const uint NUM_EVENT_BUFFERS = 20; /* Number of buffers used for grabbing. */
static void Main(string[] args)
{
PYLON_DEVICE_HANDLE hDev = new PYLON_DEVICE_HANDLE(); /* Handle for the pylon device. */
try
{
uint numDevices; /* Number of available devices. */
PYLON_STREAMGRABBER_HANDLE hStreamGrabber; /* Handle for the pylon stream grabber. */
PYLON_EVENTGRABBER_HANDLE hEventGrabber; /* Handle for the event grabber used for receiving events. */
PYLON_EVENTADAPTER_HANDLE hEventAdapter; /* Handle for the event adapter used for dispatching events. */
PYLON_WAITOBJECT_HANDLE hWaitStream; /* Handle used for waiting for a grab to be finished. */
PYLON_WAITOBJECT_HANDLE hWaitEvent; /* Handle used for waiting for an event message. */
PYLON_WAITOBJECTS_HANDLE hWaitObjects; /* Container allowing waiting for multiple wait objects. */
NODEMAP_HANDLE hNodeMap; /* Handle for the node map containing the
* camera parameters. */
NODE_CALLBACK_HANDLE hCallback; /* Used for deregistering a callback function. */
NODE_HANDLE hNode; /* Handle for a camera parameter. */
uint payloadSize; /* Size of an image frame in bytes. */
Dictionary <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> > buffers; /* Holds handles and buffers used for grabbing. */
PylonGrabResult_t grabResult; /* Stores the result of a grab operation. */
NodeCallbackHandler callbackHandler = new NodeCallbackHandler(); /* Handles incoming callbacks. */
int nGrabs; /* Counts the number of buffers grabbed. */
uint nStreams; /* The number of streams the device provides. */
bool isAvail; /* Used for checking feature availability. */
bool isReady; /* Used as an output parameter. */
int i; /* Counter. */
PylonEventResult_t eventMsg = new PylonEventResult_t(); /* Event data container. */
long sfncVersionMajor; /* The major number of the Standard Feature Naming Convention (SFNC)
* version used by the camera device. */
#if DEBUG
/* This is a special debug setting needed only for GigE cameras.
* See 'Building Applications with pylon' in the programmer's guide */
Environment.SetEnvironmentVariable("PYLON_GIGE_HEARTBEAT", "300000" /*ms*/);
#endif
/* Before using any pylon methods, the pylon runtime must be initialized. */
Pylon.Initialize();
/* Enumerate all camera devices. You must call
* PylonEnumerateDevices() before creating a device. */
numDevices = Pylon.EnumerateDevices();
if (0 == numDevices)
{
throw new Exception("No devices found.");
}
/* Get a handle for the first device found. */
hDev = Pylon.CreateDeviceByIndex(0);
/* Before using the device, it must be opened. Open it for configuring
* parameters, for grabbing images, and for grabbing events. */
Pylon.DeviceOpen(hDev, Pylon.cPylonAccessModeControl | Pylon.cPylonAccessModeStream | Pylon.cPylonAccessModeEvent);
/* Print out the name of the camera we are using. */
{
bool isReadable = Pylon.DeviceFeatureIsReadable(hDev, "DeviceModelName");
if (isReadable)
{
string name = Pylon.DeviceFeatureToString(hDev, "DeviceModelName");
Console.WriteLine("Using camera {0}", name);
}
}
/* Set the pixel format to Mono8, where gray values will be output as 8 bit values for each pixel. */
/* ... Check first to see if the device supports the Mono8 format. */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev, "EnumEntry_PixelFormat_Mono8");
if (!isAvail)
{
/* Feature is not available. */
throw new Exception("Device doesn't support the Mono8 pixel format.");
}
/* ... Set the pixel format to Mono8. */
Pylon.DeviceFeatureFromString(hDev, "PixelFormat", "Mono8");
/* Disable acquisition start trigger if available. */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev, "EnumEntry_TriggerSelector_AcquisitionStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev, "TriggerSelector", "AcquisitionStart");
Pylon.DeviceFeatureFromString(hDev, "TriggerMode", "Off");
}
