From cd9bbcfa620a9c89abcbe7dd9dfe65143b00e3ba Mon Sep 17 00:00:00 2001
From: Jan Grewe <jan.grewe@g-node.org>
Date: Wed, 12 Mar 2025 17:32:48 +0100
Subject: [PATCH] [dualcamgrabber] cleanup

---
 dualcamgrabber.cpp | 29 ++++-------------------------
 1 file changed, 4 insertions(+), 25 deletions(-)

diff --git a/dualcamgrabber.cpp b/dualcamgrabber.cpp
index 5f34d5c..20500b4 100644
--- a/dualcamgrabber.cpp
+++ b/dualcamgrabber.cpp
@@ -34,14 +34,6 @@ void DualcamGrabber::run() {
   bool failure = false;
 
   auto before = high_resolution_clock::now();
-  auto after = high_resolution_clock::now();
-  auto after1 = high_resolution_clock::now();
-  auto stitch = high_resolution_clock::now();
-  auto stitchncopy = high_resolution_clock::now();
-  auto grab_duration = duration_cast<microseconds>(after - before);
-  auto grab1_duration = duration_cast<microseconds>(after1 - before);
-  auto stitch_duration = duration_cast<microseconds>(stitch - after);
-  auto stitchncopy_duration = duration_cast<microseconds>(stitchncopy - after);
   auto done = high_resolution_clock::now();
   auto total_duration = duration_cast<microseconds>(done - before);
   int expected_usecs = (int)(1./framerate * 1000000);
@@ -52,13 +44,12 @@ void DualcamGrabber::run() {
       if (delay > 0) {
         emit delayed(delay, counter-1);
       } else {
-        // std::cerr << "expected ifi " << expected_usecs << " real ifi: " << total_duration.count() << " waiting for " << (-1*delay) << std::endl;
         usleep(-delay);
       }
     }
     before = high_resolution_clock::now();
 
-    if (cameras[0].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException) &
+    if (cameras[0].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException) &&
         cameras[1].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException)) {
       // std::cerr << "executing software triggers" << std::endl;
       cameras[0].ExecuteSoftwareTrigger();
@@ -67,20 +58,17 @@ void DualcamGrabber::run() {
 
     try {
       cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
-      after1 = high_resolution_clock::now();
       cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
       leftImage.AttachGrabResultBuffer( frame0 );
       rightImage.AttachGrabResultBuffer( frame1 );
-    } catch( ... ) {
+    } catch( const Pylon::GenericException &e ) {
       qDebug() << "Grabbing frame failed! " << e.what();
-      failure = true
+      failure = true;
     }
-    after = high_resolution_clock::now();
 
     if (!failure && leftImage.IsValid() && rightImage.IsValid()) {
       try {
         StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
-        stitch = high_resolution_clock::now();
         MyImage *img = new MyImage(stitchedImage.GetWidth(), stitchedImage.GetHeight());
         img->setFrame(stitchedImage);
         buffer->push(img);
@@ -89,18 +77,9 @@ void DualcamGrabber::run() {
       }
     }
 
-    stitchncopy = high_resolution_clock::now();
-    grab_duration = duration_cast<microseconds>(after - before);
-    grab1_duration = duration_cast<microseconds>(after1 - before);
-    stitch_duration = duration_cast<microseconds>(stitch - after);
-    stitchncopy_duration = duration_cast<microseconds>(stitchncopy - after);
-    // std::cerr << "framecount: " << counter << " grab1_duration (us): " << grab1_duration.count() << " grab_all (us): " << grab_duration.count() << std::endl;
-    // std::cerr << "\tpure stich (us): " << stitch_duration.count()  << " stich'n'copy (us): " << stitchncopy_duration.count() << std::endl;
+    counter += 1;
     done = high_resolution_clock::now();
     total_duration = duration_cast<microseconds>(done - before);
-    // double rate = (1./((double)total_duration.count()/1000000));
-    // std::cerr << "total_duration (us): " << total_duration.count() << " rate: " << rate << std::endl;
-    counter += 1;
   }
   cameras.StopGrabbing();
 }