StereoAcquisition¶
StereoAcquisition.cpp shows how to acquire image sets from a stereo camera. The image sets are then saved to file and/or used to compute 3D point cloud and saved as a PLY (Polygon File Format) file.
//=============================================================================
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// Reserved
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//=============================================================================
/**
* @example StereoAcquisition.cpp
*
* @brief StereoAcquisition.cpp shows how to acquire image sets from a stereo
* camera. The image sets are then saved to file and/or used to compute 3D
* point cloud and saved as a PLY (Polygon File Format) file.
*
* This example touches on the preparation and cleanup of a camera just before
* and just after the acquisition of images. Image retrieval and conversion,
* grabbing image data, and saving images are all 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
*/
//=============================================================================
// System Includes
//=============================================================================
#include <iostream>
#include <iomanip>
#include <fstream>
#include <vector>
#include <sstream>
#include <filesystem>
//=============================================================================
// Examples Includes
//=============================================================================
#include "StereoAcquisition.h"
#include "PointCloud.h"
#include "Scan3DParameters.h"
#include "ImageUtilityStereo.h"
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include "SpinStereoHelper.h"
#include "StereoParameters.h"
#include "Getopt.h"
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace SpinStereo;
using namespace std;
/**
* ProcessArgs
*
* ProcessArgs takes command line arguments and modifies the given StereoAcquisitionParams object accordingly.
*
* @param[in] argc The number of arguments passed to the program.
* @param[in] argv The command line arguments passed to the program.
* @param[in,out] params A StereoAcquisitionParams object to be modified by the function.
*
* @return true if the arguments are valid, false otherwise.
*/
bool ProcessArgs(int argc, char* argv[], StereoAcquisitionParams& params)
{
string executionPath = string(argv[0]);
size_t found = executionPath.find_last_of("/\\");
string programName = executionPath.substr(found + 1);
int iOpt;
const char* currentParamPosition;
bool bBadArgs = false;
// If no arguments run with default parameters.
if (argc == 1)
{
params.doEnableRectSensor1Transmit = true;
params.doEnableDisparityTransmit = true;
params.doEnablePointCloudOutput = true;
params.doEnableDisparityPostProcessing = true;
return true;
}
const char* paramMatchPattern = "n:ABCDEFGh?";
while ((iOpt = GetOption(argc, argv, paramMatchPattern, ¤tParamPosition)) != 0)
{
switch (iOpt)
{
//
// Options
//
case 'n':
#ifdef _MSC_VER
if (sscanf_s(currentParamPosition, "%d", ¶ms.numImageSets) != 1)
#else
if (sscanf(currentParamPosition, "%d", ¶ms.numImageSets) != 1)
#endif
{
bBadArgs = true;
}
else
{
if (params.numImageSets <= 0)
{
cout << "The numImageSets argument must be a number greater than 0." << endl;
bBadArgs = true;
}
}
break;
case 'A':
params.doEnableRawSensor1Transmit = true;
break;
case 'B':
params.doEnableRawSensor2Transmit = true;
break;
case 'C':
params.doEnableRectSensor1Transmit = true;
break;
case 'D':
params.doEnableRectSensor2Transmit = true;
break;
case 'E':
params.doEnableDisparityTransmit = true;
break;
case 'F':
params.doEnablePointCloudOutput = true;
break;
case 'G':
params.doEnableDisparityPostProcessing = true;
break;
case '?':
case 'h':
default:
cerr << "Invalid option provided: " << currentParamPosition << endl;
DisplayHelp(programName, params);
return false;
}
}
if (bBadArgs)
{
cout << "Invalid arguments" << endl;
DisplayHelp(programName, params);
return false;
}
if (params.doEnablePointCloudOutput)
{
if (!params.doEnableDisparityTransmit)
{
cout << "Need to have disparity Image (-E) for point cloud generation" << endl << endl;
DisplayHelp(programName, params);
return false;
}
if (!params.doEnableRectSensor1Transmit)
{
cout << "Need to have Rectified Sensor1 Image (-C) for point cloud generation" << endl << endl;
DisplayHelp(programName, params);
return false;
}
}
if (!params.doEnableRawSensor1Transmit && !params.doEnableRawSensor2Transmit &&
!params.doEnableRectSensor1Transmit && !params.doEnableRectSensor2Transmit && !params.doEnableDisparityTransmit)
{
cout << "Need to enable at least one image (-A/-B/-C/-D/-E)" << endl << endl;
DisplayHelp(programName, params);
return false;
}
return true;
}
/**
* DisplayHelp
*
* Display the help for the stereo acquisition example.
