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CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state.

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matlabbe
2020-05-28 19:50:02 -04:00
parent 6e0081e248
commit 45ddce938a
6 changed files with 164 additions and 26 deletions
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28
corelib/src/camera/CameraMyntEye.cpp
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@@ -45,13 +45,17 @@ CameraMyntEye::CameraMyntEye(const std::string & device, bool apiRectification,
deviceName_(device),
apiRectification_(apiRectification),
apiDepth_(apiDepth),
autoExposure_(true),
gain_(24),
brightness_(120),
contrast_(116),
dataReady_(0),
lastFramesStamp_(0.0),
stamp_(0),
publishInterIMU_(false),
softTimeBegin_(0.0),
hardTimeBegin_(0),
unitHardTime(std::numeric_limits<std::uint32_t>::max()*10)
unitHardTime_(std::numeric_limits<std::uint32_t>::max()*10)
#endif
{
#ifdef RTABMAP_MYNTEYE
@@ -133,13 +137,13 @@ inline bool is_overflow(std::uint64_t now, std::uint64_t pre, std::uint64_t unit
double CameraMyntEye::checkUpTimeStamp(std::uint64_t _hard_time, std::uint8_t stream) {
UASSERT(stream < (std::uint8_t)mynteye::Stream::LAST+1);
if (is_overflow(_hard_time, lastHardTimes_[stream], unitHardTime)) {
if (is_overflow(_hard_time, lastHardTimes_[stream], unitHardTime_)) {
acc_[stream]++;
}
lastHardTimes_[stream] = _hard_time;
return hardTimeToSoftTime(acc_[stream] * unitHardTime + _hard_time);
return hardTimeToSoftTime(acc_[stream] * unitHardTime_ + _hard_time);
}
#endif
@@ -150,6 +154,16 @@ void CameraMyntEye::publishInterIMU(bool enabled)
#endif
}
void CameraMyntEye::setAutoExposure(bool enabled, int manualGain, int manualBrightness, int manualConstrast)
{
#ifdef RTABMAP_MYNTEYE
autoExposure_ = enabled;
gain_ = manualGain;
brightness_ = manualBrightness;
contrast_ = manualConstrast;
#endif
}
bool CameraMyntEye::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_MYNTEYE
@@ -430,6 +444,14 @@ bool CameraMyntEye::init(const std::string & calibrationFolder, const std::strin
});
api_->SetOptionValue(mynteye::Option::EXPOSURE_MODE, autoExposure_?0:1);
if(!autoExposure_)
{
api_->SetOptionValue(mynteye::Option::GAIN, gain_);
api_->SetOptionValue(mynteye::Option::BRIGHTNESS, brightness_);
api_->SetOptionValue(mynteye::Option::CONTRAST, contrast_);
}
api_->Start(mynteye::Source::ALL);
uSleep(500); // To buffer some imus before sending images
return true;