/// <summary>
/// The main entry point for the application.
/// </summary>
static void Main()
{
/* Use a random number as the device key. */
uint DeviceKey = (uint)(new Random()).Next(int.MaxValue);
/* In this sample all cameras belong to the same group. */
const uint GroupKey = 0x24;
PYLON_DEVICE_HANDLE[] hDev = new PYLON_DEVICE_HANDLE[MAX_NUM_DEVICES]; /* Handles for the pylon devices. */
for (int deviceIndex = 0; deviceIndex < MAX_NUM_DEVICES; ++deviceIndex)
{
hDev[deviceIndex] = new PYLON_DEVICE_HANDLE();
}
try
{
uint numDevicesEnumerated; /* Number of the devices connected to this PC. */
uint numDevicesToUse; /* Number of the devices to use in this sample. */
bool isAvail; /* Used for checking feature availability. */
bool isReady; /* Used as an output parameter. */
int i; /* Counter. */
uint deviceIndex; /* Index of device used in the following variables. */
PYLON_WAITOBJECTS_HANDLE wos; /* Wait objects. */
/* These are camera specific variables: */
PYLON_STREAMGRABBER_HANDLE[] hGrabber = new PYLON_STREAMGRABBER_HANDLE[MAX_NUM_DEVICES]; /* Handle for the pylon stream grabber. */
PYLON_WAITOBJECT_HANDLE[] hWait = new PYLON_WAITOBJECT_HANDLE[MAX_NUM_DEVICES]; /* Handle used for waiting for a grab to be finished. */
uint[] payloadSize = new uint[MAX_NUM_DEVICES]; /* Size of an image frame in bytes. */
uint[] nStreams = new uint[MAX_NUM_DEVICES]; /* The number of streams provided by the device. */
PYLON_STREAMBUFFER_HANDLE[] hBuffer = new PYLON_STREAMBUFFER_HANDLE[MAX_NUM_DEVICES];
PylonBuffer <Byte>[] buffer = new PylonBuffer <Byte> [MAX_NUM_DEVICES];
#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. */
numDevicesEnumerated = Pylon.EnumerateDevices();
if (numDevicesEnumerated == 0)
{
Pylon.Terminate();
Console.Error.WriteLine("No devices found!");
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
return;
}
/* Create wait objects. This must be done outside of the loop. */
wos = Pylon.WaitObjectsCreate();
/* Open cameras and set parameter */
deviceIndex = 0;
for (uint enumeratedDeviceIndex = 0; enumeratedDeviceIndex < numDevicesEnumerated; ++enumeratedDeviceIndex)
{
/* only open GigE devices */
PYLON_DEVICE_INFO_HANDLE hDI = Pylon.GetDeviceInfoHandle(enumeratedDeviceIndex);
if (Pylon.DeviceInfoGetPropertyValueByName(hDI, Pylon.cPylonDeviceInfoDeviceClassKey) != "BaslerGigE")
{
continue;
}
/* Get handles for the devices. */
hDev[deviceIndex] = Pylon.CreateDeviceByIndex((uint)enumeratedDeviceIndex);
/* Before using the device, it must be opened. Open it for configuring
* parameters and for grabbing images. */
Pylon.DeviceOpen(hDev[deviceIndex], Pylon.cPylonAccessModeControl | Pylon.cPylonAccessModeStream);
/* Print out the name of the camera we are using. */
Console.WriteLine("Using camera '{0}'", Pylon.DeviceInfoGetPropertyValueByName(hDI, Pylon.cPylonDeviceInfoModelNameKey));
isAvail = Pylon.DeviceFeatureIsReadable(hDev[deviceIndex], "ActionControl");
if (!isAvail)
{
throw new Exception("Device doesn't support the Action Command");
}
/* Configure the first action */
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "ActionSelector", 1);
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "ActionDeviceKey", DeviceKey);
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "ActionGroupKey", GroupKey);
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "ActionGroupMask", AllGroupMask);
/* 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[deviceIndex], "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[deviceIndex], "PixelFormat", "Mono8");
/* Disable acquisition start trigger if available */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev[deviceIndex], "EnumEntry_TriggerSelector_AcquisitionStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSelector", "AcquisitionStart");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerMode", "Off");
}
/* Disable line1 trigger if available */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev[deviceIndex], "EnumEntry_TriggerSelector_Line1");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSelector", "Line1");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerMode", "Off");
}
/* Enable frame start trigger with first action */
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSelector", "FrameStart");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerMode", "On");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSource", "Action1");
/* For GigE cameras, we recommend increasing the packet size for better
* performance. When 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.