/* Disable frame burst start trigger if available */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev, "EnumEntry_TriggerSelector_FrameBurstStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev, "TriggerSelector", "FrameBurstStart");
Pylon.DeviceFeatureFromString(hDev, "TriggerMode", "Off");
}
/* Disable frame start trigger if available. */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev, "EnumEntry_TriggerSelector_FrameStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev, "TriggerSelector", "FrameStart");
Pylon.DeviceFeatureFromString(hDev, "TriggerMode", "Off");
}
/* We will use the Continuous frame mode, i.e., the camera delivers
* images continuously. */
Pylon.DeviceFeatureFromString(hDev, "AcquisitionMode", "Continuous");
/* For GigE cameras, we recommend increasing the packet size for better
* performance. If the network adapter supports jumbo frames, set the packet
* size to a value > 1500, e.g., to 8192. In this sample, we only set the packet size
* to 1500. */
/* ... Check first to see if the GigE camera packet size parameter is supported and if it is writable. */
isAvail = Pylon.DeviceFeatureIsWritable(hDev, "GevSCPSPacketSize");
if (isAvail)
{
/* ... The device supports the packet size feature. Set a value. */
Pylon.DeviceSetIntegerFeature(hDev, "GevSCPSPacketSize", 1500);
}
/* Determine the required size of the grab buffer. */
payloadSize = checked ((uint)Pylon.DeviceGetIntegerFeature(hDev, "PayloadSize"));
/* Determine the major number of the SFNC version used by the camera device. */
if (Pylon.DeviceFeatureIsAvailable(hDev, "DeviceSFNCVersionMajor"))
{
sfncVersionMajor = Pylon.DeviceGetIntegerFeature(hDev, "DeviceSFNCVersionMajor");
}
else
{
/* No SFNC version information is provided by the camera device. */
sfncVersionMajor = 0;
}
/* Enable camera events. */
/* Select the end-of-exposure event.*/
Pylon.DeviceFeatureFromString(hDev, "EventSelector", "ExposureEnd");
/* Enable the event. Select the enumeration entry name depending on the SFNC version used by the camera device. */
if (sfncVersionMajor >= 2)
{
Pylon.DeviceFeatureFromString(hDev, "EventNotification", "On");
}
else
{
Pylon.DeviceFeatureFromString(hDev, "EventNotification", "GenICamEvent");
}
/* Image grabbing is done using a stream grabber.
* A device may be able to provide different streams. A separate stream grabber must
* be used for each stream. In this sample, we create a stream grabber for the default
* stream, i.e., the first stream ( index == 0 ).
*/
/* Get the number of streams supported by the device and the transport layer. */
nStreams = Pylon.DeviceGetNumStreamGrabberChannels(hDev);
if (nStreams < 1)
{
throw new Exception("The transport layer doesn't support image streams");
}
/* Create and open a stream grabber for the first channel. */
hStreamGrabber = Pylon.DeviceGetStreamGrabber(hDev, 0);
Pylon.StreamGrabberOpen(hStreamGrabber);
/* Get a handle for the stream grabber's wait object. The wait object
* allows waiting for buffers to be grabbed. */
hWaitStream = Pylon.StreamGrabberGetWaitObject(hStreamGrabber);
/* We must tell the stream grabber the number and size of the buffers
* we are using. */
/* .. We will not use more than NUM_BUFFERS for grabbing. */
Pylon.StreamGrabberSetMaxNumBuffer(hStreamGrabber, NUM_IMAGE_BUFFERS);
/* .. We will not use buffers bigger than payloadSize bytes. */
Pylon.StreamGrabberSetMaxBufferSize(hStreamGrabber, payloadSize);
/* Allocate the resources required for grabbing. After this, critical parameters
* that impact the payload size must not be changed until FinishGrab() is called. */
Pylon.StreamGrabberPrepareGrab(hStreamGrabber);
/* Before using the buffers for grabbing, they must be registered at
* the stream grabber. For each registered buffer, a buffer handle
* is returned. After registering, these handles are used instead of the
* buffer object pointers. The buffer objects are held in a dictionary,
* that provides access to the buffer using a handle as key.
