i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

OpenNI2: added parameters to control autoWhiteBalance and autoExposure

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2056 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-20 22:00:47 +00:00
parent 6bf271e04d
commit 3dfbde3b0d
7 changed files with 272 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/include/rtabmap/core/CameraRGBD.h
View File

@@ -196,6 +196,7 @@ class RTABMAP_EXP CameraOpenNI2 :
public:
static bool available();
static bool exposureGainAvailable();
public:
CameraOpenNI2(float imageRate = 0,
@@ -208,6 +209,11 @@ public:
virtual bool init();
bool setAutoWhiteBalance(bool enabled);
bool setAutoExposure(bool enabled);
bool setExposure(int value);
bool setGain(int value);
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);

3
corelib/include/rtabmap/core/CameraThread.h
View File

@@ -59,6 +59,9 @@ public:
bool isCapturing() const {return this->isRunning();}
void setImageRate(float imageRate);
Camera * camera() {return _camera;} // return null if not set, valid until CameraThread is deleted
CameraRGBD * cameraRGBD() {return _cameraRGBD;} // return null if not set, valid until CameraThread is deleted
private:
virtual void mainLoop();