*
* We also set the Inter-Packet and the Frame Transmission delay
* so the switch can line up packets better.
*/
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "GevSCPSPacketSize", GIGE_PACKET_SIZE);
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "GevSCPD", (GIGE_PACKET_SIZE + GIGE_PROTOCOL_OVERHEAD) * (MAX_NUM_DEVICES - 1));
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "GevSCFTD", (GIGE_PACKET_SIZE + GIGE_PROTOCOL_OVERHEAD) * deviceIndex);
/* one device opened */
++deviceIndex;
}
/* remember how many devices we have actually created */
numDevicesToUse = deviceIndex;
/* Remember the number of devices actually created */
numDevicesToUse = deviceIndex;
if (numDevicesToUse == 0)
{
Console.Error.WriteLine("No suitable cameras found!");
Pylon.Terminate(); /* Releases all pylon resources. */
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
Environment.Exit(0);
}
if (numDevicesToUse < 2)
{
Console.Error.WriteLine("WARNING: This sample works best with two or more GigE cameras supporting action commands.");
}
/* Allocate and register buffers for grab. */
for (deviceIndex = 0; deviceIndex < numDevicesToUse; ++deviceIndex)
{
/* Determine the required size for the grab buffer. */
payloadSize[deviceIndex] = checked ((uint)Pylon.DeviceGetIntegerFeature(hDev[deviceIndex], "PayloadSize"));
/* 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[deviceIndex] = Pylon.DeviceGetNumStreamGrabberChannels(hDev[deviceIndex]);
if (nStreams[deviceIndex] < 1)
{
throw new Exception("The transport layer doesn't support image streams.");
}
/* Create and open a stream grabber for the first channel. */
hGrabber[deviceIndex] = Pylon.DeviceGetStreamGrabber(hDev[deviceIndex], 0);
Pylon.StreamGrabberOpen(hGrabber[deviceIndex]);
/* Get a handle for the stream grabber's wait object. The wait object
* allows waiting for buffers to be filled with grabbed data. */
hWait[deviceIndex] = Pylon.StreamGrabberGetWaitObject(hGrabber[deviceIndex]);
/* Add the stream grabber's wait object to our wait objects.
* This is needed to be able to wait until all cameras have
* grabbed an image in our grab loop below. */
Pylon.WaitObjectsAdd(wos, hWait[deviceIndex]);
/* 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(hGrabber[deviceIndex], NUM_BUFFERS);
/* .. We will not use buffers bigger than payloadSize bytes. */
Pylon.StreamGrabberSetMaxBufferSize(hGrabber[deviceIndex], payloadSize[deviceIndex]);
/* 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(hGrabber[deviceIndex]);
/* 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 objects pointers. The buffer objects are held in a dictionary,
* that provides access to the buffer using a handle as key.
*/
buffer[deviceIndex] = new PylonBuffer <byte>(payloadSize[deviceIndex], true);
hBuffer[deviceIndex] = Pylon.StreamGrabberRegisterBuffer(hGrabber[deviceIndex], ref buffer[deviceIndex]);
/* Feed the buffers into the stream grabber's input queue. */
Pylon.StreamGrabberQueueBuffer(hGrabber[deviceIndex], hBuffer[deviceIndex], 0);
}
/* The stream grabber is now prepared. Start the image acquisition.
* The camera won't send any image data, since it's configured to wait
* for the action to trigger the acquisition */
for (deviceIndex = 0; deviceIndex < numDevicesToUse; ++deviceIndex)
{
Pylon.DeviceExecuteCommandFeature(hDev[deviceIndex], "AcquisitionStart");
}
/* ======================================================================
* Issue an ActionCommand and retrieve the images.
* ====================================================================== */
Console.WriteLine("*** Issuing action command ***");
/* Trigger the camera using an action command (w/o waiting for results).
* If your setup support PTP, you could use a scheduled action command.
