ContinuousCaptureOnlyProcessLatest.cpp

The ContinuousCaptureOnlyProcessLatest program is based on the ContinuousCapture.cpp example. It, however, will show the last captured image immediately regardless of the request queue. For this, you can say, this sample is a real-time capture sample.

Note

On Linux this example can only be built when using CMake with C++11 compliant compiler (e.g. gcc 5.0 or greater).

Program location

The source file ContinuousCaptureOnlyProcessLatest.cpp can be found under:

%INSTALLDIR%\apps\ContinuousCaptureOnlyProcessLatest\

Note

If you have installed the package without example applications, this file will not be available. On Windows® the sample application can be installed or removed from the target system at any time by simply restarting the installation package.

ContinuousCaptureOnlyProcessLatest example:

1. Opens a Balluff device.
2. Captures images continuously, processes the latest one and displays it (without display using Linux).

Console Output

[0]: GX001559 (mvBlueCOUGAR-X122G, Family: mvBlueCOUGAR, interface layout: DeviceSpecific)
[1]: BF000306 (mvBlueFOX-202C, Family: mvBlueFOX, interface layout: DeviceSpecific)

Please enter the number in front of the listed device followed by [ENTER] to open it: 0

How it works

Normally, the continuous acquisition is a thread based acquisition with queues (request and result). As soon as a valid request was sent, the requested image will be released. Depending on the frame rate, this could take some time (milliseconds!) until the request queue was processed and the current requested image is available. However, this is no "real-time" acquisition, because the first available image will be processed and not the last one which was captured.

The ContinuousCaptureOnlyProcessLatest sample shows how to you can receive the latest image. For this the ContinuousCapture.cpp example was extended by preprocessor macros:

// comment this line to see the effect of queue underruns
#define DROP_OUTDATED_IMAGES
// uncomment this line to get more output into the console window
//#define VERBOSE_OUTPUT

With the first (uncommented by default) one, you can see the "real-time" processing which empties the request queue first. If you want to see the effect of queue underruns, you have to comment this line.

Note

Queue underruns e.g. will occur when the image processing time of your application (in the sample simulated with sleep()) is longer than 1/frames per second as then new images will become ready faster than new capture buffers will be sent to the driver. Applications might want to process the latest frame only then. However it is crucial to understand, that this still can only work, if the driver has enough requests to stay busy during the image processing time. Then when picking up the latest frame and re-queuing all the other buffer during that pickup operation the application will show the desired behaviour. If not, queue underruns will continue to happen!

mvBlueFOX3-* cameras might return outdated images under certain conditions even after image dropping, as images are currently streamed out of the device only on user request, i.e. only if USB buffers are provided from the host. This example can show this behaviour, if the sleep time to number of requests to nominal frame rate ratio is not well.

With the second (commented by default) one, you will see more output in the console window.

The sample empties the request queue using a do / while loop. The loop is running until the request number is not valid:

// get the newest valid image and throw away all others
Request* pPreviousRequest = nullptr;
do
{
  // get a queued result from the default capture queue without waiting
  requestNr = fi.imageRequestWaitFor( 0 );
  if( fi.isRequestNrValid( requestNr ) )
  {
    if( pRequest != nullptr )
    {
      discard an outdated buffer and send it to the driver again to request new data into it
    }
    pRequest = fi.getRequest( requestNr );
  }
} while( fi.isRequestNrValid( requestNr ) ); // end loop when request number is not valid.

Note

It should be clear that images get lost because request objects are locked!

Afterwards the sample waits for results ...

requestNr = fi.imageRequestWaitFor( timeout_ms );
pRequest = fi.isRequestNrValid( requestNr ) ? fi.getRequest( requestNr ) : 0;

... and finally when the request is ok (pRequest->isOK()) it will display the latest process image:

display.SetImage( pRequest );
display.Update();

Source code

//
// @description: Example applications for Impact Acquire
// @copyright: Copyright (C) 2005 - 2024 Balluff GmbH
// @authors: APIs and drivers development team at Balluff GmbH
// @initial date: 2005-03-15
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice (including the next paragraph) shall be included in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,i
// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//
 
#include <iostream>
#include <limits>
#include <memory>
#include <thread>
#include <apps/Common/exampleHelper.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire_GenICam.h>
#ifdef _WIN32
#   include <mvDisplay/Include/mvIMPACT_acquire_display.h>
using namespace mvIMPACT::acquire::display;
#   define USE_DISPLAY
#   undef min // otherwise we can't work with the 'numeric_limits' template here as Windows defines a macro 'min'
#   undef max // otherwise we can't work with the 'numeric_limits' template here as Windows defines a macro 'max'
#endif // #ifdef _WIN32
 