*/
buffers = new Dictionary <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> >();
for (i = 0; i < NUM_IMAGE_BUFFERS; ++i)
{
PylonBuffer <Byte> buffer = new PylonBuffer <byte>(payloadSize, true);
PYLON_STREAMBUFFER_HANDLE handle = Pylon.StreamGrabberRegisterBuffer(hStreamGrabber, ref buffer);
buffers.Add(handle, buffer);
}
/* Feed the buffers into the stream grabber's input queue. For each buffer, the API
* allows passing in an integer as additional context information. This integer
* will be returned unchanged when the grab is finished. In our example, we use the index of the
* buffer as context information. */
i = 0;
foreach (KeyValuePair <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> > pair in buffers)
{
Pylon.StreamGrabberQueueBuffer(hStreamGrabber, pair.Key, i++);
}
/* The stream grabber is now prepared. As soon the camera starts to acquire images,
* the image data will be grabbed into the provided buffers. */
/* Create and prepare an event grabber. */
/* ... Get a handle for the event grabber. */
hEventGrabber = Pylon.DeviceGetEventGrabber(hDev);
if (!hEventGrabber.IsValid)
{
/* The transport layer doesn't support event grabbers. */
throw new Exception("No event grabber supported.");
}
/* ... Tell the grabber how many buffers to use. */
Pylon.EventGrabberSetNumBuffers(hEventGrabber, NUM_EVENT_BUFFERS);
/* ... Open the event grabber. */
Pylon.EventGrabberOpen(hEventGrabber); /* The event grabber is now ready
* for receiving events. */
/* Retrieve the wait object that is associated with the event grabber. The event
* will be signaled when an event message has been received. */
hWaitEvent = Pylon.EventGrabberGetWaitObject(hEventGrabber);
/* For extracting the event data from an event message, an event adapter is used. */
hEventAdapter = Pylon.DeviceCreateEventAdapter(hDev);
if (!hEventAdapter.IsValid)
{
/* The transport layer doesn't support event grabbers. */
throw new Exception("No event adapter supported.");
}
/* Register the callback function for the ExposureEndEventFrameID parameter. */
/*.Get the node map containing all parameters. */
hNodeMap = Pylon.DeviceGetNodeMap(hDev);
/* Get the ExposureEndEventFrameID parameter.
* Select the parameter name depending on the SFNC version used by the camera device.
*/
if (sfncVersionMajor >= 2)
{
hNode = GenApi.NodeMapGetNode(hNodeMap, "EventExposureEndFrameID");
}
else
{
hNode = GenApi.NodeMapGetNode(hNodeMap, "ExposureEndEventFrameID");
}
if (!hNode.IsValid)
{
/* There is no ExposureEndEventFrameID parameter. */
throw new Exception("There is no ExposureEndEventFrameID or EventExposureEndFrameID parameter!");
}
/* ... Register the callback function. */
callbackHandler.CallbackEvent += new NodeCallbackHandler.NodeCallback(endOfExposureCallback);
hCallback = GenApi.NodeRegisterCallback(hNode, callbackHandler);
/* Put the wait objects into a container. */
/* ... Create the container. */
hWaitObjects = Pylon.WaitObjectsCreate();
/* ... Add the wait objects' handles. */
Pylon.WaitObjectsAdd(hWaitObjects, hWaitEvent);
Pylon.WaitObjectsAdd(hWaitObjects, hWaitStream);
/* Let the camera acquire images. */
Pylon.DeviceExecuteCommandFeature(hDev, "AcquisitionStart");
/* Grab NUM_GRABS images. */
nGrabs = 0; /* Counts the number of images grabbed. */
while (nGrabs < NUM_GRABS)
{
int bufferIndex; /* Index of the buffer. */
uint waitObjectIndex; /* Index of the wait object that is signalled.*/
Byte min, max;
/* Wait for either an image buffer grabbed or an event received. Wait up to 1000 ms. */
isReady = Pylon.WaitObjectsWaitForAny(hWaitObjects, 1000, out waitObjectIndex);
if (!isReady)
{
/* Timeout occurred. */
throw new Exception("Timeout. Neither grabbed an image nor received an event.");
}
if (0 == waitObjectIndex)
{
/* hWaitEvent has been signalled. At least one event message is available. Retrieve it. */
isReady = Pylon.EventGrabberRetrieveEvent(hEventGrabber, ref eventMsg);
if (!isReady)
{
/* Oops. No event message available? We should never have reached this point.
* Since the wait operation above returned without a timeout, an event message
* should be available. */
throw new Exception("Failed to retrieve an event.");
}
/* Check to see if the event was successfully received. */
if (0 == eventMsg.ErrorCode)
{
/* Successfully received an event message. */
/* Pass the event message to the event adapter. The event adapter will
* update the parameters related to events and will fire the callbacks
* registered to event related parameters. */
Pylon.EventAdapterDeliverMessage(hEventAdapter, eventMsg);
}
else
{
Console.Error.WriteLine("Error when receiving an event: {1}", eventMsg.ErrorCode);
}
}
else if (1 == waitObjectIndex)
{
/* hWaitStream has been signalled. The result of at least one grab
* operation is available. Retrieve it. */
isReady = Pylon.StreamGrabberRetrieveResult(hStreamGrabber, out grabResult);
if (!isReady)
{
/* Oops. No grab result available? We should never have reached this point.
