NodeMapInfo.cpp

NodeMapInfo.cpp shows how to retrieve node map information. It relies on information provided in the Enumeration example. Also, check out the Acquisition and ExceptionHandling examples if you haven't already. Acquisition demonstrates image acquisition while ExceptionHandling shows the handling of standard and Spinnaker exceptions.

This example explores retrieving information from all major node types on the camera. This includes string, integer, float, boolean, command, enumeration, category, and value types. Looping through multiple child nodes is also covered. A few node types are not covered - base, port, and register - as they are not fundamental. The final node type - enumeration entry - is explored and printed for nodes whose parent node is a selector node.

Once comfortable with NodeMapInfo, we suggest checking out ImageFormatControl and Exposure. ImageFormatControl explores customizing image settings on a camera while Exposure introduces the standard structure of configuring a device, acquiring some images, and then returning the device to a default state.

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

//=============================================================================
// Copyright (c) 2025 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.
//=============================================================================
 
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <sstream>
 
// Define the maximum number of characters that will be printed out
// for any information retrieved from a node.
const unsigned int maxChars = 35;
 
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace std;
 
int PrintEnumerationSelector(CNodePtr node, unsigned int level);
 
// Use the following enum and global constant to select whether nodes are read
// as 'value' nodes or their individual types.
enum readType
{
    VALUE,
    INDIVIDUAL
};
 
const readType chosenRead = VALUE;
 
// This helper function deals with output indentation, of which there is a lot.
void Indent(unsigned int level)
{
    for (unsigned int i = 0; i < level; i++)
    {
        cout << "   ";
    }
}
 
// This function retrieves and prints the display name and value of all node
// types as value nodes. A value node is a general node type that allows for
// the reading and writing of any node type as a string.
int PrintValueNode(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // If this node is a selector and is an enumeration node print out its entries and selected features
        if (node->IsSelector() && (node->GetPrincipalInterfaceType() == intfIEnumeration))
        {
            return PrintEnumerationSelector(node, level);
        }
 
        // Cast as value node
        CValuePtr ptrValueNode = static_cast<CValuePtr>(node);
 
        //
        // Retrieve display name
        //
        // *** NOTES ***
        // A node's 'display name' is generally more appropriate for output and
        // user interaction whereas its 'name' is what the camera understands.
        // Generally, its name is the same as its display name but without
        // spaces - for instance, the name of the node that houses a camera's
        // serial number is 'DeviceSerialNumber' while its display name is
        // 'Device Serial Number'.
        //
        gcstring displayName = ptrValueNode->GetDisplayName();
 
        //
        // Retrieve value of any node type as string
        //
        // *** NOTES ***
        // Because value nodes return any node type as a string, it can be much
        // easier to deal with nodes as value nodes rather than their actual
        // individual types.
        //
        gcstring value = ptrValueNode->ToString();
 
        // Ensure that the value length is not excessive for printing
        if (value.size() > maxChars)
        {
            value = value.substr(0, maxChars) + "...";
        }
 
        // Print value
        Indent(level);
        cout << displayName << ": " << value << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints the display name and value of a string
// node, limiting the number of printed characters to a maximum defined by the
// maxChars global variable. Level parameter determines the indentation level
// for the output.
int PrintStringNode(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // Cast as string node
        CStringPtr ptrStringNode = static_cast<CStringPtr>(node);
 
        // Retrieve display name
        gcstring displayName = ptrStringNode->GetDisplayName();
 
        //
        // Retrieve string node value
        //
        // *** NOTES ***
        // The Spinnaker SDK includes its own wrapped string class, gcstring. As
        // such, there is no need to import the 'string' library when using the
        // SDK. If a standard string object is preferred, simply use a c-style
        // or static cast on the gcstring object.
        //
        gcstring value = ptrStringNode->GetValue();
 
        // Ensure that the value length is not excessive for printing
        if (value.size() > maxChars)
        {
            value = value.substr(0, maxChars) + "...";
        }
 
        // Print value; 'level' determines the indentation level of output
        Indent(level);
        cout << displayName << ": " << value << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints the display name and value of an integer
// node.
int PrintIntegerNode(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // Cast node as integer node
        CIntegerPtr ptrIntegerNode = static_cast<CIntegerPtr>(node);
 
        // Retrieve display name
        gcstring displayName = ptrIntegerNode->GetDisplayName();
 