// comment this line to see the effect of queue underruns
#define DROP_OUTDATED_IMAGES
// uncomment this line to get more output into the console window
//#define VERBOSE_OUTPUT
 
using namespace mvIMPACT::acquire;
using namespace std;
 
static bool s_boTerminated = false;
 
//-----------------------------------------------------------------------------
struct ThreadParameter
//-----------------------------------------------------------------------------
{
    Device* pDev;
#ifdef USE_DISPLAY
    unique_ptr<ImageDisplayWindow> pDisplayWindow;
#endif // #ifdef USE_DISPLAY
    explicit ThreadParameter( Device* p ) : pDev( p ) {}
    ThreadParameter( const ThreadParameter& src ) = delete;
    ThreadParameter& operator=( const ThreadParameter& rhs ) = delete;
};
 
//-----------------------------------------------------------------------------
class TimeStampProvider
//-----------------------------------------------------------------------------
{
private:
    unsigned long long timestampTickFrequency_ = {1000000000};
    mutable unique_ptr<PropertyI64> pTimestamp_;
    unique_ptr<Method> pTimestampLatch_;
public:
    explicit TimeStampProvider( Device* pDev ) : pTimestamp_(), pTimestampLatch_()
    {
        GenICam::DeviceControl dc( pDev );
        GenICam::TransportLayerControl tlc( pDev );
        if( dc.timestamp.isValid() )
        {
            pTimestamp_ = unique_ptr<PropertyI64>( new PropertyI64( dc.timestamp.hObj() ) );
        }
        else if( dc.timestampLatchValue.isValid() )
        {
            pTimestamp_ = unique_ptr<PropertyI64>( new PropertyI64( dc.timestampLatchValue.hObj() ) );
        }
        else if( tlc.gevTimestampValue.isValid() )
        {
            pTimestamp_ = unique_ptr<PropertyI64>( new PropertyI64( tlc.gevTimestampValue.hObj() ) );
            if( tlc.gevTimestampTickFrequency.isValid() )
            {
                timestampTickFrequency_ = tlc.gevTimestampTickFrequency.read();
            }
        }
 
        if( dc.timestampLatch.isValid() )
        {
            pTimestampLatch_ = unique_ptr<Method>( new Method( dc.timestampLatch.hObj() ) );
        }
        else if( tlc.gevTimestampControlLatch.isValid() )
        {
            pTimestampLatch_ = unique_ptr<Method>( new Method( tlc.gevTimestampControlLatch.hObj() ) );
        }
 
        if( dc.timestampReset.isValid() )
        {
            dc.timestampReset.call();
        }
        else if( tlc.gevTimestampControlReset.isValid() )
        {
            tlc.gevTimestampControlReset.call();
        }
    }
    unsigned long long getTimestamp_us( void ) const
    {
        if( pTimestamp_ && pTimestampLatch_ && ( static_cast<TDMR_ERROR>( pTimestampLatch_->call() ) == DMR_NO_ERROR ) )
        {
            const double t = static_cast<double>( pTimestamp_->read() ) / static_cast<double>( timestampTickFrequency_ );
            return static_cast<unsigned long long>( t * 1000000 );
        }
        return numeric_limits<unsigned long long>::max();
    }
};
 
//-----------------------------------------------------------------------------
void liveThread( ThreadParameter* pThreadParameter )
//-----------------------------------------------------------------------------
{
    cout << "Initialising the device. This might take some time..." << endl;
    try
    {
        pThreadParameter->pDev->open();
    }
    catch( const ImpactAcquireException& e )
    {
        // this e.g. might happen if the same device is already opened in another process...
        cout << "An error occurred while opening the device " << pThreadParameter->pDev->serial.read()
             << "(error code: " << e.getErrorCodeAsString() << ")." << endl
             << "Press [ENTER] to end the application..." << endl;
        cin.get();
        return;
    }
 
#ifdef USE_DISPLAY
    ImageDisplay& display = pThreadParameter->pDisplayWindow->GetImageDisplay();
#endif // #ifdef USE_DISPLAY
    // establish access to the statistic properties
    Statistics statistics( pThreadParameter->pDev );
    // create an interface to the device found
    FunctionInterface fi( pThreadParameter->pDev );
 
    unique_ptr<TimeStampProvider> pTimestampProvider( ( pThreadParameter->pDev->interfaceLayout.read() == dilGenICam ) ? new TimeStampProvider( pThreadParameter->pDev ) : 0 );
 