*
* @param[in] pszProgramName The name of the program.
* @param[in] params The parameters for the stereo acquisition example.
*/
void DisplayHelp(const string& pszProgramName, const StereoAcquisitionParams& params)
{
cout << "Usage: ";
cout << pszProgramName << " [OPTIONS]" << endl << endl;
cout << "OPTIONS" << endl
<< endl
<< " -n NUM_FRAMES Number frames" << endl
<< " Default is " << params.numImageSets << endl
<< " -A DO_ENABLE_RAW_SENSOR1_TRANSMIT doEnableRawSensor1Transmit" << endl
<< " Default is " << params.doEnableRawSensor1Transmit << endl
<< " -B DO_ENABLE_RAW_SENSOR2_TRANSMIT doEnableRawSensor2Transmit" << endl
<< " Default is " << params.doEnableRawSensor2Transmit << endl
<< " -C DO_ENABLE_RECT_SENSOR1_TRANSMIT doEnableRectSensor1Transmit" << endl
<< " Default is " << params.doEnableRectSensor1Transmit << endl
<< " -D DO_ENABLE_RECT_SENSOR2_TRANSMIT doEnableRectSensor2Transmit" << endl
<< " Default is " << params.doEnableRectSensor2Transmit << endl
<< " -E DO_ENABLE_DISPARITY_TRANSMIT doEnableDisparityTransmit" << endl
<< " Default is " << params.doEnableDisparityTransmit << endl
<< " -F DO_ENABLE_POINTCLOUD_OUTPUT doEnablePointCloudOutput" << endl
<< " Default is " << params.doEnablePointCloudOutput << endl
<< " -G DO_ENABLE_POST_PROCESSING doEnableDisparityPostProcessing" << endl
<< " Default is " << params.doEnableDisparityPostProcessing << endl
<< "EXAMPLE" << endl
<< endl
<< " " << pszProgramName << " -n " << params.numImageSets << " -A "
<< " -B "
<< " -C "
<< " -D "
<< " -E "
<< " -F " << endl
<< endl;
}
// This function configures the camera to add chunk data to each image. It does
// this by enabling each type of chunk data after enabling chunk data mode.
// When chunk data mode is turned on, the data is made available in both the nodemap
// and each image.
bool ConfigureChunkData(INodeMap& nodeMap)
{
bool result = true;
cout << endl << endl << "*** CONFIGURING CHUNK DATA ***" << endl << endl;
try
{
//
// Activate chunk mode
//
// *** NOTES ***
// Once enabled, chunk data will be available at the end of the payload
// of every image captured until it is disabled. Chunk data can also be
// retrieved from the nodemap.
//
CBooleanPtr ptrChunkModeActive = nodeMap.GetNode("ChunkModeActive");
if (!IsWritable(ptrChunkModeActive))
{
cout << "Unable to activate chunk mode. Aborting..." << endl << endl;
return false;
}
ptrChunkModeActive->SetValue(true);
cout << "Chunk mode activated..." << endl;
//
// Enable all types of chunk data
//
// *** NOTES ***
// Enabling chunk data requires working with nodes: "ChunkSelector"
// is an enumeration selector node and "ChunkEnable" is a boolean. It
// requires retrieving the selector node (which is of enumeration node
// type), selecting the entry of the chunk data to be enabled, retrieving
// the corresponding boolean, and setting it to true.
//
// In this example, all chunk data is enabled, so these steps are
// performed in a loop. Once this is complete, chunk mode still needs to
// be activated.
