AcquisitionMultipleCamera_CSharp¶
AcquisitionMultipleCamera_CSharp.cs shows how to capture images from multiple cameras simultaneously. It relies on information provided in the Enumeration_CSharp, Acquisition_CSharp, and NodeMapInfo_CSharp examples.
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/**
* @example AcquisitionMultipleCamera_CSharp.cs
*
* @brief AcquisitionMultipleCamera_CSharp.cs shows how to capture images from
* multiple cameras simultaneously. It relies on information provided in the
* Enumeration_CSharp, Acquisition_CSharp, and NodeMapInfo_CSharp examples.
*
* This example reads similarly to the Acquisition_CSharp example, except that
* loops and vectors are used to allow for simultaneous acquisitions.
* 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
*/
using System;
using System.IO;
using System.Collections.Generic;
using SpinnakerNET;
using SpinnakerNET.GenApi;
namespace AcquisitionMultipleCamera_CSharp
{
class Program
{
// Disables or enables heartbeat on GEV cameras so debugging does not incur timeout errors
static int ConfigureGVCPHeartbeat(IManagedCamera cam, 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 and print device information
INodeMap nodeMapTLDevice = cam.GetTLDeviceNodeMap();
// Retrieve GenICam nodemap
INodeMap nodeMap = cam.GetNodeMap();
IEnum iDeviceType = nodeMapTLDevice.GetNode<IEnum>("DeviceType");
IEnumEntry iDeviceTypeGEV = iDeviceType.GetEntryByName("GigEVision");
// We first need to confirm that we're working with a GEV camera
if (iDeviceType != null && iDeviceType.IsReadable)
{
if (iDeviceType.Value == iDeviceTypeGEV.Value)
{
if (enableHeartbeat)
{
Console.WriteLine("Resetting heartbeat");
}
else
{
Console.WriteLine("Disabling heartbeat");
}
IBool iGEVHeartbeatDisable = nodeMap.GetNode<IBool>("GevGVCPHeartbeatDisable");
if (iGEVHeartbeatDisable == null || !iGEVHeartbeatDisable.IsWritable)
{
Console.WriteLine(
"Unable to disable heartbeat on camera. Continuing with execution as this may be non-fatal...");
}
else
{
iGEVHeartbeatDisable.Value = !enableHeartbeat;
if (!enableHeartbeat)
{
Console.WriteLine("WARNING: Heartbeat has been disabled for the rest of this example run.");
Console.WriteLine(
" Heartbeat will be reset upon the completion of this run. If the ");
Console.WriteLine(
" example is aborted unexpectedly before the heartbeat is reset, the");
Console.WriteLine(" camera may need to be power cycled to reset the heartbeat.\n");
}
else
{
Console.WriteLine("Heartbeat has been reset.\n");
}
Console.WriteLine();
}
}
}
else
{
Console.WriteLine("Unable to access TL device nodemap. Aborting...");
return -1;
}
return 0;
}
static int ResetGVCPHeartbeat(IManagedCamera cam)
{
return ConfigureGVCPHeartbeat(cam, true);
}
static int DisableGVCPHeartbeat(IManagedCamera cam)
{
return ConfigureGVCPHeartbeat(cam, false);
}
// This function acquires and saves 10 images from each device.
int AcquireImages(ManagedCameraList cameraList)
{
int result = 0;
Console.WriteLine("\n*** IMAGE ACQUISITION ***\n");
try
{
//
// Prepare each camera to acquire images
//
// *** NOTES ***
// For pseudo-simultaneous streaming, each camera is prepared as
// if it were just one, but in a loop. Notice that cameras are
// selected with an index. We demonstrate pseduo-simultaneous
// streaming because true simultaneous streaming would require
// multiple process or threads, which is too complex for an
// example.
//
// Serial numbers are the only persistent objects we gather in
// this example, which is why a List<String> to hold them is
// created.
//
List<String>deviceSerialNumbers = new List<String>();
int index = 0;
foreach(IManagedCamera managedCamera in cameraList)
{
// Set acquisition mode to continuous
IEnum iAcquisitionMode = managedCamera.GetNodeMap().GetNode<IEnum>("AcquisitionMode");
if (iAcquisitionMode == null || !iAcquisitionMode.IsWritable)
{
Console.WriteLine(
"Unable to set acquisition mode to continuous (node retrieval camera {0}). Aborting...\n",
index);
return -1;
}
IEnumEntry iAcquisitionModeContinuous = iAcquisitionMode.GetEntryByName("Continuous");
if (iAcquisitionModeContinuous == null || !iAcquisitionMode.IsReadable)
{
Console.WriteLine(
"Unable to set acquisition mode to continuous (enum entry retrieval camera {0}). Aborting...\n",
index);
return -1;
}
iAcquisitionMode.Value = iAcquisitionModeContinuous.Symbolic;
Console.WriteLine("Camera {0} acquisition mode set to continuous...", index);
#if DEBUG
// Disable heartbeat for GEV camera for Debug mode
if (DisableGVCPHeartbeat(managedCamera) != 0)
#else
// Reset heartbeat for GEV camera for Release mode
if (ResetGVCPHeartbeat(managedCamera) != 0)
#endif
{
return -1;
}
// Begin acquiring images
managedCamera.BeginAcquisition();
Console.WriteLine("Camera {0} started acquiring images...", index);
// Retrieve device serial numbers for filenames
deviceSerialNumbers.Add("");
IString iDeviceSerialNumber =
managedCamera.GetTLDeviceNodeMap().GetNode<IString>("DeviceSerialNumber");
if (iDeviceSerialNumber != null && iDeviceSerialNumber.IsReadable)
{
deviceSerialNumbers[index] = iDeviceSerialNumber.Value;
Console.WriteLine("Camera {0} serial number set to {1}...", index, deviceSerialNumbers[index]);
}
Console.WriteLine();
index++;
}
//
// Retrieve, convert, and save images for each camera
//
// *** NOTES ***
// In order to work with simultaneous camera streams, nested
// loops are needed. It is important that the inner loop be the
// one iterating through the cameras; otherwise, all image still
// be grabbed from a single camera before grabbing any images
// from another.
