Remove old pylon files

components/rgbd-sources/src/sources/pylon/pylon.cpp

-#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();
-}
-

components/rgbd-sources/src/sources/pylon/pylon.hpp

-#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_