        //
        // Retrieve integer node value
        //
        // *** NOTES ***
        // Keep in mind that the data type of an integer node value is an
        // int64_t as opposed to a standard int. While it is true that the two
        // are often interchangeable, it is recommended to use the int64_t
        // to avoid the introduction of bugs.
        //
        // All node types except for base and port nodes include a handy
        // ToString() method which returns a value as a gcstring.
        //
        int64_t value = ptrIntegerNode->GetValue();
 
        // Print value
        Indent(level);
        cout << displayName << ": " << value << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints the display name and value of a float
// node.
int PrintFloatNode(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // Cast as float node
        CFloatPtr ptrFloatNode = static_cast<CFloatPtr>(node);
 
        // Retrieve display name
        gcstring displayName = ptrFloatNode->GetDisplayName();
 
        //
        // Retrieve float node value
        //
        // *** NOTES ***
        // Please take note that floating point numbers in the Spinnaker SDK are
        // almost always represented by the larger data type double rather than
        // float.
        //
        double value = ptrFloatNode->GetValue();
 
        // Print value
        Indent(level);
        cout << displayName << ": " << value << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints the display name and value of a boolean,
// printing "true" for true and "false" for false rather than the corresponding
// integer value ('1' and '0', respectively).
int PrintBooleanNode(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // Cast as boolean node
        CBooleanPtr ptrBooleanNode = static_cast<CBooleanPtr>(node);
 
        // Retrieve display name
        gcstring displayName = ptrBooleanNode->GetDisplayName();
 
        //
        // Retrieve value as a string representation
        //
        // *** NOTES ***
        // Boolean node type values are represented by the standard bool data
        // type. The boolean ToString() method returns either a '1' or '0' as
        // a string rather than a more descriptive word like 'true' or 'false'.
        //
        gcstring value = (ptrBooleanNode->GetValue() ? "true" : "false");
 
        // Print value
        Indent(level);
        cout << displayName << ": " << value << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints the display name and tooltip of a command
// node, limiting the number of printed characters to a defined maximum.
// The tooltip is printed below because command nodes do not have an intelligible
// value.
int PrintCommandNode(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // Cast as command node
        CCommandPtr ptrCommandNode = static_cast<CCommandPtr>(node);
 
        // Retrieve display name
        gcstring displayName = ptrCommandNode->GetDisplayName();
 
        //
        // Retrieve tooltip
        //
        // *** NOTES ***
        // All node types have a tooltip available. Tooltips provide useful
        // information about nodes. Command nodes do not have a method to
        // retrieve values as their is no intelligible value to retrieve.
        //
        gcstring tooltip = ptrCommandNode->GetToolTip();
 
        // Ensure that the value length is not excessive for printing
        if (tooltip.size() > maxChars)
        {
            tooltip = tooltip.substr(0, maxChars) + "...";
        }
 
        // Print tooltip
        Indent(level);
        cout << displayName << ": " << tooltip << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints the display names of an enumeration node
// and its current entry (which is actually housed in another node unto itself).
int PrintEnumerationNodeAndCurrentEntry(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // If this enumeration node is a selector, cycle through its entries and selected features
        if (node->IsSelector())
        {
            return PrintEnumerationSelector(node, level);
        }
 
        // Cast as enumeration node
        CEnumerationPtr ptrEnumerationNode = static_cast<CEnumerationPtr>(node);
 
        //
        // Retrieve current entry as enumeration node
        //
        // *** NOTES ***
        // Enumeration nodes have three methods to differentiate between: first,
        // GetIntValue() returns the integer value of the current entry node;
        // second, GetCurrentEntry() returns the entry node itself; and third,
        // ToString() returns the symbolic of the current entry.
        //
        CEnumEntryPtr ptrEnumEntryNode = ptrEnumerationNode->GetCurrentEntry();
 
        // Retrieve display name
        gcstring displayName = ptrEnumerationNode->GetDisplayName();
 
        //
        // Retrieve current symbolic
        //
        // *** NOTES ***
        // Rather than retrieving the current entry node and then retrieving its
        // symbolic, this could have been taken care of in one step by using the
        // enumeration node's ToString() method.
        //
        gcstring currentEntrySymbolic = ptrEnumEntryNode->GetSymbolic();
 
