StereoGPIO¶
StereoGPIO.cpp shows how to set the GPIO of the stereo camera.
//=============================================================================
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//=============================================================================
/**
* @example StereoGPIO.cpp
*
* @brief StereoGPIO.cpp shows how to set the GPIO of the stereo camera.
*
* This example demonstrates how to set the GPIO of the camera.
* After setting the GPIO controls, images are grabbed pending on a signal
* in the GPIO line
*
* 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 "StereoGPIO.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;
bool ProcessArgs(int argc, char* argv[], StereoGPIOParams& params)
{
string executionPath = string(argv[0]);
size_t found = executionPath.find_last_of("/\\");
string programName = executionPath.substr(found + 1);
int iOpt;
const char* currentParamPosition;
// If no arguments run with default parameters.
if (argc == 1)
{
return true;
}
const char* paramMatchPattern = "h?";
while ((iOpt = GetOption(argc, argv, paramMatchPattern, ¤tParamPosition)) != 0)
{
switch (iOpt)
{
case '?':
case 'h':
{
DisplayHelp(programName, params);
return false;
}
default:
cerr << "Invalid option provided: " << currentParamPosition << endl;
DisplayHelp(programName, params);
return false;
}
}
return true;
}
void DisplayHelp(const string& pszProgramName, const StereoGPIOParams& params)
{
cout << "Usage: ";
cout << pszProgramName << " [OPTIONS]" << endl << endl;
cout << "OPTIONS" << endl << endl << "EXAMPLE" << endl << endl << " " << pszProgramName << endl << endl;
}
bool ConfigureGPIO(CameraPtr pCam)
{
bool result = true;
INodeMap& nodeMap = pCam->GetNodeMap();
// Set Trigger mode to Off
// Trigger mode must be off when setting the trigger source.
result = result && SpinStereo::SetEnumAsStringValueToNode(nodeMap, "TriggerMode", "Off");
cout << "Trigger mode disabled." << endl;
// Set trigger source to line 0
result = result && SpinStereo::SetEnumAsStringValueToNode(nodeMap, "TriggerSource", "Line0");
cout << "Trigger source set to hardware, line 0." << endl;
// Set srigger selector to frame start
result = result && SpinStereo::SetEnumAsStringValueToNode(nodeMap, "TriggerSelector", "FrameStart");
cout << "Trigger selector set to frame start." << endl;
// Set line selector to line 1
result = result && SpinStereo::SetEnumAsStringValueToNode(nodeMap, "LineSelector", "Line1");
cout << "Line selector set line 1." << endl;
// Set line source to exposure active
result = result && SpinStereo::SetEnumAsStringValueToNode(nodeMap, "LineSource", "ExposureActive");
cout << "Line source set to exposure active." << endl;
// Set Trigger mode to On
result = result && SpinStereo::SetEnumAsStringValueToNode(nodeMap, "TriggerMode", "On");
cout << "Trigger mode enabled." << endl;
return result;
}
bool AcquireImages(CameraPtr pCam, const StreamTransmitFlags& streamTransmitFlags, unsigned int numImageSets)
{
bool result = true;
cout << endl << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
try
{
// Begin acquiring images
pCam->BeginAcquisition();
gcstring serialNumber = pCam->TLDevice.DeviceSerialNumber.GetValue();
uint64_t timeoutInMilliSecs = 5000;
cout << "Acquiring " << numImageSets << " image sets pending on GPIO signal,";
if (timeoutInMilliSecs == EVENT_TIMEOUT_INFINITE)
{
cout << " within an infinite time limit." << endl;
}
else
{
cout << " within a time limit of " << timeoutInMilliSecs / 1000 << " secs." << endl;
}
for (unsigned int counter = 0; counter < numImageSets; counter++)
{
try
{
cout << endl << "Acquiring stereo image set: " << counter << ", pending on GPIO signal." << endl;
ImageList imageList;
imageList = pCam->GetNextImageSync(timeoutInMilliSecs);
if (!SpinStereo::ValidateImageList(streamTransmitFlags, imageList))
{
cout << "Failed to get next image set." << endl;
continue;
}
}
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, unsigned 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 = result && DisableGVCPHeartbeat(pCam);
#else
result = result && ResetGVCPHeartbeat(pCam);
#endif
cout << endl << "Configuring camera..." << endl;
result = result && SpinStereo::ConfigureAcquisition(pCam, stereoParameters.streamTransmitFlags);
cout << endl << "Configuring GPIO..." << endl;
result = result && ConfigureGPIO(pCam);
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 = result | AcquireImages(pCam, stereoParameters.streamTransmitFlags, numImageSets);
// Set trigger to Off
result = result | SpinStereo::SetEnumAsStringValueToNode(nodeMap, "TriggerMode", "Off");
cout << "Trigger mode disabled." << endl;
#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 = false;
}
return result;
}
int main(int argc, char** argv)
{
// determine cmd line arguments
StereoGPIOParams stereoGPIOParams;
if (!ProcessArgs(argc, argv, stereoGPIOParams))
{
return -1;
}
StereoParameters stereoParameters;
StreamTransmitFlags& streamTransmitFlags = stereoParameters.streamTransmitFlags;
streamTransmitFlags.rectSensor1TransmitEnabled = stereoGPIOParams.doEnableRectSensor1Transmit;
streamTransmitFlags.disparityTransmitEnabled = stereoGPIOParams.doEnableDisparityTransmit;
// 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 = result | RunSingleCamera(pCam, stereoParameters, stereoGPIOParams.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;
}