From df182687945182e525eb229da7d14af713e96bcb Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 6 Jun 2020 17:19:45 +0300
Subject: [PATCH] Use raw BayerBG8 pixel format
---
components/rgbd-sources/src/sources/pylon/pylon.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/components/rgbd-sources/src/sources/pylon/pylon.cpp b/components/rgbd-sources/src/sources/pylon/pylon.cpp
index 42ea6e07c..a650088f9 100644
--- a/components/rgbd-sources/src/sources/pylon/pylon.cpp
+++ b/components/rgbd-sources/src/sources/pylon/pylon.cpp
@@ -57,8 +57,8 @@ PylonSource::PylonSource(ftl::rgbd::Source *host)
CEnumParameter format(nodemap, "PixelFormat");
LOG(INFO) << "Camera format: " << format.GetValue();
- if (format.CanSetValue("BGR8")) {
- format.SetValue("BGR8");
+ if (format.CanSetValue("BayerBG8")) { // YCbCr422_8
+ format.SetValue("BayerBG8");
} else {
LOG(WARNING) << "Could not change pixel format";
}
@@ -95,7 +95,7 @@ bool PylonSource::capture(int64_t ts) {
try {
if ( lcam_->WaitForFrameTriggerReady( 50, Pylon::TimeoutHandling_ThrowException)) {
lcam_->ExecuteSoftwareTrigger();
- LOG(INFO) << "TRIGGER";
+ //LOG(INFO) << "TRIGGER";
}
} catch (const GenericException &e) {
LOG(ERROR) << "Pylon: Trigger exception - " << e.GetDescription();
@@ -122,7 +122,7 @@ bool PylonSource::retrieve() {
Pylon::CGrabResultPtr ptrGrabResult;
int count = 0;
- if (lcam_->RetrieveResult(40, ptrGrabResult, Pylon::TimeoutHandling_Return)) ++count;
+ if (lcam_->RetrieveResult(0, ptrGrabResult, Pylon::TimeoutHandling_Return)) ++count;
if (count == 0 || !ptrGrabResult->GrabSucceeded()) {
LOG(ERROR) << "Retrieve failed";
@@ -132,10 +132,10 @@ bool PylonSource::retrieve() {
cv::Mat wrap(
ptrGrabResult->GetHeight(),
ptrGrabResult->GetWidth(),
- CV_8UC3,
+ CV_8UC1,
(uint8_t*)ptrGrabResult->GetBuffer());
- cv::cvtColor(wrap, tmp_, cv::COLOR_BGR2BGRA);
+ cv::cvtColor(wrap, tmp_, cv::COLOR_BayerBG2BGRA);
frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Colour).upload(tmp_);
} catch (const GenericException &e) {
--
GitLab