* Pylon.GigEIssueScheduledActionCommand(subnet, DefaultDeviceKey, DefaultGroupKey, 1, triggertime, 0)
*/
string subnet = Pylon.DeviceInfoGetPropertyValueByName(Pylon.DeviceGetDeviceInfoHandle(hDev[0]), "SubnetAddress");
Pylon.GigEIssueActionCommand(DeviceKey, GroupKey, 1, subnet);
/* Grab one image from each camera. */
for (i = 0; i < numDevicesToUse; ++i)
{
uint woIndex; /* this corresponds to the index in hDev and hGrabber */
/* Wait for the next buffer to be filled. Wait up to 5000 ms. */
isReady = Pylon.WaitObjectsWaitForAny(wos, 5000, out woIndex);
if (!isReady)
{ /* Timeout occurred */
/* Grab Timeout occurred. */
throw new Exception("Grab timeout occurred.");
}
PylonGrabResult_t grabResult;
/* Since the wait operation was successful, the result of at least one grab
* operation is available. Retrieve it. */
isReady = Pylon.StreamGrabberRetrieveResult(hGrabber[woIndex], 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.");
}
/* 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 in the background 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. */
/* We only use one buffer per camera */
System.Diagnostics.Debug.Assert(grabResult.hBuffer == hBuffer[woIndex]);
byte pixel = buffer[woIndex].Array[0];
/* Perform processing. */
Console.WriteLine("Grabbed a frame from camera {0}.", woIndex);
/* Display image */
if (woIndex < 32)
{
Pylon.ImageWindowDisplayImage <Byte>(woIndex, buffer[woIndex], grabResult);
}
}
else if (grabResult.Status == EPylonGrabStatus.Failed)
{
/* If a buffer has been incompletely grabbed the network bandwidth is possibly insufficient for transferring
* multiple images simultaneously. See note above MAX_NUM_DEVICES. */
Console.Error.WriteLine("Frame from camera {0} wasn't grabbed successfully. Error code = {1}",
woIndex, grabResult.ErrorCode);
}
}
/* Stop the image acquisition on the cameras. */
for (deviceIndex = 0; deviceIndex < numDevicesToUse; ++deviceIndex)
{
/* Stop the camera. */
Pylon.DeviceExecuteCommandFeature(hDev[deviceIndex], "AcquisitionStop");
}
// Remove all wait objects from WaitObjects.
Pylon.WaitObjectsRemoveAll(wos);
Pylon.WaitObjectsDestroy(wos);
for (deviceIndex = 0; deviceIndex < numDevicesToUse; ++deviceIndex)
{
/* We must issue a cancel call to ensure that all pending buffers are put into the
* stream grabber's output queue. */
Pylon.StreamGrabberCancelGrab(hGrabber[deviceIndex]);
/* The buffers can now be retrieved from the stream grabber. */
do
{
PylonGrabResult_t grabResult;
isReady = Pylon.StreamGrabberRetrieveResult(hGrabber[deviceIndex], out grabResult);
} while (isReady);
/* When all buffers are retrieved from the stream grabber, they can be de-registered.
* After de-registering the buffers, it is safe to free the memory. */
Pylon.StreamGrabberDeregisterBuffer(hGrabber[deviceIndex], hBuffer[deviceIndex]);
buffer[deviceIndex].Dispose();
buffer[deviceIndex] = null;
/* Release grabbing related resources. */
Pylon.StreamGrabberFinishGrab(hGrabber[deviceIndex]);
/* 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(hGrabber[deviceIndex]);
/* 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[deviceIndex]);
Pylon.DestroyDevice(hDev[deviceIndex]);
}
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
/* Shut down the pylon runtime system. Don't call any pylon function after
* calling PylonTerminate(). */
Pylon.Terminate();
}
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);
}
for (uint deviceIndex = 0; deviceIndex < MAX_NUM_DEVICES; ++deviceIndex)
{
try
{
if (hDev[deviceIndex].IsValid)
{
/* Close and release the pylon device. */
if (Pylon.DeviceIsOpen(hDev[deviceIndex]))
{
Pylon.DeviceClose(hDev[deviceIndex]);
}
Pylon.DestroyDevice(hDev[deviceIndex]);
}
}
catch (Exception)
{
/* No further handling here.*/
}
}
Pylon.Terminate(); /* Releases all pylon resources. */
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
Environment.Exit(1);
}
}
const uint GIGE_PROTOCOL_OVERHEAD = 36; /* Total number of bytes of protocol overhead. */
static void Main(string[] args)
{
PYLON_DEVICE_HANDLE[] hDev = new PYLON_DEVICE_HANDLE[NUM_DEVICES]; /* Handles for the pylon devices. */
for (int deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
hDev[deviceIndex] = new PYLON_DEVICE_HANDLE();
}
try
{
uint numDevicesAvail; /* Number of the available devices. */
bool isAvail; /* Used for checking feature availability. */
bool isReady; /* Used as an output parameter. */
int i; /* Counter. */