* Since the wait operation above returned without a timeout, a grab result
* should be available. */
throw new Exception("Failed to retrieve a grab result.");
}
nGrabs++;
/* Get the buffer index from the context information. */
bufferIndex = (int)grabResult.Context;
/* Check to see if the image was grabbed successfully. */
if (grabResult.Status == EPylonGrabStatus.Grabbed)
{
/* Success. Perform image processing. Since we passed more than one buffer
* to the stream grabber, the remaining buffers are filled while
* we do the image processing. The processed buffer won't be touched by
* the stream grabber until we pass it back to the stream grabber. */
PylonBuffer <Byte> buffer; /* Reference to the buffer attached to the grab result. */
/* Get the buffer from the dictionary. Since we also got the buffer index,
* we could alternatively use an array, e.g. buffers[bufferIndex]. */
if (!buffers.TryGetValue(grabResult.hBuffer, out buffer))
{
/* Oops. No buffer available? We should never have reached this point. Since all buffers are
* in the dictionary. */
throw new Exception("Failed to find the buffer associated with the handle returned in grab result.");
}
getMinMax(buffer.Array, out min, out max);
Console.WriteLine("Grabbed frame {0} into buffer {1}. Min. gray value = {2}, Max. gray value = {3}",
nGrabs, bufferIndex, min, max);
}
else if (grabResult.Status == EPylonGrabStatus.Failed)
{
Console.Error.WriteLine("Frame {0} wasn't grabbed successfully. Error code = {1}",
nGrabs, grabResult.ErrorCode);
}
/* Once finished with the processing, requeue the buffer to be filled again. */
Pylon.StreamGrabberQueueBuffer(hStreamGrabber, grabResult.hBuffer, bufferIndex);
}
}
/* Clean up. */
/* ... Stop the camera. */
Pylon.DeviceExecuteCommandFeature(hDev, "AcquisitionStop");
/* ... Switch off the events. */
Pylon.DeviceFeatureFromString(hDev, "EventSelector", "ExposureEnd");
Pylon.DeviceFeatureFromString(hDev, "EventNotification", "Off");
/* ... We must issue a cancel call to ensure that all pending buffers are put into the
* stream grabber's output queue. */
Pylon.StreamGrabberCancelGrab(hStreamGrabber);
/* ... The buffers can now be retrieved from the stream grabber. */
do
{
isReady = Pylon.StreamGrabberRetrieveResult(hStreamGrabber, out grabResult);
} while (isReady);
/* ... When all buffers are retrieved from the stream grabber, they can be deregistered.
* After deregistering the buffers, it is safe to free the memory. */
foreach (KeyValuePair <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> > pair in buffers)
{
Pylon.StreamGrabberDeregisterBuffer(hStreamGrabber, pair.Key);
pair.Value.Dispose();
}
buffers = null;
/* ... Release grabbing related resources. */
Pylon.StreamGrabberFinishGrab(hStreamGrabber);
/* After calling PylonStreamGrabberFinishGrab(), parameters that impact the payload size (e.g.,
* the AOI width and height parameters) are unlocked and can be modified again. */
/* ... Close the stream grabber. */
Pylon.StreamGrabberClose(hStreamGrabber);
/* ... Deregister the callback. */
GenApi.NodeDeregisterCallback(hNode, hCallback);
/* ... Close the event grabber.*/
Pylon.EventGrabberClose(hEventGrabber);
/* ... Release the event adapter. */
Pylon.DeviceDestroyEventAdapter(hDev, hEventAdapter);
/* ... Release the wait object container. */
Pylon.WaitObjectsDestroy(hWaitObjects);
/* ... Close and release the pylon device. The stream grabber becomes invalid
* after closing the pylon device. Don't call stream grabber related methods after
* closing or releasing the device. */
Pylon.DeviceClose(hDev);
Pylon.DestroyDevice(hDev);
/* ... Shut down the pylon runtime system. Don't call any pylon method after
* calling PylonTerminate(). */
Pylon.Terminate();
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
}
catch (Exception e)
{
/* Retrieve the error message. */
string msg = GenApi.GetLastErrorMessage() + "\n" + GenApi.GetLastErrorDetail();
Console.Error.WriteLine("Exception caught:");
Console.Error.WriteLine(e.Message);
if (msg != "\n")
{
Console.Error.WriteLine("Last error message:");
Console.Error.WriteLine(msg);
}
try
{
if (hDev.IsValid)
{
/* Disable the software trigger. */
Pylon.DeviceFeatureFromString(hDev, "TriggerMode", "Off");
/* ... Close and release the pylon device. */
if (Pylon.DeviceIsOpen(hDev))
{
Pylon.DeviceClose(hDev);
}
Pylon.DestroyDevice(hDev);
}
}
catch (Exception)
{
/*No further handling here.*/
}
Pylon.Terminate(); /* Releases all pylon resources. */
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
Environment.Exit(1);
}
}