//
const int NumImages = 10;
//
// Create ImageProcessor instance for post processing images
//
IManagedImageProcessor processor = new ManagedImageProcessor();
//
// 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(ColorProcessingAlgorithm.HQ_LINEAR);
for (int imageCnt = 0; imageCnt < NumImages; imageCnt++)
{
index = 0;
foreach(IManagedCamera managedCamera in cameraList)
{
try
{
// Retrieve an image and ensure image completion
using(IManagedImage rawImage = managedCamera.GetNextImage(1000))
{
if (rawImage.IsIncomplete)
{
Console.WriteLine(
"Image incomplete with image status {0}...", rawImage.ImageStatus);
}
else
{
// Print image information
Console.WriteLine(
"Camera {0} grabbed image {1}, width = {2}, height = {3}",
index,
imageCnt,
rawImage.Width,
rawImage.Height);
// Convert image to mono 8
using(
IManagedImage convertedImage =
processor.Convert(rawImage, PixelFormatEnums.Mono8))
{
// Create a unique filename
String filename = "AcquisitionMultipleCamera-CSharp-";
if (deviceSerialNumbers[index] != "")
{
filename = filename + deviceSerialNumbers[index] + "-";
}
filename = filename + index + "-" + imageCnt + ".jpg";
// Save the image
convertedImage.Save(filename);
Console.WriteLine("Image saved at {0}\n", filename);
}
}
}
index++;
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
}
}
//
// End acquisition for each camera
//
// *** NOTES ***
// EndAcquisition() must be called for each camera.
//
foreach(IManagedCamera managedCamera in cameraList)
{
// End acquisition
managedCamera.EndAcquisition();
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
return result;
}
// This function prints the device information of the camera from the
// transport layer; please see NodeMapInfo_CSharp example for more
// in-depth comments on printing device information from the nodemap.
static int PrintDeviceInfo(INodeMap nodeMap, int camNum)
{
int result = 0;
try
{
Console.WriteLine("Printing device information for camera {0}...\n", camNum);
ICategory category = nodeMap.GetNode<ICategory>("DeviceInformation");
if (category != null && category.IsReadable)
{
for (int i = 0; i < category.Children.Length; i++)
{
Console.WriteLine(
"{0}: {1}",
category.Children[i].Name,
(category.Children[i].IsReadable ? category.Children[i].ToString()
: "Node not available"));
}
Console.WriteLine();
}
else
{
Console.WriteLine("Device control information not available.");
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
return result;
}
// This function acts as the body of the example; please see
// NodeMapInfo_CSharp example for more in-depth comments on setting up
// cameras.
int RunMultipleCameras(ManagedCameraList cameraList)
{
int result = 0;
try
{
//
// Retrieve TL device nodemaps and print device information for
// each camera
//
// *** NOTES ***
// This example retrieves information from the transport layer
// nodemap twice: once to print device information and once to
// grab the device serial number. Rather than caching the
// nodemap, each nodemap is retrieved both times as needed.
//
Console.WriteLine("\n*** DEVICE INFORMATION ***\n");
int i = 0;
foreach(IManagedCamera managedCamera in cameraList)
{
// Retrieve TL device nodemap
INodeMap nodeMapTLDevice = managedCamera.GetTLDeviceNodeMap();
// Print device information
result = result | PrintDeviceInfo(nodeMapTLDevice, i++);
}
//
// Initialize each camera
//
// *** NOTES ***
// In this function, each step is placed in its own loop. This
// constrasts AcquireImages() where there are less loops, each
// housing more steps. Either strategy is sufficient.
//
// *** LATER ***
// Each camera needs to be deinitialized once all images have
// been acquired.
//
foreach(IManagedCamera managedCamera in cameraList)
{
// Initialize camera
managedCamera.Init();
}
// Acquire images on all cameras
result = result | AcquireImages(cameraList);
//
// Deinitialize each camera
//
// *** NOTES ***
// Each camera must be deinitialized. A using statement is used
// here to dispose of each camera prior to the end of the
// example. Alternatively, Dispose() may be called on each
// camera to the same end.
//
foreach(IManagedCamera managedCamera in cameraList) using(managedCamera)
{
#if DEBUG
// Reset heartbeat for GEV camera
ResetGVCPHeartbeat(managedCamera);
#endif
// Deinitialize camera
managedCamera.DeInit();
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
return result;
}
// Example entry point; please see Enumeration_CSharp example for more
// in-depth comments on preparing and cleaning up the system.
static int Main(string[] args)
{
int result = 0;
Program program = new Program();
// 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.
FileStream fileStream;
try
{
fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("Failed to create file in current folder. Please check permissions.");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return -1;
}
// Retrieve singleton reference to system object
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Retrieve list of cameras from the system
ManagedCameraList cameraList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n\n", cameraList.Count);
// Finish if there are no cameras
if (cameraList.Count == 0)
{
// Clear camera list before releasing system
cameraList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return -1;
}
// Run example on all cameras
Console.WriteLine("Running example for all cameras...");
try
{
result = program.RunMultipleCameras(cameraList);
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
Console.WriteLine("Example complete...\n");
// Clear camera list before releasing system
cameraList.Clear();
// Release system
system.Dispose();
Console.WriteLine("\nDone! Press Enter to exit...");
Console.ReadLine();
return result;
}
}
}