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();

80
corelib/src/CameraRGBD.cpp
View File

@@ -52,6 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#ifdef WITH_OPENNI2
#include <OniVersion.h>
#include <OpenNI.h>
#endif
@@ -336,6 +337,15 @@ bool CameraOpenNI2::available()
#endif
}
bool CameraOpenNI2::exposureGainAvailable()
{
#if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
return true;
#else
return false;
#endif
}
CameraOpenNI2::CameraOpenNI2(float imageRate, const rtabmap::Transform & localTransform, float fx, float fy, float cx, float cy) :
CameraRGBD(imageRate, localTransform, fx, fy, cx, cy),
#ifdef WITH_OPENNI2
@@ -368,6 +378,66 @@ CameraOpenNI2::~CameraOpenNI2()
#endif
}
bool CameraOpenNI2::setAutoWhiteBalance(bool enabled)
{
#ifdef WITH_OPENNI2
if(_color && _color->getCameraSettings())
{
return _color->getCameraSettings()->setAutoWhiteBalanceEnabled(enabled) == openni::STATUS_OK;
}
#else
UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
#endif
return false;
}
bool CameraOpenNI2::setAutoExposure(bool enabled)
{
#ifdef WITH_OPENNI2
if(_color && _color->getCameraSettings())
{
return _color->getCameraSettings()->setAutoExposureEnabled(enabled) == openni::STATUS_OK;
}
#else
UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
#endif
return false;
}
bool CameraOpenNI2::setExposure(int value)
{
#ifdef WITH_OPENNI2
#if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
if(_color && _color->getCameraSettings())
{
return _color->getCameraSettings()->setExposure(value) == openni::STATUS_OK;
}
#else
UERROR("CameraOpenNI2: OpenNI >= 2.2 required to use this method.");
#endif
#else
UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
#endif
return false;
}
bool CameraOpenNI2::setGain(int value)
{
#ifdef WITH_OPENNI2
#if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
if(_color && _color->getCameraSettings())
{
return _color->getCameraSettings()->setGain(value) == openni::STATUS_OK;
}
#else
UERROR("CameraOpenNI2: OpenNI >= 2.2 required to use this method.");
#endif
#else
UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
#endif
return false;
}
bool CameraOpenNI2::init()
{
#ifdef WITH_OPENNI2
@@ -470,6 +540,16 @@ bool CameraOpenNI2::init()
_depth->getHorizontalFieldOfView(),
_depth->getVerticalFieldOfView());
if(_color->getCameraSettings())
{
UINFO("CameraOpenNI2: AutoWhiteBalanceEnabled = %d", _color->getCameraSettings()->getAutoWhiteBalanceEnabled());
UINFO("CameraOpenNI2: AutoExposureEnabled = %d", _color->getCameraSettings()->getAutoExposureEnabled());
#if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
UINFO("CameraOpenNI2: Exposure = %d", _color->getCameraSettings()->getExposure());
UINFO("CameraOpenNI2: GAIN = %d", _color->getCameraSettings()->getGain());
#endif
}
bool registered = true;
if(registered)
{

5
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -172,6 +172,10 @@ public:
bool getSourceDatabaseOdometryIgnored() const; //Database group
int getSourceDatabaseStartPos() const; //Database group
Src getSourceRGBD() const; // Openni group
bool getSourceOpenni2AutoWhiteBalance() const; //Openni group
bool getSourceOpenni2AutoExposure() const; //Openni group
int getSourceOpenni2Exposure() const; //Openni group
int getSourceOpenni2Gain() const; //Openni group
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
float getSourceOpenniFx() const; // Openni group
@@ -234,6 +238,7 @@ private slots:
void setupTreeView();
void updateBasicParameter();
void openDatabaseViewer();
void showOpenNI2GroupBox(bool);
void cleanOdometryTest();
void testOdometry();
void cleanRGBDCameraTest();

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">