReadable(ptrGain) || !IsWritable(ptrGain))
{
cout << "Unable to get or set gain (node retrieval). Aborting..." << endl << endl;
return -1;
}
double gainMax = ptrGain->GetMax();
if (gainToSet > gainMax)
{
gainToSet = gainMax;
}
ptrGain->SetValue(gainToSet);
cout << "\tGain set to " << ptrGain->GetValue() << "..." << endl;
//
// Set the trigger type for the current state
//
// *** 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.
//
CEnumerationPtr ptrSequencerTriggerSource = nodeMap.GetNode("SequencerTriggerSource");
if (!IsReadable(ptrSequencerTriggerSource) || !IsWritable(ptrSequencerTriggerSource))
{
cout << "Unable to get or set trigger source (node retrieval). Aborting..." << endl << endl;
return -1;
}
CEnumEntryPtr ptrSequencerTriggerSourceFrameStart = ptrSequencerTriggerSource->GetEntryByName("FrameStart");
if (!IsReadable(ptrSequencerTriggerSourceFrameStart))
{
cout << "Unable to get trigger source (enum entry retrieval). Aborting..." << endl << endl;
return -1;
}
ptrSequencerTriggerSource->SetIntValue(static_cast<int64_t>(ptrSequencerTriggerSourceFrameStart->GetValue()));
cout << "\tTrigger source set to start of frame..." << endl;
//
// 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.
//
static const int finalSequenceIndex = 4;
CIntegerPtr ptrSequencerSetNext = nodeMap.GetNode("SequencerSetNext");
if (!IsWritable(ptrSequencerSetNext))
{
cout << "Unable to select next state. Aborting..." << endl << endl;
return -1;
}
if (sequenceNumber == finalSequenceIndex)
{
ptrSequencerSetNext->SetValue(0);
}
else
{
ptrSequencerSetNext->SetValue(sequenceNumber + 1);
}
cout << "\tNext state set to " << ptrSequencerSetNext->GetValue() << "..." << endl;
//
// 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.
//
CCommandPtr ptrSequencerSetSave = nodeMap.GetNode("SequencerSetSave");
if (!IsWritable(ptrSequencerSetSave))
{
cout << "Unable to save state. Aborting..." << endl << endl;
return -1;
}
ptrSequencerSetSave->Execute();
cout << "Current state saved..." << endl << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// Now that the states have all been set, this function readies the camera
// to use the sequencer during image acquisition.
int ConfigureSequencerPartTwo(INodeMap& nodeMap)
{
int result = 0;
try
{
//
// Turn configuration mode off
//
// *** NOTES ***
// Once all desired states have been set, turn sequencer
// configuration mode off in order to turn sequencer mode on.
//
CEnumerationPtr ptrSequencerConfigurationMode = nodeMap.GetNode("SequencerConfigurationMode");
if (!IsReadable(ptrSequencerConfigurationMode) || !IsWritable(ptrSequencerConfigurationMode))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
return -1;
}
CEnumEntryPtr ptrSequencerConfigurationModeOff = ptrSequencerConfigurationMode->GetEntryByName("Off");
if (!IsReadable(ptrSequencerConfigurationModeOff))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode Off");
return -1;
}
ptrSequencerConfigurationMode->SetIntValue(static_cast<int64_t>(ptrSequencerConfigurationModeOff->GetValue()));
cout << "Sequencer configuration mode disabled..." << endl;
//
// Turn sequencer mode on
//
// *** NOTES ***
// After sequencer mode has been 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.
//
CEnumerationPtr ptrSequencerMode = nodeMap.GetNode("SequencerMode");
if (!IsReadable(ptrSequencerMode) || !IsWritable(ptrSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return -1;
}
CEnumEntryPtr ptrSequencerModeOn = ptrSequencerMode->GetEntryByName("On");
if (!IsReadable(ptrSequencerModeOn))
{
PrintRetrieveNodeFailure("entry", "SequencerMode On");
return -1;
}
ptrSequencerMode->SetIntValue(static_cast<int64_t>(ptrSequencerModeOn->GetValue()));
cout << "Sequencer mode enabled..." << endl;
//
// 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.
//
CEnumerationPtr ptrSequencerConfigurationValid = nodeMap.GetNode("SequencerConfigurationValid");
if (!IsReadable(ptrSequencerConfigurationValid))
{
PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
return -1;
}
CEnumEntryPtr ptrSequencerConfigurationValidYes = ptrSequencerConfigurationValid->GetEntryByName("Yes");
if (!IsReadable(ptrSequencerConfigurationValidYes))
{
PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid Yes");
return -1;
}
if (ptrSequencerConfigurationValid->GetCurrentEntry()->GetValue() !=
ptrSequencerConfigurationValidYes->GetValue())
{
cout << "Sequencer configuration not valid. Aborting..." << endl << endl;
return -1;
}
cout << "Sequencer configuration valid..." << endl << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = -1;
}
return result;
}
// This function restores the camera to its default state by turning sequencer mode
// off and re-enabling automatic exposure and gain.
int ResetSequencer(INodeMap& nodeMap)
{
int result = 0;
try
{
//
// Turn sequencer mode back off
//
// *** NOTES ***
// The sequencer is turned off in order to return the camera to its default
// state.
