PointGrey相机同步采集中使用boost::barrier

#include <boost/thread.hpp>#include <boost/thread/barrier.hpp>#include <boost/bind.hpp>//#include <boost/atomic.hpp>#include "FlyCapture2.h"#include <vector>#include <sstream>#include <boost/lexical_cast.hpp>boost::mutex io_mutex;using namespace FlyCapture2;unsigned long getThreadId(){    std::string threadId = boost::lexical_cast<std::string>(boost::this_thread::get_id());    unsigned long threadNumber = 0;    sscanf(threadId.c_str(), "%lx", &threadNumber);    return threadNumber;}void PrintCameraInfo( CameraInfo* pCamInfo ){    printf(        "\n*** CAMERA INFORMATION ***\n"        "Serial number - %u\n"        "Camera model - %s\n"        "Camera vendor - %s\n"        "Sensor - %s\n"        "Resolution - %s\n"        "Firmware version - %s\n"        "Firmware build time - %s\n\n",        pCamInfo->serialNumber,        pCamInfo->modelName,        pCamInfo->vendorName,        pCamInfo->sensorInfo,        pCamInfo->sensorResolution,        pCamInfo->firmwareVersion,        pCamInfo->firmwareBuildTime );}void PrintError( Error error ){    error.PrintErrorTrace();}/*void thread_fun(boost::barrier& cur_barier, boost::atomic<int>& current){    ++current;    cur_barier.wait();    //boost::lock_guard<boost::mutex> locker( );    std::cout << current << std::endl;}*/void capture_images(boost::barrier& cur_barier, Camera* c){    Error error;    //CameraInfo camInfo;    //c->GetCameraInfo( &camInfo );                                                                          //boost::lock_guard<boost::mutex> locker( );    //PrintCameraInfo(&camInfo);    int threadID = (int)getThreadId();    Image rawImage, convertedImage;     unsigned int numImages = 50;        std::vector<Image> vecImages;    vecImages.resize(numImages);    for (unsigned int j=0; j < numImages; j++ ) {        cur_barier.wait();        error = c->RetrieveBuffer( &rawImage );        if (error != PGRERROR_OK)        {          PrintError( error );          continue; //For threads, all the other threads have to continue -------------        }        // We'll also print out a timestamp        TimeStamp timestamp = rawImage.GetTimeStamp();        printf("Cam %d - Frame %d - TimeStamp [%u %u]\n",threadID,j,timestamp.cycleSeconds,timestamp.cycleCount);        vecImages[j].DeepCopy(&rawImage);    }    //Process and store the images captured    for (unsigned int j=0; j < numImages; j++) {        error = vecImages[j].Convert( PIXEL_FORMAT_RGB, &convertedImage );        if (error != PGRERROR_OK){          PrintError( error );          return;        }        // Create a unique filename        char filename[512];        sprintf( filename, "./images/cam--%d-%d.tiff", threadID, j);        // Save the image. If a file format is not passed in, then the file        // extension is parsed to attempt to determine the file format.        error = convertedImage.Save( filename );        if (error != PGRERROR_OK){          PrintError( error );          return;        }    }    c->StopCapture();    c->Disconnect();}int main(){    Error error;    CameraInfo camInfo;    BusManager busMgr;    unsigned int numCameras;    error = busMgr.GetNumOfCameras(&numCameras);    if (error != PGRERROR_OK)    {        PrintError( error );        return -1;    }    printf("cameras: %u\n", numCameras);    Camera* pcam[numCameras] ;    // now we do the formalities needed to establish a connection    for (unsigned int i=0; i<numCameras; i++) {      // connect to a camera       PGRGuid guid;      pcam[i] = new Camera();      error = busMgr.GetCameraFromIndex( i, &guid );      if (error != PGRERROR_OK)        {            PrintError( error );            return -1;        }      error = pcam[i]->Connect(&guid);      if (error != PGRERROR_OK)        {            PrintError( error );            return -1;        }      // Get the camera information      error = pcam[i]->GetCameraInfo( &camInfo );      if (error != PGRERROR_OK)        {            PrintError( error );            return -1;        }      // uncomment the following line if you really care about the camera info      // PrintCameraInfo(&camInfo);      // Next we turn isochronous images capture ON for both cameras          error = pcam[i]->StartCapture();      if (error != PGRERROR_OK)          {            PrintError( error );            return -1;          }    }//call the threads to capture images, convert and save to file------------------------------    boost::barrier bar(2);   // boost::atomic<int> current(0);    boost::thread thr1(boost::bind(&capture_images, boost::ref(bar), boost::ref(pcam[0])));    boost::thread thr2(boost::bind(&capture_images, boost::ref(bar), boost::ref(pcam[1])));    //boost::thread thr2(boost::bind(&thread_fun, boost::ref(bar), boost::ref(current)));    thr1.join();    thr2.join();    printf( "Do not press any key till images are captured and written...\n" );    getchar();    for ( unsigned int i = 0; i < numCameras; i++ )    {        delete pcam[i];    }    printf( "Done! Press Enter to exit...\n" );    getchar();    return 0;}