From cb1c7772e87c0376ae14ec92558c0cb989762612 Mon Sep 17 00:00:00 2001
From: Jan Grewe <jan.grewe@g-node.org>
Date: Wed, 12 Mar 2025 09:55:45 +0100
Subject: [PATCH] [grabber] remove leftover code, explicitly set the image size

---
 dualcamgrabber.cpp | 35 ++++++++---------------------------
 grabber.cpp        |  3 ++-
 2 files changed, 10 insertions(+), 28 deletions(-)

diff --git a/dualcamgrabber.cpp b/dualcamgrabber.cpp
index 8fcb1e9..97ccf92 100644
--- a/dualcamgrabber.cpp
+++ b/dualcamgrabber.cpp
@@ -8,6 +8,7 @@ typedef high_resolution_clock Time;
 typedef milliseconds ms;
 typedef duration<float> fsec;
 
+
 void DualcamGrabber::run() {
   stop_request = false;
   size_t counter = 0;
@@ -25,51 +26,31 @@ void DualcamGrabber::run() {
       Pylon::CPylonImage stitchedImage;
       std::string errorMessage = "";
 
-      // int ifi = 0;
-      // int deviation = 0;
-      // std::cerr << wrapper->frameRate(0) << "\t" << wrapper->frameRate(1) << "\t" << framerate << std::endl;
-      // int desired_ifi = (1./wrapper->frameRate(0) * 1000000);
-      // auto framestart = high_resolution_clock::now();
       while (cameras.IsGrabbing() && !stop_request) {
-        // if (counter > 0) {
-        //   deviation = desired_ifi - ifi;
-        //   if (deviation > 0)
-        //     // usleep(deviation);
-        //     std::cerr << desired_ifi << "\t" << deviation << std::endl;
-        // }
-          // auto start = high_resolution_clock::now();
-          MyImage *img = new MyImage();
-          // auto stop1 = high_resolution_clock::now();
+          auto before = high_resolution_clock::now();
           try {
             cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
-            // auto stop2 = high_resolution_clock::now();
             cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
-            // auto stop3 = high_resolution_clock::now();
             leftImage.AttachGrabResultBuffer( frame0 );
             rightImage.AttachGrabResultBuffer( frame1 );
           } catch(const std::exception& e) {
             qDebug() << "Grabbing frame failed! " << e.what();
           }
+          auto after = high_resolution_clock::now();
           if (leftImage.IsValid() && rightImage.IsValid()) {
             try {
               StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
+              MyImage *img = new MyImage(stitchedImage.GetWidth(), stitchedImage.GetHeight());
               img->setFrame(stitchedImage);
               buffer->push(img);
             } catch(const std::exception& e) {
               std::cerr << e.what() << '\n';
             }
           }
-          // auto stop4 = high_resolution_clock::now();
-          // auto duration1 = duration_cast<microseconds>(stop1 - start);
-          // auto duration2 = duration_cast<microseconds>(stop2 - stop1);
-          // auto duration3 = duration_cast<microseconds>(stop3 - stop2);
-          // auto duration4 = duration_cast<microseconds>(stop4 - stop3);
-          // std::cerr << "framecount: " << counter << " image constr: " << duration1.count() << "\t" << " retrieve1: " << duration2.count() << "\t" << " retrieve2: " << duration3.count() << "\t" << "conversion: " << duration4.count() << std::endl;
-          // ifi = duration_cast<microseconds>(stop4 - framestart).count();
-          // framestart = stop4;
-          // if (counter > 0) {
-          //   std::cerr << "frame " << counter << " inter frame interval: " << ifi << "microseconds" << std::endl;
-          // } 
+          auto stitch = high_resolution_clock::now();
+          auto grab_duration = duration_cast<microseconds>(after - before);
+          auto stitch_duration = duration_cast<microseconds>(stitch - after);
+          std::cerr << "framecount: " << counter << " grab_duration (us): " << grab_duration.count() << "\t" << " stitching (us): " << stitch_duration.count() << std::endl;
           counter += 1;
       }
       cameras.StopGrabbing();
diff --git a/grabber.cpp b/grabber.cpp
index fc87e10..0876562 100644
--- a/grabber.cpp
+++ b/grabber.cpp
@@ -9,11 +9,12 @@ void Grabber::run() {
       camera->frameRate(static_cast<uint>(framerate));
       camera->exposureTime(exposure);
       camera->gain(gain);
+      ImageSettings settings = camera->getImageSettings();
       Pylon::CInstantCamera *cam = camera->getCamera();
       Pylon::CGrabResultPtr frame;
       cam->StartGrabbing();
       while (camera->isOpen() && !stop_request) {
-          MyImage *img = new MyImage();
+          MyImage *img = new MyImage(settings.width, settings.height);
           cam->RetrieveResult( 5000, frame, Pylon::TimeoutHandling_ThrowException);
           img->setFrame(frame);
           buffer->push(img);