107 lines
4.1 KiB
C++
107 lines
4.1 KiB
C++
#include "dualcamgrabber.h"
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#include <iostream>
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#include <pylon/PylonIncludes.h>
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#include <stitchimage.h>
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#include <chrono>
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using namespace std::chrono;
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typedef high_resolution_clock Time;
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typedef milliseconds ms;
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typedef duration<float> fsec;
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void DualcamGrabber::run() {
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stop_request = false;
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size_t counter = 0;
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if (!wrapper->isOpen()) {
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return;
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}
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Pylon::CInstantCameraArray &cameras = wrapper->getCameraArray();
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wrapper->frameRate(static_cast<uint>(100), -1);
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wrapper->exposureTime(exposure);
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wrapper->gain(gain);
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wrapper->enableSoftwareTrigger(0);
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wrapper->enableSoftwareTrigger(1);
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cameras.StartGrabbing();
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Pylon::CGrabResultPtr frame0, frame1;
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Pylon::CPylonImage leftImage;
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Pylon::CPylonImage rightImage;
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Pylon::CPylonImage stitchedImage;
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std::string errorMessage = "";
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bool failure = false;
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auto before = high_resolution_clock::now();
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auto after = high_resolution_clock::now();
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auto after1 = high_resolution_clock::now();
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auto stitch = high_resolution_clock::now();
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auto stitchncopy = high_resolution_clock::now();
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auto grab_duration = duration_cast<microseconds>(after - before);
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auto grab1_duration = duration_cast<microseconds>(after1 - before);
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auto stitch_duration = duration_cast<microseconds>(stitch - after);
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auto stitchncopy_duration = duration_cast<microseconds>(stitchncopy - after);
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auto done = high_resolution_clock::now();
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auto total_duration = duration_cast<microseconds>(done - before);
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int expected_usecs = (int)(1./framerate * 1000000);
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while (cameras.IsGrabbing() && !stop_request && !failure) {
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if (counter > 0) {
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long delay = total_duration.count() - expected_usecs;
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if (delay > 0) {
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emit delayed(delay, counter-1);
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} else {
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// std::cerr << "expected ifi " << expected_usecs << " real ifi: " << total_duration.count() << " waiting for " << (-1*delay) << std::endl;
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usleep(-delay);
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}
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}
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before = high_resolution_clock::now();
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if (cameras[0].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException) &
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cameras[1].WaitForFrameTriggerReady(1000, Pylon::TimeoutHandling_ThrowException)) {
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// std::cerr << "executing software triggers" << std::endl;
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cameras[0].ExecuteSoftwareTrigger();
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cameras[1].ExecuteSoftwareTrigger();
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}
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try {
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cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
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after1 = high_resolution_clock::now();
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cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
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leftImage.AttachGrabResultBuffer( frame0 );
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rightImage.AttachGrabResultBuffer( frame1 );
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} catch( ... ) {
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qDebug() << "Grabbing frame failed! " << e.what();
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failure = true
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}
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after = high_resolution_clock::now();
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if (!failure && leftImage.IsValid() && rightImage.IsValid()) {
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try {
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StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
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stitch = high_resolution_clock::now();
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MyImage *img = new MyImage(stitchedImage.GetWidth(), stitchedImage.GetHeight());
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img->setFrame(stitchedImage);
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buffer->push(img);
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} catch(const std::exception& e) {
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std::cerr << e.what() << '\n';
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}
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}
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stitchncopy = high_resolution_clock::now();
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grab_duration = duration_cast<microseconds>(after - before);
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grab1_duration = duration_cast<microseconds>(after1 - before);
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stitch_duration = duration_cast<microseconds>(stitch - after);
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stitchncopy_duration = duration_cast<microseconds>(stitchncopy - after);
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// std::cerr << "framecount: " << counter << " grab1_duration (us): " << grab1_duration.count() << " grab_all (us): " << grab_duration.count() << std::endl;
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// std::cerr << "\tpure stich (us): " << stitch_duration.count() << " stich'n'copy (us): " << stitchncopy_duration.count() << std::endl;
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done = high_resolution_clock::now();
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total_duration = duration_cast<microseconds>(done - before);
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// double rate = (1./((double)total_duration.count()/1000000));
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// std::cerr << "total_duration (us): " << total_duration.count() << " rate: " << rate << std::endl;
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counter += 1;
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}
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cameras.StopGrabbing();
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}
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