int deviceIndex; /* Index of device used in the following variables. */
PYLON_WAITOBJECTS_HANDLE wos; /* Wait objects. */
int nGrabs; /* Counts the number of grab iterations. */
PYLON_WAITOBJECT_HANDLE woTimer; /* Timer wait object. */
/* These are camera specific variables: */
PYLON_STREAMGRABBER_HANDLE[] hGrabber = new PYLON_STREAMGRABBER_HANDLE[NUM_DEVICES]; /* Handle for the pylon stream grabber. */
PYLON_WAITOBJECT_HANDLE[] hWait = new PYLON_WAITOBJECT_HANDLE[NUM_DEVICES]; /* Handle used for waiting for a grab to be finished. */
uint[] payloadSize = new uint[NUM_DEVICES]; /* Size of an image frame in bytes. */
PylonGrabResult_t[] grabResult = new PylonGrabResult_t[NUM_DEVICES]; /* Stores the result of a grab operation. */
uint[] nStreams = new uint[NUM_DEVICES]; /* The number of streams provided by the device. */
Dictionary <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> >[] buffers = new Dictionary <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> > [NUM_DEVICES]; /* Holds handles and buffers used for grabbing. */
#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. */
numDevicesAvail = Pylon.EnumerateDevices();
if (numDevicesAvail < NUM_DEVICES)
{
Console.Error.WriteLine("Found {0} devices. At least {1} devices needed to run this sample.", numDevicesAvail, NUM_DEVICES);
throw new Exception("Not enough devices found.");
}
/* Create wait objects. This must be done outside of the loop. */
wos = Pylon.WaitObjectsCreate();
/* In this sample, we want to grab for a given amount of time, then stop.
* Create a timer that tiggers an AutoResetEvent, wrap the AutoResetEvent in a pylon C.NET wait object, and add it to
* the wait object set. */
AutoResetEvent timoutEvent = new AutoResetEvent(false); /* The timeout event to wait for. */
TimerCallbackWrapper timerCallbackWrapper = new TimerCallbackWrapper(timoutEvent); /* Receives the timer callback and sets the timeout event. */
Timer timer = new Timer(timerCallbackWrapper.TimerCallback); /* The timeout timer. */
woTimer = Pylon.WaitObjectFromW32(timoutEvent.SafeWaitHandle, true);
Pylon.WaitObjectsAdd(wos, woTimer);
/* Open cameras and set parameters. */
for (deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
/* Get handles for the devices. */
hDev[deviceIndex] = Pylon.CreateDeviceByIndex((uint)deviceIndex);
/* Before using the device, it must be opened. Open it for configuring
* parameters and for grabbing images. */
Pylon.DeviceOpen(hDev[deviceIndex], Pylon.cPylonAccessModeControl | Pylon.cPylonAccessModeStream);
/* Print out the name of the camera we are using. */
{
bool isReadable = Pylon.DeviceFeatureIsReadable(hDev[deviceIndex], "DeviceModelName");
if (isReadable)
{
string name = Pylon.DeviceFeatureToString(hDev[deviceIndex], "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[deviceIndex], "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[deviceIndex], "PixelFormat", "Mono8");
/* Disable acquisition start trigger if available */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev[deviceIndex], "EnumEntry_TriggerSelector_AcquisitionStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSelector", "AcquisitionStart");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerMode", "Off");
}
/* Disable frame burst start trigger if available */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev[deviceIndex], "EnumEntry_TriggerSelector_FrameBurstStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSelector", "FrameBurstStart");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerMode", "Off");
}
/* Disable frame start trigger if available */
isAvail = Pylon.DeviceFeatureIsAvailable(hDev[deviceIndex], "EnumEntry_TriggerSelector_FrameStart");
if (isAvail)
{
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerSelector", "FrameStart");
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "TriggerMode", "Off");
}
/* We will use the Continuous frame mode, i.e., the camera delivers
* images continuously. */
Pylon.DeviceFeatureFromString(hDev[deviceIndex], "AcquisitionMode", "Continuous");
PYLON_DEVICE_INFO_HANDLE hDi = Pylon.GetDeviceInfoHandle((uint)deviceIndex);
string deviceClass = Pylon.DeviceInfoGetPropertyValueByName(hDi, Pylon.cPylonDeviceInfoDeviceClassKey);
if (deviceClass == "BaslerGigE")
{
/* For GigE cameras, we recommend increasing the packet size for better
* performance. When 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.
