From aa265565f245bc4070d00443453e758f7c73bd9b Mon Sep 17 00:00:00 2001
From: Jan Grewe <jan.grewe@g-node.org>
Date: Tue, 12 Mar 2024 15:30:07 +0100
Subject: [PATCH] manually grab from cameras

---
 dualcamgrabber.cpp | 30 ++++++++++++++++++++++--------
 dualcamgrabber.h   |  6 +++---
 2 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/dualcamgrabber.cpp b/dualcamgrabber.cpp
index 3f073a1..15b9de3 100644
--- a/dualcamgrabber.cpp
+++ b/dualcamgrabber.cpp
@@ -1,10 +1,12 @@
 #include "dualcamgrabber.h"
 #include <iostream>
 #include <pylon/PylonIncludes.h>
+#include <stitchimage.h>
 
 void DualcamGrabber::run() {
   stop_request = false;
-  size_t framecount = 0;
+  size_t counter = 0;
+
   if (wrapper->isOpen()) {
       Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
       wrapper->frameRate(static_cast<uint>(framerate));
@@ -12,17 +14,29 @@ void DualcamGrabber::run() {
       wrapper->gain(gain);
       cameras.StartGrabbing();
       Pylon::CGrabResultPtr frame0, frame1;
+      Pylon::CPylonImage leftImage;
+      Pylon::CPylonImage rightImage;
+      Pylon::CPylonImage stitchedImage;
+      std::string errorMessage = "";
 
       while (cameras.IsGrabbing() && !stop_request) {
           MyImage *img = new MyImage();
-          cameras.RetrieveResult( 5000, framecount % 2 == 0 ? frame0 : frame1, Pylon::TimeoutHandling_ThrowException );
-          img->setFrame(framecount % 2 == 0 ? frame0 : frame1);
-          if (framecount % 2 == 0) {
-            buffer0->push(img);
-          } else {
-            buffer1->push(img);
+          cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
+          cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
+
+          leftImage.AttachGrabResultBuffer( frame0 );
+          rightImage.AttachGrabResultBuffer( frame1 );
+
+          if (leftImage.IsValid() && rightImage.IsValid()) {
+            try {
+              StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
+              img->setFrame(stitchedImage);
+              buffer->push(img);
+            } catch(const std::exception& e) {
+              std::cerr << e.what() << '\n';
+            }
           }
-          framecount += 1;
+          counter += 1;
       }
       cameras.StopGrabbing();
     }
diff --git a/dualcamgrabber.h b/dualcamgrabber.h
index aef1afa..3564312 100644
--- a/dualcamgrabber.h
+++ b/dualcamgrabber.h
@@ -10,8 +10,8 @@ class DualcamGrabber : public QThread
 {
   Q_OBJECT
 public:
-  DualcamGrabber(DualcamWrapper *wrapper, ImageBuffer *buffer0, ImageBuffer * buffer1, int framerate, QObject *parent = nullptr) :
-    QThread(parent), wrapper(wrapper), buffer0(buffer0), buffer1(buffer1), framerate(framerate) {}
+  DualcamGrabber(DualcamWrapper *wrapper, ImageBuffer *buffer, int framerate, QObject *parent = nullptr) :
+    QThread(parent), wrapper(wrapper), buffer(buffer), framerate(framerate) {}
 
   void run() override;
   void stop();
@@ -30,7 +30,7 @@ public:
 private:
   bool stop_request = false;
   DualcamWrapper *wrapper;
-  ImageBuffer *buffer0, *buffer1;
+  ImageBuffer *buffer;
   int framerate;
   double exposure, gain;