//
NodeList_t entries;
// Retrieve the selector node
CEnumerationPtr ptrChunkSelector = nodeMap.GetNode("ChunkSelector");
if (!IsReadable(ptrChunkSelector))
{
cout << "Unable to retrieve chunk selector. Aborting..." << endl << endl;
return false;
}
// Retrieve entries
ptrChunkSelector->GetEntries(entries);
cout << "Enabling entries..." << endl;
for (size_t i = 0; i < entries.size(); i++)
{
// Select entry to be enabled
CEnumEntryPtr ptrChunkSelectorEntry = entries.at(i);
// Go to next node if problem occurs
if (!IsReadable(ptrChunkSelectorEntry))
{
continue;
}
ptrChunkSelector->SetIntValue(ptrChunkSelectorEntry->GetValue());
cout << "\t" << ptrChunkSelectorEntry->GetSymbolic() << ": ";
// Retrieve corresponding boolean
CBooleanPtr ptrChunkEnable = nodeMap.GetNode("ChunkEnable");
// Enable the boolean, thus enabling the corresponding chunk data
if (!IsAvailable(ptrChunkEnable))
{
cout << "not available" << endl;
result = false;
}
else if (ptrChunkEnable->GetValue())
{
cout << "enabled" << endl;
}
else if (IsWritable(ptrChunkEnable))
{
ptrChunkEnable->SetValue(true);
cout << "enabled" << endl;
}
else
{
cout << "not writable" << endl;
result = false;
}
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
return result;
}
// This function disables each type of chunk data before disabling chunk data mode.
bool DisableChunkData(INodeMap& nodeMap)
{
bool result = true;
try
{
NodeList_t entries;
// Retrieve the selector node
CEnumerationPtr ptrChunkSelector = nodeMap.GetNode("ChunkSelector");
if (!IsReadable(ptrChunkSelector))
{
cout << "Unable to retrieve chunk selector. Aborting..." << endl << endl;
return false;
}
// Retrieve entries
ptrChunkSelector->GetEntries(entries);
cout << "Disabling entries..." << endl;
for (size_t i = 0; i < entries.size(); i++)
{
// Select entry to be disabled
CEnumEntryPtr ptrChunkSelectorEntry = entries.at(i);
// Go to next node if problem occurs
if (!IsReadable(ptrChunkSelectorEntry))
{
continue;
}
ptrChunkSelector->SetIntValue(ptrChunkSelectorEntry->GetValue());
cout << "\t" << ptrChunkSelectorEntry->GetSymbolic() << ": ";
// Retrieve corresponding boolean
CBooleanPtr ptrChunkEnable = nodeMap.GetNode("ChunkEnable");
// Disable the boolean, thus disabling the corresponding chunk data
if (!IsAvailable(ptrChunkEnable))
{
cout << "not available" << endl;
result = false;
}
else if (!ptrChunkEnable->GetValue())
{
cout << "disabled" << endl;
}
else if (IsWritable(ptrChunkEnable))
{
ptrChunkEnable->SetValue(false);
cout << "disabled" << endl;
}
else
{
cout << "not writable" << endl;
}
}
cout << endl;
// Deactivate ChunkMode
CBooleanPtr ptrChunkModeActive = nodeMap.GetNode("ChunkModeActive");
if (!IsWritable(ptrChunkModeActive))
{
cout << "Unable to deactivate chunk mode. Aborting..." << endl << endl;
return false;
}
ptrChunkModeActive->SetValue(false);
cout << "Chunk mode deactivated..." << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
return result;
}
// This function displays a select amount of chunk data from the image. Unlike
// accessing chunk data via the nodemap, there is no way to loop through all
// available data.
bool DisplayChunkData(ImagePtr pImage)
{
bool result = true;
cout << "Printing chunk data from image..." << endl;
try
{
//
// Retrieve chunk data from image
//
// *** NOTES ***
// When retrieving chunk data from an image, the data is stored in a
// a ChunkData object and accessed with getter functions.
//
ChunkData chunkData = pImage->GetChunkData();
//
// Retrieve exposure time; exposure time recorded in microseconds
//
// *** NOTES ***
// Floating point numbers are returned as a float64_t. This can safely
// and easily be statically cast to a double.
