From af5c744208225a436ff84ea6b4e4b8fc1db7f7c0 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 7 Jun 2020 13:15:01 +0300
Subject: [PATCH] Remove old pylon files
---
.../rgbd-sources/src/sources/pylon/pylon.cpp | 174 ------------------
.../rgbd-sources/src/sources/pylon/pylon.hpp | 40 ----
2 files changed, 214 deletions(-)
delete mode 100644 components/rgbd-sources/src/sources/pylon/pylon.cpp
delete mode 100644 components/rgbd-sources/src/sources/pylon/pylon.hpp
diff --git a/components/rgbd-sources/src/sources/pylon/pylon.cpp b/components/rgbd-sources/src/sources/pylon/pylon.cpp
deleted file mode 100644
index 87eff0c3d..000000000
--- a/components/rgbd-sources/src/sources/pylon/pylon.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-#include "pylon.hpp"
-
-#include <loguru.hpp>
-#include <ftl/threads.hpp>
-#include <ftl/rgbd/source.hpp>
-
-#include <pylon/PylonIncludes.h>
-#include <pylon/BaslerUniversalInstantCamera.h>
-
-#include <opencv2/imgproc.hpp>
-
-using ftl::rgbd::detail::PylonSource;
-using std::string;
-using ftl::codecs::Channel;
-using cv::cuda::GpuMat;
-using namespace Pylon;
-
-PylonSource::PylonSource(ftl::rgbd::Source *host)
- : ftl::rgbd::BaseSourceImpl(host), ready_(false), lcam_(nullptr), rcam_(nullptr) {
- capabilities_ = kCapVideo;
-
- auto &inst = CTlFactory::GetInstance();
-
- Pylon::DeviceInfoList_t devices;
- inst.EnumerateDevices(devices);
-
- if (devices.size() == 0) {
- LOG(ERROR) << "No Pylon devices attached";
- return;
- } else {
- for (auto d : devices) {
- LOG(INFO) << " - found Pylon device - " << d.GetFullName() << "(" << d.GetModelName() << ")";
- }
- }
-
- try {
- lcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[0]));
- lcam_->RegisterConfiguration( new Pylon::CSoftwareTriggerConfiguration, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
- lcam_->Open();
-
- if (devices.size() >= 2) {
- rcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[1]));
- rcam_->RegisterConfiguration( new Pylon::CSoftwareTriggerConfiguration, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
- rcam_->Open();
- }
-
- _configureCamera(lcam_);
- if (rcam_) _configureCamera(rcam_);
-
- lcam_->StartGrabbing( Pylon::GrabStrategy_OneByOne);
-
- ready_ = true;
- } catch (const Pylon::GenericException &e) {
- // Error handling.
- LOG(ERROR) << "Pylon: An exception occurred - " << e.GetDescription();
- }
-
- /*params_.width = intrin.width;
- params_.height = intrin.height;
- params_.cx = -intrin.ppx;
- params_.cy = -intrin.ppy;
- params_.fx = intrin.fx;
- params_.fy = intrin.fy;
- params_.maxDepth = 3.0;
- params_.minDepth = 0.1;
- params_.doffs = 0.0;*/
-
- state_.getLeft() = params_;
-}
-
-PylonSource::~PylonSource() {
-
-}
-
-void PylonSource::_configureCamera(CBaslerUniversalInstantCamera *cam) {
- // Get the camera control object.
- GenApi::INodeMap& nodemap = cam->GetNodeMap();
- // Get the parameters for setting the image area of interest (Image AOI).
- CIntegerParameter width(nodemap, "Width");
- CIntegerParameter height(nodemap, "Height");
- CIntegerParameter offsetX(nodemap, "OffsetX");
- CIntegerParameter offsetY(nodemap, "OffsetY");
-
- params_.width = width.GetValue();
- params_.height = height.GetValue();
-
- LOG(INFO) << "Camera resolution = " << params_.width << "x" << params_.height;
-
- // Set the pixel data format.