*
* We also set the Inter-Packet and the Frame Transmission delay
* so the switch can line up packets better.
*/
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "GevSCPSPacketSize", GIGE_PACKET_SIZE);
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "GevSCPD", (GIGE_PACKET_SIZE + GIGE_PROTOCOL_OVERHEAD) * (NUM_DEVICES - 1));
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "GevSCFTD", (GIGE_PACKET_SIZE + GIGE_PROTOCOL_OVERHEAD) * deviceIndex);
}
else if (deviceClass == "Basler1394")
{
/* For FireWire we just set the PacketSize node to limit the bandwidth we're using. */
/* We first divide the available bandwidth (4915 for FW400, 9830 for FW800)
* by the number of devices we are using. */
long newPacketSize = 4915 / NUM_DEVICES;
long recommendedPacketSize = 0;
/* Get the recommended packet size from the camera. */
recommendedPacketSize = Pylon.DeviceGetIntegerFeature(hDev[deviceIndex], "RecommendedPacketSize");
if (newPacketSize < recommendedPacketSize)
{
/* Get the increment value for the packet size.
* We must make sure that the new value we're setting is divisible by the increment of that feature. */
long packetSizeInc = 0;
packetSizeInc = Pylon.DeviceGetIntegerFeatureInc(hDev[deviceIndex], "PacketSize");
/* Adjust the new packet size so is divisible by its increment. */
newPacketSize -= newPacketSize % packetSizeInc;
}
else
{
/* The recommended packet size should always be valid. No need to check against the increment. */
newPacketSize = recommendedPacketSize;
}
/* Set the new packet size. */
Pylon.DeviceSetIntegerFeature(hDev[deviceIndex], "PacketSize", newPacketSize);
Console.WriteLine("Using packetsize: {0}", newPacketSize);
}
}
/* Allocate and register buffers for grab. */
for (deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
/* Determine the required size for the grab buffer. */
payloadSize[deviceIndex] = checked ((uint)Pylon.DeviceGetIntegerFeature(hDev[deviceIndex], "PayloadSize"));
/* 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[deviceIndex] = Pylon.DeviceGetNumStreamGrabberChannels(hDev[deviceIndex]);
if (nStreams[deviceIndex] < 1)
{
throw new Exception("The transport layer doesn't support image streams.");
}
/* Create and open a stream grabber for the first channel. */
hGrabber[deviceIndex] = Pylon.DeviceGetStreamGrabber(hDev[deviceIndex], 0);
Pylon.StreamGrabberOpen(hGrabber[deviceIndex]);
/* Get a handle for the stream grabber's wait object. The wait object
* allows waiting for buffers to be filled with grabbed data. */
hWait[deviceIndex] = Pylon.StreamGrabberGetWaitObject(hGrabber[deviceIndex]);
/* Add the stream grabber's wait object to our wait objects.
* This is needed to be able to wait until all cameras have
* grabbed an image in our grab loop below. */
Pylon.WaitObjectsAdd(wos, hWait[deviceIndex]);
/* 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(hGrabber[deviceIndex], NUM_BUFFERS);
/* .. We will not use buffers bigger than payloadSize bytes. */
Pylon.StreamGrabberSetMaxBufferSize(hGrabber[deviceIndex], payloadSize[deviceIndex]);
/* 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(hGrabber[deviceIndex]);
/* 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 objects pointers. The buffer objects are held in a dictionary,
* that provides access to the buffer using a handle as key.