//
double exposureTime = static_cast<double>(chunkData.GetExposureTime());
std::cout << "\tExposure time: " << exposureTime << endl;
//
// Retrieve frame ID
//
// *** NOTES ***
// Integers are returned as an int64_t. As this is the typical integer
// data type used in the Spinnaker SDK, there is no need to cast it.
//
int64_t frameID = chunkData.GetFrameID();
cout << "\tFrame ID: " << frameID << endl;
// The following are stereo-specific chunk data attributes
// Retrieve stereo height; stereo height recorded in pixels
int64_t stereoHeight = chunkData.GetStereoHeight();
cout << "\tStereoHeight: " << stereoHeight << endl;
// Retrieve stereo width; stereo width recorded in pixels
int64_t stereoWidth = chunkData.GetStereoWidth();
cout << "\tStereoWidth: " << stereoWidth << endl;
// Retrieve Scan3dCordinateOffset; Scan3dCordinateOffset recorded in pixels
float64_t scan3dCoordinateOffset = chunkData.GetScan3dCoordinateOffset();
cout << "\tScan3dCoordinateOffset: " << scan3dCoordinateOffset << endl;
// Retrieve Scan3dBaseline; Scan3dBaseline recorded in meters
float64_t scan3dBaseline = chunkData.GetScan3dBaseline();
cout << "\tScan3dBaseline: " << scan3dBaseline << endl;
// Retrieve Scan3dFocalLength; Scan3dFocalLength recorded in pixels
float64_t scan3dFocalLength = chunkData.GetScan3dFocalLength();
cout << "\tScan3dFocalLength: " << scan3dFocalLength << endl;
// Retrieve MinZ; MinZ recorded in meters
float64_t minZ = chunkData.GetMinZ();
cout << "\tMinZ: " << minZ << endl;
// Retrieve MaxZ; MaxZ recorded in meters
float64_t maxZ = chunkData.GetMaxZ();
cout << "\tMaxZ: " << maxZ << endl;
// Retrieve Scan3dPrincipalPointU; Scan3dPrincipalPointU recorded in pixels
float64_t scan3dPrincipalPointU = chunkData.GetScan3dPrincipalPointU();
cout << "\tScan3dPrincipalPointU: " << scan3dPrincipalPointU << endl;
// Retrieve Scan3dPrincipalPointV; Scan3dPrincipalPointV recorded in pixels
float64_t scan3dPrincipalPointV = chunkData.GetScan3dPrincipalPointV();
cout << "\tScan3dPrincipalPointV: " << scan3dPrincipalPointV << endl;
// Retrieve SmallPenalty; SmallPenalty recorded in pixels
int64_t smallPenalty = chunkData.GetSmallPenalty();
cout << "\tSmallPenalty: " << smallPenalty << endl;
// Retrieve LargePenalty; LargePenalty recorded in pixels
int64_t largePenalty = chunkData.GetLargePenalty();
cout << "\tLargePenalty: " << largePenalty << endl;
// Retrieve UniquenessRatio; UniquenessRatio recorded in pixels
int64_t uniquenessRatio = chunkData.GetUniquenessRatio();
cout << "\tUniquenessRatio: " << uniquenessRatio << endl;
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
return result;
}
/**
* Compute3DPointCloudAndSave
*
* Compute the 3D point cloud using the image pair and save it to a ply file.
*
* @param[in] stereoParameters The stereo parameters.
* @param[in] imageMap The map of images.
* @param[in] counter The counter.
* @param[in] prefix The prefix of the saved file name.
*
* @return true if the computation is successful, false otherwise.
