StereoGPIO.cpp

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

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//=============================================================================
// 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 non-disclosure or 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.
//=============================================================================
 
//=============================================================================
// 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, &currentParamPosition)) != 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;
}