        // Print current entry symbolic
        Indent(level);
        cout << displayName << ": " << currentEntrySymbolic << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// Based on the read type specified, print the node using the correct print function.
int PrintNode(CNodePtr node, unsigned int level)
{
    switch (chosenRead)
    {
    case VALUE:
    {
        return PrintValueNode(node, level);
    }
    case INDIVIDUAL: // Cast all non-category nodes as actual types
    {
        switch (node->GetPrincipalInterfaceType())
        {
        case intfIString:
        {
            return PrintStringNode(node, level);
        }
        case intfIInteger:
        {
            return PrintIntegerNode(node, level);
        }
        case intfIFloat:
        {
            return PrintFloatNode(node, level);
        }
        case intfIBoolean:
        {
            return PrintBooleanNode(node, level);
        }
        case intfICommand:
        {
            return PrintCommandNode(node, level);
        }
        case intfIEnumeration:
        {
            return PrintEnumerationNodeAndCurrentEntry(node, level);
        }
        default:
        {
            cout << "Unexpected interface type." << endl;
            return -1;
        }
        }
    }
    default:
    {
        cout << "Unexpected read type." << endl;
        return -1;
    }
    }
}
 
// This function retrieves and prints the display names of enumeration selector nodes.
// The selector will cycle through every selector entry and print out all the selected
// features for that selector entry. It is possible for integer nodes to be selector
// nodes as well, but this function will only cycle through Enumeration nodes.
int PrintEnumerationSelector(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        FeatureList_t selectedFeatures;
        node->GetSelectedFeatures(selectedFeatures);
 
        // Cast as an enumeration node
        CEnumerationPtr ptrSelectorNode = static_cast<CEnumerationPtr>(node);
 
        StringList_t entries;
        ptrSelectorNode->GetSymbolics(entries);
 
        // Note current selector node entry
        CEnumEntryPtr ptrCurrentEntry = ptrSelectorNode->GetCurrentEntry();
 
        // Retrieve display name
        gcstring displayName = ptrSelectorNode->GetDisplayName();
 
        // Retrieve current symbolic
        gcstring currentEntrySymbolic = ptrSelectorNode->ToString();
 
        // Print current entry symbolic
        Indent(level);
        cout << displayName << ": " << currentEntrySymbolic << endl;
 
        // For every selector node entry
        for (size_t i = 0; i < entries.size(); i++)
        {
            CEnumEntryPtr selectorEntry = ptrSelectorNode->GetEntryByName(entries[i]);
            FeatureList_t::const_iterator it;
 
            // Go through each enum entry of the selector node
            if (IsWritable(ptrSelectorNode))
            {
                if (IsReadable(selectorEntry))
                {
                    ptrSelectorNode->SetIntValue(selectorEntry->GetValue());
                    Indent(level + 1);
                    cout << displayName << ": " << ptrSelectorNode->ToString() << endl;
                }
            }
 
            // Look at every node that is affected by the selector node
            for (it = selectedFeatures.begin(); it != selectedFeatures.end(); ++it)
            {
                CNodePtr ptrFeatureNode = *it;
 
                if (!IsReadable(ptrFeatureNode))
                {
                    continue;
                }
                // Print the selected feature
                else
                {
                    result = result | PrintNode(ptrFeatureNode, level + 2);
                }
            }
        }
 
        // Restore the selector to its original value
        if (IsWritable(ptrSelectorNode))
        {
            ptrSelectorNode->SetIntValue(ptrCurrentEntry->GetValue());
        }
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function retrieves and prints out the display name of a category node
// before printing all child nodes. Child nodes that are also category nodes are
// printed recursively.
int PrintCategoryNodeAndAllFeatures(CNodePtr node, unsigned int level)
{
    int result = 0;
 
    try
    {
        // Cast as category node
        CCategoryPtr ptrCategoryNode = static_cast<CCategoryPtr>(node);
 
        // Retrieve display name
        gcstring displayName = ptrCategoryNode->GetDisplayName();
 
        // Print display name
        Indent(level);
        cout << displayName << endl;
 
        //
        // Retrieve children
        //
        // *** NOTES ***
        // The two nodes that typically have children are category nodes and
        // enumeration nodes. Throughout the examples, the children of category
        // nodes are referred to as features while the children of enumeration
        // nodes are referred to as entries. Keep in mind that enumeration
        // nodes can be cast as category nodes, but category nodes cannot be
        // cast as enumerations.
        //
        FeatureList_t features;
        ptrCategoryNode->GetFeatures(features);
 
