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OpenNI2: added parameters to control autoWhiteBalance and autoExposure

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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
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18
guilib/src/MainWindow.cpp
View File

@@ -1629,6 +1629,17 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
if(_camera)
{
_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
if(_camera->cameraRGBD() && dynamic_cast<CameraOpenNI2*>(_camera->cameraRGBD()) != 0)
{
((CameraOpenNI2*)_camera->cameraRGBD())->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)_camera->cameraRGBD())->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
if(CameraOpenNI2::exposureGainAvailable())
{
((CameraOpenNI2*)_camera->cameraRGBD())->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
((CameraOpenNI2*)_camera->cameraRGBD())->setGain(_preferencesDialog->getSourceOpenni2Gain());
}
}
}
if(_dbReader)
{
@@ -2227,6 +2238,13 @@ void MainWindow::startDetection()
}
return;
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
((CameraOpenNI2*)camera)->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
((CameraOpenNI2*)camera)->setGain(_preferencesDialog->getSourceOpenni2Gain());
}
_camera = new CameraThread(camera);
if(_odomThread)

71
guilib/src/PreferencesDialog.cpp
View File

@@ -114,6 +114,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#endif
_ui->predictionPlot->showLegend(false);
_ui->groupBox_openni2->setVisible(false);
QButtonGroup * buttonGroup = new QButtonGroup(this);
buttonGroup->addButton(_ui->radioButton_basic);
@@ -252,7 +253,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->radioButton_opennicv->setEnabled(CameraOpenNICV::available());
_ui->radioButton_opennicvasus->setEnabled(CameraOpenNICV::available());
connect(_ui->radioButton_openni2, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_openni2, SIGNAL(toggled(bool)), this, SLOT(showOpenNI2GroupBox(bool)));
_ui->radioButton_openni2->setEnabled(CameraOpenNI2::available());
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
connect(_ui->openni2_autoWhiteBalance, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniFx, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -856,6 +864,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->radioButton_openni2->setChecked(false);
_ui->radioButton_opennicv->setChecked(false);
_ui->radioButton_opennicvasus->setChecked(false);
_ui->openni2_autoWhiteBalance->setChecked(true);
_ui->openni2_autoExposure->setChecked(true);
_ui->openni2_exposure->setValue(0);
_ui->openni2_gain->setValue(100);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
_ui->doubleSpinBox_openniFx->setValue(0.0);
@@ -1111,6 +1123,10 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->radioButton_openni2->setChecked(settings.value("openni2", _ui->radioButton_openni2->isChecked()).toBool());
_ui->radioButton_opennicv->setChecked(settings.value("openniCvType", _ui->radioButton_opennicv->isChecked()).toBool());
_ui->radioButton_opennicvasus->setChecked(settings.value("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked()).toBool());
_ui->openni2_autoWhiteBalance->setChecked(settings.value("openni2AutoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked()).toBool());
_ui->openni2_autoExposure->setChecked(settings.value("openni2AutoExposure", _ui->openni2_autoExposure->isChecked()).toBool());
_ui->openni2_exposure->setValue(settings.value("openni2Exposure", _ui->openni2_exposure->value()).toInt());
_ui->openni2_gain->setValue(settings.value("openni2Gain", _ui->openni2_gain->value()).toInt());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
_ui->doubleSpinBox_openniFx->setValue(settings.value("fx", _ui->doubleSpinBox_openniFx->value()).toDouble());
@@ -1354,6 +1370,10 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.setValue("openni2", _ui->radioButton_openni2->isChecked());
settings.setValue("openniCvType", _ui->radioButton_opennicv->isChecked());
settings.setValue("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked());
settings.setValue("openni2AutoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked());
settings.setValue("openni2AutoExposure", _ui->openni2_autoExposure->isChecked());
settings.setValue("openni2Exposure", _ui->openni2_exposure->value());
settings.setValue("openni2Gain", _ui->openni2_gain->value());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
settings.setValue("fx", _ui->doubleSpinBox_openniFx->value());
@@ -2489,6 +2509,11 @@ void PreferencesDialog::changeDictionaryPath()
}
}
void PreferencesDialog::showOpenNI2GroupBox(bool shown)
{
_ui->groupBox_openni2->setVisible(shown);
}
/*** GETTERS ***/
//General
int PreferencesDialog::getGeneralLoggerLevel() const
@@ -2739,6 +2764,22 @@ PreferencesDialog::Src PreferencesDialog::getSourceRGBD() const
return kSrcOpenNI_PCL;
}
}
bool PreferencesDialog::getSourceOpenni2AutoWhiteBalance() const
{
return _ui->openni2_autoWhiteBalance->isChecked();
}
bool PreferencesDialog::getSourceOpenni2AutoExposure() const
{
return _ui->openni2_autoExposure->isChecked();
}
int PreferencesDialog::getSourceOpenni2Exposure() const
{
return _ui->openni2_exposure->value();
}
int PreferencesDialog::getSourceOpenni2Gain() const
{
return _ui->openni2_gain->value();
}
QString PreferencesDialog::getSourceOpenniDevice() const
{
return _ui->lineEdit_openniDevice->text();
@@ -2988,6 +3029,16 @@ void PreferencesDialog::testOdometry(int type)
delete camera;
camera = 0;
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(getSourceOpenni2AutoExposure());
if(CameraOpenNI2::exposureGainAvailable())
{
((CameraOpenNI2*)camera)->setExposure(getSourceOpenni2Exposure());
((CameraOpenNI2*)camera)->setGain(getSourceOpenni2Gain());
}
}
if(camera)
@@ -3143,6 +3194,16 @@ void PreferencesDialog::testRGBDCamera()
delete camera;
camera = 0;
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(getSourceOpenni2AutoExposure());
if(CameraOpenNI2::exposureGainAvailable())
{
((CameraOpenNI2*)camera)->setExposure(getSourceOpenni2Exposure());
((CameraOpenNI2*)camera)->setGain(getSourceOpenni2Gain());
}
}
if(camera)
@@ -3229,6 +3290,16 @@ void PreferencesDialog::calibrate()
delete camera;
camera = 0;
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(getSourceOpenni2AutoExposure());
if(CameraOpenNI2::exposureGainAvailable())
{
((CameraOpenNI2*)camera)->setExposure(getSourceOpenni2Exposure());
((CameraOpenNI2*)camera)->setGain(getSourceOpenni2Gain());
}
}
if(camera)

92
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>744</width>
<height>1161</height>
<width>736</width>
<height>909</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1786,6 +1786,92 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_openni2">
<property name="title">
<string>OpenNI 2</string>
</property>
<layout class="QFormLayout" name="formLayout_6">
<item row="3" column="0">
<widget class="QSpinBox" name="openni2_gain">
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="openni2_autoExposure">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="openni2_autoWhiteBalance">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_217">
<property name="text">
<string>Auto white balance.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_218">
<property name="text">
<string>Auto exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_219">
<property name="text">
<string>Exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">