*/
bool Compute3DPointCloudAndSave(
const StereoParameters& stereoParameters,
ImageList& imageList,
int counter,
string prefix = "")
{
PointCloudParameters pointCloudParameters = PointCloudParameters();
pointCloudParameters.decimationFactor = 1;
pointCloudParameters.ROIImageLeft = 0;
pointCloudParameters.ROIImageTop = 0;
pointCloudParameters.ROIImageRight = static_cast<unsigned int>(
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_DISPARITY_SENSOR1)->GetWidth());
pointCloudParameters.ROIImageBottom = static_cast<unsigned int>(
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_DISPARITY_SENSOR1)->GetHeight());
// Create Scan3D parameters from stereo camera calibration
Scan3DParameters scan3dParams = Scan3DParameters();
scan3dParams.SetCoordinateOffset(stereoParameters.scan3dCoordinateOffset);
scan3dParams.SetBaseline(stereoParameters.scan3dBaseline);
scan3dParams.SetFocalLength(stereoParameters.scan3dFocalLength);
scan3dParams.SetPrincipalPointU(stereoParameters.scan3dPrincipalPointU);
scan3dParams.SetPrincipalPointV(stereoParameters.scan3dPrincipalPointV);
scan3dParams.SetCoordinateScale(stereoParameters.scan3dCoordinateScale);
scan3dParams.SetInvalidDataFlag(stereoParameters.scan3dInvalidDataFlag);
scan3dParams.SetInvalidDataValue(stereoParameters.scan3dInvalidDataValue);
PointCloud pointCloud = Spinnaker::ImageUtilityStereo::ComputePointCloud(
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_DISPARITY_SENSOR1),
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_RECTIFIED_SENSOR1),
pointCloudParameters,
scan3dParams);
stringstream strstr("");
strstr << prefix;
strstr << "PointCloud_" << counter << ".ply";
cout << "Save point cloud to file: " << strstr.str() << endl;
pointCloud.SavePointCloudAsPly(strstr.str().c_str());
return true;
}
bool SaveImagesToFile(
const StreamTransmitFlags& streamTransmitFlags,
ImageList& imageList,
int counter,
const string prefix = "")
{
cout << "Save images to files." << endl;
stringstream strstr;
if (streamTransmitFlags.rawSensor1TransmitEnabled)
{
strstr.str("");
strstr << prefix;
strstr << "RawSensor1_" << counter << ".png";
string rawSensor1Filename = strstr.str();
cout << "Save raw Sensor1 image to file: " << rawSensor1Filename << endl;
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_RAW_SENSOR1)->Save(rawSensor1Filename.c_str());
}
if (streamTransmitFlags.rawSensor2TransmitEnabled)
{
strstr.str("");
strstr << prefix;
strstr << "RawSensor2_" << counter << ".png";
string rawSensor2Filename = strstr.str();
cout << "Save raw Sensor2 image to file: " << rawSensor2Filename << endl;
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_RAW_SENSOR2)->Save(rawSensor2Filename.c_str());
}
if (streamTransmitFlags.rectSensor1TransmitEnabled)
{
strstr.str("");
strstr << prefix;
strstr << "RectSensor1_" << counter << ".png";
string rectSensor1Filename = strstr.str();
cout << "Save rectified sensor1 image to file: " << rectSensor1Filename << endl;
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_RECTIFIED_SENSOR1)->Save(rectSensor1Filename.c_str());
}
if (streamTransmitFlags.rectSensor2TransmitEnabled)
{
strstr.str("");
strstr << prefix;
strstr << "RectSensor2_" << counter << ".png";
string rectSensor2Filename = strstr.str();
cout << "Save rectified sensor2 image to file: " << rectSensor2Filename << endl;
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_RECTIFIED_SENSOR2)->Save(rectSensor2Filename.c_str());
}
if (streamTransmitFlags.disparityTransmitEnabled)
{
strstr.str("");
strstr << prefix;
strstr << "Disparity_" << counter << ".pgm";
string disparityFilename = strstr.str();
cout << "Save disparity image to file: " << disparityFilename << endl;
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_DISPARITY_SENSOR1)->Save(disparityFilename.c_str());
}
return true;
}
bool SetDeviceLinkThroughput(CameraPtr pCam)
{
// NOTE:
//
// Camera firmware will report the current bandwidth required by the camera in the 'DeviceLinkCurrentThroughput'
// node. When 'DeviceLinkThroughputLimit' node is set by the user, firmware will automatically increase packet
// delay to fulfill the requested throughput. Therefore, once camera is configured for the desired
// framerate/image size/etc, set 'DeviceLinkCurrentThroughput' node value into 'DeviceLinkThroughputLimit' node,
// and packet size will be automatically set by the camera.