        //
        // Iterate through all children
        //
        // *** NOTES ***
        // If dealing with a variety of node types and their values, it may be
        // simpler to cast them as value nodes rather than as their individual
        // types. However, with this increased ease-of-use, functionality is
        // sacrificed.
        //
        FeatureList_t::const_iterator it;
        for (it = features.begin(); it != features.end(); ++it)
        {
            CNodePtr ptrFeatureNode = *it;
 
            // Ensure node is readable
            if (!IsReadable(ptrFeatureNode))
            {
                continue;
            }
 
            // Category nodes must be dealt with separately in order to
            // retrieve subnodes recursively.
            if (ptrFeatureNode->GetPrincipalInterfaceType() == intfICategory)
            {
                result = result | PrintCategoryNodeAndAllFeatures(ptrFeatureNode, level + 1);
            }
            // Print the node
            else
            {
                result = result | PrintNode(ptrFeatureNode, level + 1);
            }
        }
        cout << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function acts as the body of the example. First nodes from the TL
// device and TL stream nodemaps are retrieved and printed. Following this,
// the camera is initialized and then nodes from the GenICam nodemap are
// retrieved and printed.
int RunSingleCamera(CameraPtr cam)
{
    int result = 0;
    unsigned int level = 0;
 
    try
    {
        //
        // Retrieve TL device nodemap
        //
        // *** NOTES ***
        // The TL device nodemap is available on the transport layer. As such,
        // camera initialization is unnecessary. It provides mostly immutable
        // information fundamental to the camera such as the serial number,
        // vendor, and model.
        //
        cout << endl << "*** PRINTING TRANSPORT LAYER DEVICE NODEMAP ***" << endl << endl;
 
        INodeMap& genTLNodeMap = cam->GetTLDeviceNodeMap();
 
        result = PrintCategoryNodeAndAllFeatures(genTLNodeMap.GetNode("Root"), level);
 
        //
        // Retrieve TL stream nodemap
        //
        // *** NOTES ***
        // The TL stream nodemap is also available on the transport layer. Camera
        // initialization is again unnecessary. As you can probably guess, it
        // provides information on the camera's streaming performance at any
        // given moment. Having this information available on the transport
        // layer allows the information to be retrieved without affecting camera
        // performance.
        //
        cout << "*** PRINTING TL STREAM NODEMAP ***" << endl << endl;
 
        INodeMap& nodeMapTLStream = cam->GetTLStreamNodeMap();
 
        result = result | PrintCategoryNodeAndAllFeatures(nodeMapTLStream.GetNode("Root"), level);
 
        //
        // Initialize camera
        //
        // *** NOTES ***
        // The camera becomes connected upon initialization. This provides
        // access to configurable options and additional information, accessible
        // through the GenICam nodemap.
        //
        // *** LATER ***
        // Cameras should be deinitialized when no longer needed.
        //
        cout << "*** PRINTING GENICAM NODEMAP ***" << endl << endl;
 
        cam->Init();
 
        //
        // Retrieve GenICam nodemap
        //
        // *** NOTES ***
        // The GenICam nodemap is the primary gateway to customizing
        // and configuring the camera to suit your needs. Configuration options
        // such as image height and width, trigger mode enabling and disabling,
        // and the sequencer are found on this nodemap.
        //
        INodeMap& appLayerNodeMap = cam->GetNodeMap();
 
        result = result | PrintCategoryNodeAndAllFeatures(appLayerNodeMap.GetNode("Root"), level);
 
        //
        // Deinitialize camera
        //
        // *** NOTES ***
        // Camera deinitialization helps ensure that devices clean up properly
        // and do not need to be power-cycled to maintain integrity.
        //
        cam->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*/)
{
    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;
    }
 
    //
    // Create shared pointer for camera
    //
    // *** NOTES ***
    // The CameraPtr object is a shared pointer, and will generally clean itself
    // up upon exiting its scope.
    //
    // *** LATER ***
    // However, if a shared camera pointer is created in the same scope that a
    // system object is explicitly released (i.e. this scope), the reference to
    // the camera must be broken by manually setting the pointer to nullptr.
    //
    CameraPtr pCam = nullptr;
 
    // 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);
 
        cout << "Camera " << i << " example complete..." << endl << endl;
    }
 
    //
    // Release shared pointer reference to camera before releasing system
    //
    // *** NOTES ***
    // Had the CameraPtr object been created within the for-loop, it would not
    // be necessary to manually break its 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;
}