//
CEnumerationPtr ptrSequencerMode = nodeMap.GetNode("SequencerMode");
if (!IsReadable(ptrSequencerMode) || !IsWritable(ptrSequencerMode))
{
PrintRetrieveNodeFailure("node", "SequencerMode");
return -1;
}
CEnumEntryPtr ptrSequencerModeOff = ptrSequencerMode->GetEntryByName("Off");
if (!IsReadable(ptrSequencerModeOff))
{
PrintRetrieveNodeFailure("entry", "SequencerMode Off");
return -1;
}
ptrSequencerMode->SetIntValue(static_cast<int64_t>(ptrSequencerModeOff->GetValue()));
cout << "Turning off sequencer mode..." << endl;
//
// Turn automatic exposure back on
//
// *** NOTES ***
// Automatic exposure is turned on in order to return the camera to its
// default state.
//
CEnumerationPtr ptrExposureAuto = nodeMap.GetNode("ExposureAuto");
if (IsReadable(ptrExposureAuto) && IsWritable(ptrExposureAuto))
{
CEnumEntryPtr ptrExposureAutoContinuous = ptrExposureAuto->GetEntryByName("Continuous");
if (IsReadable(ptrExposureAutoContinuous))
{
ptrExposureAuto->SetIntValue(static_cast<int64_t>(ptrExposureAutoContinuous->GetValue()));
cout << "Turning automatic exposure back on..." << endl;
}
}
//
// Turn automatic gain back on
//
// *** NOTES ***
// Automatic gain is turned on in order to return the camera to its
// default state.
//
CEnumerationPtr ptrGainAuto = nodeMap.GetNode("GainAuto");
if (IsReadable(ptrGainAuto) && IsWritable(ptrGainAuto))
{
CEnumEntryPtr ptrGainAutoContinuous = ptrGainAuto->GetEntryByName("Continuous");
if (IsReadable(ptrGainAutoContinuous))
{
ptrGainAuto->SetIntValue(static_cast<int64_t>(ptrGainAutoContinuous->GetValue()));
cout << "Turning automatic gain mode back on..." << 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& nodeMapGenTL, uint64_t timeout)
{
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 = nodeMapGenTL.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(timeout);
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 << "Sequencer-";
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 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 more in-depth comments on setting up cameras.
int RunSingleCamera(CameraPtr pCam)
{
int result = 0;
int err = 0;
try
{
// Retrieve GenTL nodemap and print device information
INodeMap& nodeMapGenTL = pCam->GetTLDeviceNodeMap();
result = PrintDeviceInfo(nodeMapGenTL);
// Initialize camera
pCam->Init();
// Retrieve GenICam nodemap
INodeMap& nodeMap = pCam->GetNodeMap();
// Configure sequencer to be ready to set sequences
err = ConfigureSequencerPartOne(nodeMap);
if (err < 0)
{
return err;
}
//
// 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
CIntegerPtr ptrWidth = nodeMap.GetNode("Width");
if (!IsReadable(ptrWidth))
{
cout << "Unable to retrieve maximum width. Aborting..." << endl << endl;
return -1;
}
const int64_t widthMax = ptrWidth->GetMax();
// Retrieve maximum height; height recorded in pixels
CIntegerPtr ptrHeight = nodeMap.GetNode("Height");
if (!IsReadable(ptrHeight))
{
cout << "Unable to retrieve maximum height. Aborting..." << endl << endl;
return -1;
}
const int64_t heightMax = ptrHeight->GetMax();
// Retrieve maximum exposure time; exposure time recorded in microseconds
const double k_exposureTimeMaxToSet = 2000000;
CFloatPtr ptrExposureTime = nodeMap.GetNode("ExposureTime");
if (!IsReadable(ptrExposureTime))
{
cout << "Unable to retrieve maximum exposure time. Aborting..." << endl << endl;
return -1;
}
double exposureTimeMax = ptrExposureTime->GetMax();
if (exposureTimeMax > k_exposureTimeMaxToSet)
{
exposureTimeMax = k_exposureTimeMaxToSet;
}
// Retrieve maximum gain; gain recorded in decibels
CFloatPtr ptrGain = nodeMap.GetNode("Gain");
if (!IsReadable(ptrGain))
{
cout << "Unable to retrieve maximum gain. Aborting..." << endl << endl;
return -1;
}
const double gainMax = ptrGain->GetMax();
// Set initial values
int64_t widthToSet = widthMax / 4;
int64_t heightToSet = heightMax / 4;
double exposureTimeToSet = ptrExposureTime->GetMin();
double gainToSet = ptrGain->GetMin();
// Set custom values of each sequence
for (unsigned int sequenceNumber = 0; sequenceNumber < k_numSequences; sequenceNumber++)
{
err = SetSingleState(nodeMap, sequenceNumber, widthToSet, heightToSet, exposureTimeToSet, gainToSet);
if (err < 0)
{
return err;
}
// Increment values
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 = static_cast<uint64_t>((exposureTimeToSet / 1000) + 1000);
// Configure sequencer to acquire images
err = ConfigureSequencerPartTwo(nodeMap);
if (err < 0)
{
return err;
}
// Acquire images
result = result | AcquireImages(pCam, nodeMap, nodeMapGenTL, timeout);
// Reset sequencer
result = result | ResetSequencer(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 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 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;
}