from pypylon import pylon
import cv2, numpy as np
from concurrent.futures import ThreadPoolExecutor



def save_image(self, img,name):
np.save(name, img, allow_pickle=False)


image_counter = 0
serial_number = '23437639'
info = None
max_threads = 5
pool = ThreadPoolExecutor(max_threads)


for i in pylon.TlFactory.GetInstance().EnumerateDevices():
if i.GetSerialNumber() == serial_number:
       info = i
       break
else:
       print('Camera with {} serial number not found '.format(serial_number))
if info is not None:
camera = pylon.InstantCamera(pylon.TlFactory.GetInstance().CreateDevice(info))
camera.Open()
camera.ReverseY.SetValue(True)

converter = pylon.ImageFormatConverter()
converter.OutputPixelFormat = pylon.PixelType_BGR8packed
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned

camera.StartGrabbing(pylon.GrabStrategy_LatestImageOnly)


print('starting to grab images')
while camera.IsGrabbing():
    with ThreadPoolExecutor(max_workers=5) as executor:
        grabResult = camera.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException)
        if grabResult.GrabSucceeded():
            img = converter.Convert(grabResult)
            img = img.GetArray()
            h, w, ch = img.shape
            image_counter += 1
            filename = f"./unprocessed_images/image-{image_counter}"
            print(f'\r save image = {image_counter}',end='',flush=True)
            executor.submit(save_image,filename,img,allow_picke=False)
   #np.save(filename,img, allow_pickle=False)