*/
buffers[deviceIndex] = new Dictionary <PYLON_STREAMBUFFER_HANDLE, PylonBuffer <Byte> >();
for (i = 0; i < NUM_BUFFERS; ++i)
{
PylonBuffer <Byte> buffer = new PylonBuffer <byte>(payloadSize[deviceIndex], true);
PYLON_STREAMBUFFER_HANDLE handle = Pylon.StreamGrabberRegisterBuffer(hGrabber[deviceIndex], ref buffer);
buffers[deviceIndex].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[deviceIndex])
{
Pylon.StreamGrabberQueueBuffer(hGrabber[deviceIndex], pair.Key, i++);
}
}
/* The stream grabber is now prepared. As soon the camera starts acquiring images,
* the image data will be grabbed into the provided buffers. */
for (deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
/* Let the camera acquire images. */
Pylon.DeviceExecuteCommandFeature(hDev[deviceIndex], "AcquisitionStart");
}
/* Set the timer to 5 s and start it. */
timer.Change(5000, Timeout.Infinite);
/* Counts the number of grabbed images. */
nGrabs = 0;
/* Grab until the timer expires. */
for (;;)
{
int bufferIndex; /* Index of the buffer. */
Byte min, max;
uint woIndex;
/* Wait for the next buffer to be filled. Wait up to 1000 ms. */
isReady = Pylon.WaitObjectsWaitForAny(wos, 1000, out woIndex);
if (!isReady)
{
/* Timeout occurred. */
throw new Exception("Grab timeout occurred.");
}
/* If the timer has expired, exit the grab loop. */
if (woIndex == 0)
{
Console.Error.WriteLine("Game over.");
break; /* Timer expired. */
}
/* Account for the timer. */
--woIndex;
/* Since the wait operation was successful, the result of at least one grab
* operation is available. Retrieve it. */
isReady = Pylon.StreamGrabberRetrieveResult(hGrabber[woIndex], out grabResult[woIndex]);
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.");
}
/* Get the buffer index from the context information. */
bufferIndex = grabResult[woIndex].Context;
/* Check to see if the image was grabbed successfully. */
if (grabResult[woIndex].Status == EPylonGrabStatus.Grabbed)
{
/* Success. Perform image processing. Since we passed more than one buffer
* to the stream grabber, the remaining buffers are filled in the background 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[woIndex].TryGetValue(grabResult[woIndex].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.");
}
/* Perform processing. */
getMinMax(buffer.Array, grabResult[woIndex].SizeX, grabResult[woIndex].SizeY, out min, out max);
Console.WriteLine("Grabbed frame {0} from camera {1} into buffer {2}. Min. val={3}, Max. val={4}",
nGrabs, woIndex, bufferIndex, min, max);
/* Display image */
Pylon.ImageWindowDisplayImage <Byte>(woIndex, buffer, grabResult[woIndex]);
}
else if (grabResult[woIndex].Status == EPylonGrabStatus.Failed)
{
Console.Error.WriteLine("Frame {0} wasn't grabbed successfully. Error code = {1}",
nGrabs, grabResult[woIndex].ErrorCode);
}
/* Once finished with the processing, requeue the buffer to be filled again. */
Pylon.StreamGrabberQueueBuffer(hGrabber[woIndex], grabResult[woIndex].hBuffer, bufferIndex);
nGrabs++;
}
/* Clean up. */
/* Stop the image aquisition on the cameras. */
for (deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
/* ... Stop the camera. */
Pylon.DeviceExecuteCommandFeature(hDev[deviceIndex], "AcquisitionStop");
}
// Remove all wait objects from WaitObjects.
