CameraMyntEye: added setIrControl()

corelib/include/rtabmap/core/camera/CameraMyntEye.h

@@ -61,7 +61,9 @@ public:
 	virtual bool odomProvided() const { return false; }
 
 	void publishInterIMU(bool enabled);
-	void setAutoExposure(bool enabled, int manualGain=24, int manualBrightness=120, int manualConstrast=116);
+	void setAutoExposure();
+	void setManualExposure(int gain=24, int brightness=120, int constrast=116);
+	void setIrControl(int value);
 
 protected:
 	/**
@@ -85,6 +87,7 @@ private:
 	int gain_;
 	int brightness_;
 	int contrast_;
+	int irControl_;
 	USemaphore dataReady_;
 	UMutex dataMutex_;
 	cv::Mat leftFrameBuffer_;

corelib/src/camera/CameraMyntEye.cpp

@@ -154,13 +154,31 @@ void CameraMyntEye::publishInterIMU(bool enabled)
 #endif
 }
 
-void CameraMyntEye::setAutoExposure(bool enabled, int manualGain, int manualBrightness, int manualConstrast)
+void CameraMyntEye::setAutoExposure()
 {
 #ifdef RTABMAP_MYNTEYE
-	autoExposure_ = enabled;
+	autoExposure_ = true;
-	gain_ = manualGain;
+#endif
-	brightness_ = manualBrightness;
+}
-	contrast_ = manualConstrast;
+
+void CameraMyntEye::setManualExposure(int gain, int brightness, int constrast)
+{
+#ifdef RTABMAP_MYNTEYE
+	UASSERT(gain>=0 && gain<=48);
+	UASSERT(brightness>=0 && brightness<=240);
+	UASSERT(constrast>=0 && constrast<=254);
+	autoExposure_ = false;
+	gain_ = gain;
+	brightness_ = brightness;
+	contrast_ = constrast;
+#endif
+}
+
+void CameraMyntEye::setIrControl(int value)
+{
+#ifdef RTABMAP_MYNTEYE
+	UASSERT(value>=0 && value<=160);
+	irControl_ = value;
 #endif
 }
 
@@ -451,6 +469,7 @@ bool CameraMyntEye::init(const std::string & calibrationFolder, const std::strin
 			api_->SetOptionValue(mynteye::Option::BRIGHTNESS, brightness_);
 			api_->SetOptionValue(mynteye::Option::CONTRAST, contrast_);
 		}
+		api_->SetOptionValue(mynteye::Option::IR_CONTROL, irControl_);
 
 		api_->Start(mynteye::Source::ALL);
 		uSleep(500); // To buffer some imus before sending images

guilib/src/PreferencesDialog.cpp

@@ -738,6 +738,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->spinBox_stereoMyntEye_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_stereoMyntEye_brightness, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_stereoMyntEye_contrast, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_stereoMyntEye_irControl, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 
 	connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1919,6 +1920,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->spinBox_stereoMyntEye_gain->setValue(24);
 		_ui->spinBox_stereoMyntEye_brightness->setValue(120);
 		_ui->spinBox_stereoMyntEye_contrast->setValue(116);
+		_ui->spinBox_stereoMyntEye_irControl->setValue(0);
 
 		_ui->checkBox_cameraImages_timestamps->setChecked(false);
 		_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -2373,6 +2375,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->spinBox_stereoMyntEye_gain->setValue(settings.value("gain", _ui->spinBox_stereoMyntEye_gain->value()).toInt());
 	_ui->spinBox_stereoMyntEye_brightness->setValue(settings.value("brightness", _ui->spinBox_stereoMyntEye_brightness->value()).toInt());
 	_ui->spinBox_stereoMyntEye_contrast->setValue(settings.value("contrast", _ui->spinBox_stereoMyntEye_contrast->value()).toInt());
+	_ui->spinBox_stereoMyntEye_irControl->setValue(settings.value("ir_control", _ui->spinBox_stereoMyntEye_irControl->value()).toInt());
 	settings.endGroup(); // MyntEye
 
 	settings.beginGroup("Images");
@@ -2850,6 +2853,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("gain",          _ui->spinBox_stereoMyntEye_gain->value());
 	settings.setValue("brightness",    _ui->spinBox_stereoMyntEye_brightness->value());
 	settings.setValue("contrast",      _ui->spinBox_stereoMyntEye_contrast->value());
+	settings.setValue("ir_control",    _ui->spinBox_stereoMyntEye_irControl->value());
 	settings.endGroup(); // MyntEye
 
 	settings.beginGroup("Images");
@@ -5702,11 +5706,19 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 				this->getGeneralInputRate(),
 				this->getSourceLocalTransform());
 			((CameraMyntEye*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
-			((CameraMyntEye*)camera)->setAutoExposure(
+			if(_ui->checkbox_stereoMyntEye_autoExposure->isChecked())
-					_ui->checkbox_stereoMyntEye_autoExposure->isChecked(),
+			{
-					_ui->spinBox_stereoMyntEye_gain->value(),
+				((CameraMyntEye*)camera)->setAutoExposure();
-					_ui->spinBox_stereoMyntEye_brightness->value(),
+			}
-					_ui->spinBox_stereoMyntEye_contrast->value());
+			else
+			{
+				((CameraMyntEye*)camera)->setManualExposure(
+						_ui->spinBox_stereoMyntEye_gain->value(),
+						_ui->spinBox_stereoMyntEye_brightness->value(),
+						_ui->spinBox_stereoMyntEye_contrast->value());
+			}
+			((CameraMyntEye*)camera)->setIrControl(
+					_ui->spinBox_stereoMyntEye_irControl->value());
 		}
 	}
 	else if(driver == kSrcRGBDImages)

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-696</y>
             <width>680</width>
             <height>3270</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>14</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5372,7 +5372,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="3" column="1">
                                    <widget class="QLabel" name="label_595">
                                     <property name="text">
-                                     <string>Image gain, valid if manual-exposure.</string>
+                                     <string>Image gain [0-48], valid if manual-exposure.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -5385,7 +5385,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="4" column="1">
                                    <widget class="QLabel" name="label_596">
                                     <property name="text">
-                                     <string>Image brightness, valid if manual-exposure.</string>
+                                     <string>Image brightness [0-240], valid if manual-exposure.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -5411,7 +5411,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="5" column="1">
                                    <widget class="QLabel" name="label_597">
                                     <property name="text">
-                                     <string>Image contrast, valid if manual-exposure.</string>
+                                     <string>Image contrast [0-254], valid if manual-exposure.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -5431,6 +5431,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
+                                  <item row="6" column="1">
+                                   <widget class="QLabel" name="label_599">
+                                    <property name="text">
+                                     <string>IR control [0-160]. 0 means that the IR pattern is not projected.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="6" column="0">
+                                   <widget class="QSpinBox" name="spinBox_stereoMyntEye_irControl">
+                                    <property name="maximum">
+                                     <number>160</number>
+                                    </property>
+                                    <property name="value">
+                                     <number>116</number>
+                                    </property>
+                                   </widget>
+                                  </item>
                                  </layout>
                                 </widget>
                                </item>