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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
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@@ -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)