Pylon.WaitObjectsRemoveAll(wos);
Pylon.WaitObjectDestroy(woTimer);
Pylon.WaitObjectsDestroy(wos);
for (deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
/* ... We must issue a cancel call to ensure that all pending buffers are put into the
* stream grabber's output queue. */
Pylon.StreamGrabberCancelGrab(hGrabber[deviceIndex]);
/* ... The buffers can now be retrieved from the stream grabber. */
do
{
isReady = Pylon.StreamGrabberRetrieveResult(hGrabber[deviceIndex], out grabResult[deviceIndex]);
} 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[deviceIndex])
{
Pylon.StreamGrabberDeregisterBuffer(hGrabber[deviceIndex], pair.Key);
pair.Value.Dispose();
}
buffers[deviceIndex] = null;
/* ... Release grabbing related resources. */
Pylon.StreamGrabberFinishGrab(hGrabber[deviceIndex]);
/* 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(hGrabber[deviceIndex]);
/* ... 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[deviceIndex]);
Pylon.DestroyDevice(hDev[deviceIndex]);
}
/* Dispose timer and event. */
timer.Dispose();
timoutEvent.Close();
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
/* ... Shut down the pylon runtime system. Don't call any pylon function after
* calling PylonTerminate(). */
Pylon.Terminate();
}
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);
}
for (uint deviceIndex = 0; deviceIndex < NUM_DEVICES; ++deviceIndex)
{
try
{
if (hDev[deviceIndex].IsValid)
{
/* ... Close and release the pylon device. */
if (Pylon.DeviceIsOpen(hDev[deviceIndex]))
{
Pylon.DeviceClose(hDev[deviceIndex]);
}
Pylon.DestroyDevice(hDev[deviceIndex]);
}
}
catch (Exception)
{
/*No further handling here.*/
}
}
Pylon.Terminate(); /* Releases all pylon resources. */
Console.Error.WriteLine("\nPress enter to exit.");
Console.ReadLine();
Environment.Exit(1);
}
}
const uint NUM_BUFFERS = 5; /* 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 hGrabber; /* Handle for the pylon stream grabber. */
PYLON_WAITOBJECT_HANDLE hWait; /* Handle used for waiting for a grab to be finished. */
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. */
int nGrabs; /* Counts the number of buffers grabbed. */
uint nStreams; /* The number of streams provides by the device. */
bool isAvail; /* Used for checking feature availability. */
bool isReady; /* Used as an output parameter. */
int i; /* Counter. */
#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 and for grabbing images. */
Pylon.DeviceOpen(hDev, Pylon.cPylonAccessModeControl | Pylon.cPylonAccessModeStream);
/* 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 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. When 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"));
/* 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. */
hGrabber = Pylon.DeviceGetStreamGrabber(hDev, 0);
Pylon.StreamGrabberOpen(hGrabber);
/* Get a handle for the stream grabber's wait object. The wait object
* allows waiting for buffers to be filled with grabbed data. */
hWait = Pylon.StreamGrabberGetWaitObject(hGrabber);
/* 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(hGrabber, NUM_BUFFERS);
/* .. We will not use buffers bigger than payloadSize bytes. */
Pylon.StreamGrabberSetMaxBufferSize(hGrabber, 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(hGrabber);
/* 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 objects 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_BUFFERS; ++i)
{
PylonBuffer <Byte> buffer = new PylonBuffer <byte>(payloadSize, true);
PYLON_STREAMBUFFER_HANDLE handle = Pylon.StreamGrabberRegisterBuffer(hGrabber, 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(hGrabber, pair.Key, i++);
}
/* The stream grabber is now prepared. As soon the camera starts acquiring images,
* the image data will be grabbed into the provided buffers. */
/* Let the camera acquire images. */
Pylon.DeviceExecuteCommandFeature(hDev, "AcquisitionStart");
/* Grab NUM_GRABS images */
nGrabs = 0; /* Counts the number of grabbed images. */
while (nGrabs < NUM_GRABS)
{
int bufferIndex; /* Index of the buffer. */
Byte min, max;
/* Wait for the next buffer to be filled. Wait up to 1000 ms. */
isReady = Pylon.WaitObjectWait(hWait, 1000);
if (!isReady)
{
/* Timeout occurred. */
throw new Exception("Grab timeout occurred.");
}
/* Since the wait operation was successful, the result of at least one grab
* operation is available. Retrieve it. */
isReady = Pylon.StreamGrabberRetrieveResult(hGrabber, 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 in the background 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.");
}
/* Perform processing. */
getMinMax(buffer.Array, grabResult.SizeX, grabResult.SizeY, 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(hGrabber, grabResult.hBuffer, bufferIndex);
}
/* Clean up. */
/* ... Stop the camera. */
Pylon.DeviceExecuteCommandFeature(hDev, "AcquisitionStop");
/* ... We must issue a cancel call to ensure that all pending buffers are put into the
* stream grabber's output queue. */
Pylon.StreamGrabberCancelGrab(hGrabber);
/* ... The buffers can now be retrieved from the stream grabber. */
do
{
isReady = Pylon.StreamGrabberRetrieveResult(hGrabber, 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(hGrabber, pair.Key);
pair.Value.Dispose();
}
buffers = null;
/* ... Release grabbing related resources. */
Pylon.StreamGrabberFinishGrab(hGrabber);
/* 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(hGrabber);
/* ... 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 Pylon.Terminate(). */
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)
{
/* ... 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);
}
}