INodeMap& nodeMap = pCam->GetNodeMap();
// Set Stream Channel Packet Size to the max possible on its interface
CIntegerPtr ptrPacketSize = nodeMap.GetNode("GevSCPSPacketSize");
if (!IsReadable(ptrPacketSize) || !IsWritable(ptrPacketSize))
{
cout << "Unable to read or write packet size. Aborting..." << endl;
return false;
}
unsigned int maxGevSCPSPacketSize = static_cast<unsigned int>(ptrPacketSize->GetMax());
const unsigned int maxPacketSize =
pCam->DiscoverMaxPacketSize() > maxGevSCPSPacketSize ? maxGevSCPSPacketSize : pCam->DiscoverMaxPacketSize();
ptrPacketSize->SetValue(maxPacketSize);
cout << "PacketSize set to: " << ptrPacketSize->GetValue() << endl;
CIntegerPtr ptrCurrentThroughput = nodeMap.GetNode("DeviceLinkCurrentThroughput");
CIntegerPtr ptrThroughputLimit = nodeMap.GetNode("DeviceLinkThroughputLimit");
if (!IsReadable(ptrCurrentThroughput))
{
cout << "Unable to read node DeviceLinkCurrentThroughput. Aborting..." << endl << endl;
return false;
}
if (!IsReadable(ptrThroughputLimit) || !IsWritable(ptrThroughputLimit))
{
cout << "Unable to read or write to node DeviceLinkThroughputLimit. Aborting..." << endl;
return false;
}
cout << "Current camera throughput: " << ptrCurrentThroughput->GetValue() << endl;
// If the 'DeviceLinkCurrentThroughput' value is lower than the minimum, set the lowest possible value allowed
// by the 'DeviceLinkCurrentThroughput' node
if (ptrThroughputLimit->GetMin() > ptrCurrentThroughput->GetValue())
{
cout << "DeviceLinkCurrentThroughput node minimum of: " << ptrThroughputLimit->GetMin()
<< " is higher than current throughput we desire to set (" << ptrCurrentThroughput->GetValue() << ")"
<< endl;
ptrThroughputLimit->SetValue(ptrThroughputLimit->GetMin());
}
else
{
// Set 'DeviceLinkCurrentThroughput' value into 'DeviceLinkThroughputLimit' node so that the
// camera will adjust inter-packet delay automatically
ptrThroughputLimit->SetValue(ptrCurrentThroughput->GetValue());
}
cout << "DeviceLinkThroughputLimit set to: " << ptrThroughputLimit->GetValue() << endl << endl;
return true;
}
bool AcquireImages(CameraPtr pCam, StereoParameters& stereoParameters, unsigned int numImageSets)
{
bool result = true;
cout << endl << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
try
{
// Begin acquiring images
pCam->BeginAcquisition();
cout << endl << "Acquiring " << numImageSets << " image sets." << endl;
gcstring serialNumber = pCam->TLDevice.DeviceSerialNumber.GetValue();
uint64_t timeoutInMilliSecs = 2000;
for (unsigned int counter = 0; counter < numImageSets; counter++)
{
try
{
cout << endl << "Acquiring stereo image set: " << counter << endl;
//
// Retrieve next received set of stereo images
//
// *** NOTES ***
// GetNextImageSync() captures an image from each stream and returns a synchronized
// image set in an ImageList object based on the frame ID. The ImageList object is
// simply a generic container for one or more ImagePtr objects.
//
// For a set of stereo images, the ImageList object could contain up to five different
// image payload type images (Raw Sensor1, Raw Sensor2, Rectified Sensor1, Rectified Sensor2 and
// Disparity Sensor1). The five images that are returned in the ImageList are guaranteed
// to be synchronized in timestamp and Frame ID.
//
// This function cannot be invoked if GetNextImage is being invoked already.
// Results will be indeterministic and could lead to missing or lost of images.
