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[dualcamgrabber] cleanup

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This commit is contained in:
Jan Grewe 2025-03-12 17:32:48 +01:00
parent 0fa532d59a
commit cd9bbcfa62
1 changed files with 4 additions and 25 deletions
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29
dualcamgrabber.cpp
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@ -34,14 +34,6 @@ void DualcamGrabber::run() {
bool failure = false; bool failure = false;
auto before = high_resolution_clock::now(); 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 done = high_resolution_clock::now();
auto total_duration = duration_cast<microseconds>(done - before); auto total_duration = duration_cast<microseconds>(done - before);
int expected_usecs = (int)(1./framerate * 1000000); int expected_usecs = (int)(1./framerate * 1000000);
@ -52,13 +44,12 @@ void DualcamGrabber::run() {
if (delay > 0) { if (delay > 0) {
emit delayed(delay, counter-1); emit delayed(delay, counter-1);
} else { } else {
// std::cerr << "expected ifi " << expected_usecs << " real ifi: " << total_duration.count() << " waiting for " << (-1*delay) << std::endl;
usleep(-delay); usleep(-delay);
} }
} }
before = high_resolution_clock::now(); 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)) { cameras[1].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException)) {
// std::cerr << "executing software triggers" << std::endl; // std::cerr << "executing software triggers" << std::endl;
cameras[0].ExecuteSoftwareTrigger(); cameras[0].ExecuteSoftwareTrigger();
@ -67,20 +58,17 @@ void DualcamGrabber::run() {
try { try {
cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException ); cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
after1 = high_resolution_clock::now();
cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException ); cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
leftImage.AttachGrabResultBuffer( frame0 ); leftImage.AttachGrabResultBuffer( frame0 );
rightImage.AttachGrabResultBuffer( frame1 ); rightImage.AttachGrabResultBuffer( frame1 );
} catch( ... ) { } catch( const Pylon::GenericException &e ) {
qDebug() << "Grabbing frame failed! " << e.what(); qDebug() << "Grabbing frame failed! " << e.what();
failure = true failure = true;
} }
after = high_resolution_clock::now();
if (!failure && leftImage.IsValid() && rightImage.IsValid()) { if (!failure && leftImage.IsValid() && rightImage.IsValid()) {
try { try {
StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage); StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
stitch = high_resolution_clock::now();
MyImage *img = new MyImage(stitchedImage.GetWidth(), stitchedImage.GetHeight()); MyImage *img = new MyImage(stitchedImage.GetWidth(), stitchedImage.GetHeight());
img->setFrame(stitchedImage); img->setFrame(stitchedImage);
buffer->push(img); buffer->push(img);
@ -89,18 +77,9 @@ void DualcamGrabber::run() {
} }
} }
stitchncopy = high_resolution_clock::now(); counter += 1;
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;
done = high_resolution_clock::now(); done = high_resolution_clock::now();
total_duration = duration_cast<microseconds>(done - before); 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(); cameras.StopGrabbing();
} }