    // Send all requests to the capture queue. There can be more than 1 queue for some devices, but for this sample
    // we will work with the default capture queue. If a device supports more than one capture or result
    // queue, this will be stated in the manual. If nothing is said about it, the device supports one
    // queue only. This loop will send all requests currently available to the driver. To modify the number of requests
    // use the property mvIMPACT::acquire::SystemSettings::requestCount at runtime (note that some devices will
    // only allow to modify this parameter while NOT streaming data!) like so
    //     SystemSettings ss( pThreadParameter->pDev );
    //     ss.requestCount.write( 10 );
    // or the property mvIMPACT::acquire::Device::defaultRequestCount BEFORE opening the device.
    // Please note that reducing the 'requestCount' at runtime is only possible when the driver is current not holding
    // ANY request and EVERY request returned to the application has already been unlocked again.
    TDMR_ERROR result = DMR_NO_ERROR;
    while( ( result = static_cast<TDMR_ERROR>( fi.imageRequestSingle() ) ) == DMR_NO_ERROR ) {};
#ifdef VERBOSE_OUTPUT
    unsigned long long previousTimestamp = pTimestampProvider ? previousTimestamp = pTimestampProvider->getTimestamp_us() : 0;
#endif // #ifdef VERBOSE_OUTPUT
    if( result != DEV_NO_FREE_REQUEST_AVAILABLE )
    {
        cout << "'FunctionInterface.imageRequestSingle' returned with an unexpected result: " << result
             << "(" << ImpactAcquireException::getErrorCodeAsString( result ) << ")" << endl;
    }
 
    manuallyStartAcquisitionIfNeeded( pThreadParameter->pDev, fi );
    // run thread loop
    int requestNr = {INVALID_ID};
    Request* pRequest = nullptr;
    // we always have to keep at least 2 images as the displayWindow module might want to repaint the image, thus we
    // can not free request buffer unless we have assigned the displayWindow to a new buffer.
    Request* pPreviousRequest = nullptr;
    const unsigned int timeout_ms = {500};
    unsigned int cnt = {0};
    while( !s_boTerminated )
    {
        // Queue underruns can be simulated by switching of this section and maybe fine-tune the value of
        // the sleep time in the call to 'sleep_for' below.
#ifdef DROP_OUTDATED_IMAGES
        // if results are queued because the image processing was to slow for the current frame rate
        // get the newest valid image and throw away all others
        do
        {
            // get a queued result from the default capture queue without waiting(just check if there are pending results)
            requestNr = fi.imageRequestWaitFor( 0 );
            if( fi.isRequestNrValid( requestNr ) )
            {
                pRequest = fi.getRequest( requestNr );
#   ifdef VERBOSE_OUTPUT
                cout << "Unlocking outdated request:            request_number=" << pRequest->getNumber() << "." << endl;
#   endif // #ifdef VERBOSE_OUTPUT
                // discard an outdated buffer
                pRequest->unlock();
#ifdef VERBOSE_OUTPUT
                // get timestamp to always have latest timestamp after dumping
                previousTimestamp = pTimestampProvider ? pTimestampProvider->getTimestamp_us() : pPreviousRequest->infoTimeStamp_us.read();
#endif // #ifdef VERBOSE_OUTPUT
                // and send it to the driver again to request new data into it
                fi.imageRequestSingle();
                pRequest = nullptr;
            }
        }
        while( fi.isRequestNrValid( requestNr ) );
#endif // #ifdef DROP_OUTDATED_IMAGES
 
        if( pRequest == nullptr )
        {
            // there was no image in the queue we have to wait for results from the default capture queue
#ifdef VERBOSE_OUTPUT
            cout << "Waiting for a request to become ready:";
#endif // #ifdef VERBOSE_OUTPUT
            requestNr = fi.imageRequestWaitFor( timeout_ms );
            pRequest = fi.isRequestNrValid( requestNr ) ? fi.getRequest( requestNr ) : nullptr;
        }
#ifdef VERBOSE_OUTPUT
        else
        {
            cout << "Processing already received request:  ";
        }
        cout << " request_number=" << pRequest->getNumber() << " and timestamp=" << pRequest->infoTimeStamp_us.read() << " and last_timestamp=" << previousTimestamp << " and difference=" << ( signed int )( pRequest->infoTimeStamp_us.read() - previousTimestamp ) << "usec." << endl;
#endif // #ifdef VERBOSE_OUTPUT
 