//
// *** LATER ***
// Once the image list is saved and/or no longer needed, the image list must be
// released in order to keep the image buffer from filling up.
ImageList imageList;
imageList = pCam->GetNextImageSync(timeoutInMilliSecs);
if (!SpinStereo::ValidateImageList(stereoParameters.streamTransmitFlags, imageList))
{
cout << "Error during grab of next image set." << endl;
}
// Chunk Data is only available from the last Image in the ImageList for multi-stream cameras
ImagePtr img = imageList.GetByIndex(imageList.GetSize() - 1);
DisplayChunkData(img);
if (stereoParameters.postProcessDisparity)
{
if (stereoParameters.streamTransmitFlags.disparityTransmitEnabled)
{
ImagePtr pDisparity =
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_DISPARITY_SENSOR1);
if (stereoParameters.streamTransmitFlags.rectSensor1TransmitEnabled)
{
// Create Scan3D parameters from stereo camera calibration
Scan3DParameters scan3dParams = Scan3DParameters();
scan3dParams.SetCoordinateOffset(stereoParameters.scan3dCoordinateOffset);
scan3dParams.SetBaseline(stereoParameters.scan3dBaseline);
scan3dParams.SetFocalLength(stereoParameters.scan3dFocalLength);
scan3dParams.SetPrincipalPointU(stereoParameters.scan3dPrincipalPointU);
scan3dParams.SetPrincipalPointV(stereoParameters.scan3dPrincipalPointV);
scan3dParams.SetCoordinateScale(stereoParameters.scan3dCoordinateScale);
scan3dParams.SetInvalidDataFlag(stereoParameters.scan3dInvalidDataFlag);
scan3dParams.SetInvalidDataValue(stereoParameters.scan3dInvalidDataValue);
//
// Post process disparity image to fill holes and reduce noise
//
// *** NOTES ***
// Disparity processing method apply different combinations of algorithms such as
// weighted interpolation, joint bilateral filtering, domain transfer, and speckle
// filtering to refine the disparity map. Each method offers a unique
// trade-off between accuracy, density, and performance.
//
cout << "Post-process disparity image..." << endl;
ImagePtr pRectifiedImage =
imageList.GetByPayloadType(SPINNAKER_IMAGE_PAYLOAD_TYPE_RECTIFIED_SENSOR1);
ImageUtilityStereo::ProcessDisparityFromImage(
pDisparity,
pRectifiedImage,
SPINNAKER_DISPARITY_PROCESSING_METHOD_HIGH_PERFORMANCE,
scan3dParams);
}
}
else
{
cout << "Skipping disparity post processing as disparity components are disabled" << endl;
}
}
stringstream ss("");
ss << "StereoAcquisition_" << serialNumber << "_";
if (!SaveImagesToFile(stereoParameters.streamTransmitFlags, imageList, counter, ss.str()))
{
cerr << "Failed to save images." << endl;
result = false;
break;
}
if (stereoParameters.doComputePointCloud)
{
if (stereoParameters.streamTransmitFlags.disparityTransmitEnabled &&
stereoParameters.streamTransmitFlags.rectSensor1TransmitEnabled)
{
// only do if both streams are enabled
if (!Compute3DPointCloudAndSave(stereoParameters, imageList, counter, ss.str()))
{
cerr << "Failed to compute the 3D point cloud." << endl;
result = false;
break;
}
}
else
{
cout << "Skipping compute 3D point cloud as rectified sensor1 or disparity sensor1 components "
"are disabled"
<< endl;
}
}
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
}
//
// End acquisition
//
// *** NOTES ***
// Ending acquisition appropriately helps ensure that devices clean up
// properly and do not need to be power-cycled to maintain integrity.