- CEnumParameter format(nodemap, "PixelFormat");
- LOG(INFO) << "Camera format: " << format.GetValue();
-
- if (format.CanSetValue("BayerBG8")) { // YCbCr422_8
- format.SetValue("BayerBG8");
- } else {
- LOG(WARNING) << "Could not change pixel format";
- }
-}
-
-bool PylonSource::capture(int64_t ts) {
- if (!isReady()) return false;
-
- try {
- lcam_->WaitForFrameTriggerReady( 30, Pylon::TimeoutHandling_ThrowException);
- if (rcam_) rcam_->WaitForFrameTriggerReady( 30, Pylon::TimeoutHandling_ThrowException);
-
- lcam_->ExecuteSoftwareTrigger();
- if (rcam_) rcam_->ExecuteSoftwareTrigger();
- } catch (const GenericException &e) {
- LOG(ERROR) << "Pylon: Trigger exception - " << e.GetDescription();
- }
-
- return true;
-}
-
-bool PylonSource::retrieve(ftl::rgbd::Frame &frame) {
- if (!isReady()) return false;
-
- frame.reset();
- frame.setOrigin(&state_);
-
- try {
- /*if ( lcam_->GetGrabResultWaitObject().Wait(40)) {
- LOG(INFO) << "Grad result waiting";
- } else {
- LOG(INFO) << "No results";
- return false;
- }*/
-
- Pylon::CGrabResultPtr result_left;
- Pylon::CGrabResultPtr result_right;
-
- int lcount = 0;
- if (lcam_->RetrieveResult(0, result_left, Pylon::TimeoutHandling_Return)) ++lcount;
-
- int rcount = 0;
- if (rcam_ && rcam_->RetrieveResult(0, result_right, Pylon::TimeoutHandling_Return)) ++rcount;
-
- if (lcount == 0 || !result_left->GrabSucceeded()) {
- LOG(ERROR) << "Retrieve failed";
- return false;
- }
-
- cv::Mat wrap_left(
- result_left->GetHeight(),
- result_left->GetWidth(),
- CV_8UC1,
- (uint8_t*)result_left->GetBuffer());
-
- cv::cvtColor(wrap_left, tmp_, cv::COLOR_BayerBG2BGRA);
- frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Colour).upload(tmp_);
-
- if (rcount > 0 && result_right->GrabSucceeded()) {
- cv::Mat wrap_right(
- result_right->GetHeight(),
- result_right->GetWidth(),
- CV_8UC1,
- (uint8_t*)result_right->GetBuffer());
-
- cv::cvtColor(wrap_right, tmp_, cv::COLOR_BayerBG2BGRA);
- frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Colour2).upload(tmp_);
- }
-
- } catch (const GenericException &e) {
- LOG(ERROR) << "Pylon: An exception occurred - " << e.GetDescription();
- }
-
- return true;
-}
-
-bool PylonSource::isReady() {
- return lcam_ && lcam_->IsOpen();
-}
-
diff --git a/components/rgbd-sources/src/sources/pylon/pylon.hpp b/components/rgbd-sources/src/sources/pylon/pylon.hpp
deleted file mode 100644
index df80e70a7..000000000
--- a/components/rgbd-sources/src/sources/pylon/pylon.hpp
+++ /dev/null
@@ -1,40 +0,0 @@
-#pragma once
-#ifndef _FTL_RGBD_PYLON_HPP_
-#define _FTL_RGBD_PYLON_HPP_
-
-#include "../../basesource.hpp"
-#include <string>
-
-namespace Pylon {
-class CBaslerUniversalInstantCamera;
-}
-
-namespace ftl {
-
-namespace rgbd {
-
-namespace detail {
-
-class PylonSource : public ftl::rgbd::BaseSourceImpl {
- public:
- explicit PylonSource(ftl::rgbd::Source *host);
- ~PylonSource();
-
- bool capture(int64_t ts);
- bool retrieve(ftl::rgbd::Frame &frame);
- bool isReady();
-
- private:
- bool ready_;
- Pylon::CBaslerUniversalInstantCamera *lcam_;
- Pylon::CBaslerUniversalInstantCamera *rcam_;
- cv::Mat tmp_;
-
- void _configureCamera(Pylon::CBaslerUniversalInstantCamera *cam);
-};
-
-}
-}
-}
-
-#endif // _FTL_RGBD_PYLON_HPP_
--
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