        if( pRequest != nullptr )
        {
            if( pRequest->isOK() )
            {
                ++cnt;
                // here we can display some statistical information every 100th image
                if( cnt % 100 == 0 )
                {
                    cout << "Info from " << pThreadParameter->pDev->serial.read()
                         << ": " << statistics.framesPerSecond.name() << ": " << statistics.framesPerSecond.readS()
                         << ", " << statistics.errorCount.name() << ": " << statistics.errorCount.readS()
                         << ", " << statistics.captureTime_s.name() << ": " << statistics.captureTime_s.readS() << endl;
                }
#ifdef USE_DISPLAY
                display.SetImage( pRequest );
                display.Update();
#endif // #ifdef USE_DISPLAY
                // simulates lengthy image processing time. Note that for devices or applications using a frame rate lower
                // than 5 fps this will have no effect. To simulate the desired behaviour of this example, this sleep time
                // needs to be longer than 1/frames per second!
                // Queue underruns will occur when e.g. the image processing time of your application (in this sample simulated
                // with \c sleep()) is longer than 1/frames per second as then new images will become ready faster than new
                // capture buffers will be sent to the driver. Applications might want to process the latest frame only then.
                // However it is crucial to understand that this still can only work, if the driver has enough requests
                // to stay busy during the image processing time. Then when picking up the latest frame and
                // re-queuing all the other buffer during that pickup operation the application will show the desired
                // behaviour. If not, queue underruns will continue to happen!
                // Note that mvBlueFOX3-* cameras might return outdated images under certain conditions even after image
                // dropping, as images are currently streamed out of the device only on user request, i.e. only if USB
                // buffers are provided from the host. This example can show this behaviour, if the sleep time is longer
                // than 1/frames per second, as this leads to the accumulation of "old" images in the framebuffer of the
                // mvBlueFOX3.
                this_thread::sleep_for( chrono::milliseconds( 200 ) );
            }
            else
            {
                cout << "Error: " << pRequest->requestResult.readS() << endl;
            }
            if( pPreviousRequest != nullptr )
            {
                // this image has been displayed thus the buffer is no longer needed...
                pPreviousRequest->unlock();
            }
            pPreviousRequest = pRequest;
            // this line is crucial for this application only. Without it buffers
            // will not be picked up in the correct way!
            pRequest = nullptr;
#ifdef VERBOSE_OUTPUT
            // get timestamp at request time
            previousTimestamp = pTimestampProvider ? pTimestampProvider->getTimestamp_us() : pPreviousRequest->infoTimeStamp_us.read();
#endif // #ifdef VERBOSE_OUTPUT
            // send a new image request into the capture queue
            fi.imageRequestSingle();
        }
        //else
        //{
        // Please note that slow systems or interface technologies in combination with high resolution sensors
        // might need more time to transmit an image than the timeout value which has been passed to imageRequestWaitFor().
        // If this is the case simply wait multiple times OR increase the timeout(not recommended as usually not necessary
        // and potentially makes the capture thread less responsive) and rebuild this application.
        // Once the device is configured for triggered image acquisition and the timeout elapsed before
        // the device has been triggered this might happen as well.
        // The return code would be -2119(DEV_WAIT_FOR_REQUEST_FAILED) in that case, the documentation will provide
        // additional information under TDMR_ERROR in the interface reference.
        // If waiting with an infinite timeout(-1) it will be necessary to call 'imageRequestReset' from another thread
        // to force 'imageRequestWaitFor' to return when no data is coming from the device/can be captured.
        // cout << "imageRequestWaitFor failed (" << requestNr << ", " << ImpactAcquireException::getErrorCodeAsString( requestNr ) << ")"
        //   << ", timeout value too small?" << endl;
        //}
    }
    manuallyStopAcquisitionIfNeeded( pThreadParameter->pDev, fi );
 
#ifdef USE_DISPLAY
    // stop the displayWindow from showing freed memory
    display.RemoveImage();
#endif // #ifdef USE_DISPLAY
    // In this sample all the next lines are redundant as the device driver will be
    // closed now, but in a real world application a thread like this might be started
    // several times an then it becomes crucial to clean up correctly.
 
    // free the last potentially locked request
    if( pPreviousRequest != nullptr )
    {
        pPreviousRequest->unlock();
    }
    // clear all queues
    fi.imageRequestReset( 0, 0 );
}
 
//-----------------------------------------------------------------------------
int main( void )
//-----------------------------------------------------------------------------
{
    DeviceManager devMgr;
    Device* pDev = getDeviceFromUserInput( devMgr );
    if( pDev == nullptr )
    {
        cout << "Unable to continue! Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    // start the execution of the 'live' thread.
    cout << "Press [ENTER] to end the application" << endl;
    ThreadParameter threadParam( pDev );
#ifdef USE_DISPLAY
    // initialise display window
    // IMPORTANT: It's NOT safe to create multiple display windows in multiple threads!!!
    threadParam.pDisplayWindow = unique_ptr<ImageDisplayWindow>( new ImageDisplayWindow( "mvIMPACT_acquire sample, Device " + pDev->serial.read() ) );
#endif // #ifdef USE_DISPLAY
    thread myThread( liveThread, &threadParam );
    cin.get();
    s_boTerminated = true;
    myThread.join();
    return 0;
}