//
pCam->EndAcquisition();
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = 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.
bool RunSingleCamera(CameraPtr pCam, StereoParameters& stereoParameters, int numImageSets)
{
bool result = true;
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();
// Check to make sure camera supports stereo vision
cout << endl << "Checking camera stereo support..." << endl;
if (!ImageUtilityStereo::IsStereoCamera(pCam))
{
cout << "Device serial number " << pCam->TLDevice.DeviceSerialNumber.GetValue()
<< " is not a valid BX camera. Skipping..." << endl;
return true;
}
// Configure heartbeat for GEV camera
#ifdef _DEBUG
result &= DisableGVCPHeartbeat(pCam);
#else
result &= ResetGVCPHeartbeat(pCam);
#endif
// Camera Stereo Parameters can be configured while camera is acquiring images, but
// enabling/disabling stream components is only possible before camera begins image acquisition
cout << endl << "Configuring camera..." << endl;
result &= SpinStereo::ConfigureAcquisition(pCam, stereoParameters.streamTransmitFlags);
cout << endl << "Configuring chunk data..." << endl;
result &= ConfigureChunkData(nodeMap);
cout << endl << "Configuring device link throughput..." << endl;
result &= SetDeviceLinkThroughput(pCam);
cout << endl << "Configuring stereo processing..." << endl;
result &= SpinStereo::ConfigureStereoProcessing(nodeMap, stereoParameters);
cout << endl << "*** STEREO PARAMETERS *** " << endl << stereoParameters.ToString() << endl;
#if _DEBUG
cout << endl << "*** CAMERA CALIBRATION PARAMETERS ***" << endl;
if (!PrintCameraCalibrationParams(nodeMap))
{
cerr << "Failed to get camera calibration parameters." << endl;
return false;
}
#endif
// Acquire images
cout << endl << "Acquiring images..." << endl;
result &= AcquireImages(pCam, stereoParameters, numImageSets);
#ifdef _DEBUG
// Reset heartbeat for GEV camera
result &= ResetGVCPHeartbeat(pCam);
#endif
// Disable chunk data after acquisition
DisableChunkData(nodeMap);
// Deinitialize camera
pCam->DeInit();
}
catch (Spinnaker::Exception& e)
{
cout << "Error: " << e.what() << endl;
result = false;
}
return result;
}
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");
// determine cmd line arguments
StereoAcquisitionParams stereoAcquisitionParams;
if (!ProcessArgs(argc, argv, stereoAcquisitionParams))
{
return -1;
}
StereoParameters stereoParameters;
StreamTransmitFlags& streamTransmitFlags = stereoParameters.streamTransmitFlags;
streamTransmitFlags.rawSensor1TransmitEnabled = stereoAcquisitionParams.doEnableRawSensor1Transmit;
streamTransmitFlags.rawSensor2TransmitEnabled = stereoAcquisitionParams.doEnableRawSensor2Transmit;
streamTransmitFlags.rectSensor1TransmitEnabled = stereoAcquisitionParams.doEnableRectSensor1Transmit;
streamTransmitFlags.rectSensor2TransmitEnabled = stereoAcquisitionParams.doEnableRectSensor2Transmit;
streamTransmitFlags.disparityTransmitEnabled = stereoAcquisitionParams.doEnableDisparityTransmit;
stereoParameters.doComputePointCloud = stereoAcquisitionParams.doEnablePointCloudOutput;
stereoParameters.postProcessDisparity = stereoAcquisitionParams.doEnableDisparityPostProcessing;
// 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
//
// *** NOTES ***
// The CameraPtr object is a shared pointer, and will generally clean itself
// up upon exiting its scope. However, if a shared pointer is created in the
// same scope that a system object is explicitly released (i.e. this scope),
// the reference to the shared point must be broken manually.
//
// *** LATER ***
// Shared pointers can be terminated manually by assigning them to nullptr.
// This keeps releasing the system from throwing an exception.
//
CameraPtr pCam = nullptr;
bool result = true;
// 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 &= RunSingleCamera(pCam, stereoParameters, stereoAcquisitionParams.numImageSets);
cout << "Camera " << i << " example complete..." << endl << endl;
}
//
// Release reference to the camera
//
// *** NOTES ***
// Had the CameraPtr object been created within the for-loop, it would not
// be necessary to manually break the reference because the shared pointer
// would have automatically cleaned itself up upon exiting the loop.
//
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 == true) ? 0 : -1;
}