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Support for all color camera parameters in k4arecorder #1757

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Support for all color camera parameters in k4arecorder #1757

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982b4ad
Added more color options
borosko Jul 5, 2021
6ed5a88
minor fix
borosko Jul 5, 2021
77c5a40
clang format
borosko Dec 30, 2021
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71 changes: 71 additions & 0 deletions tools/k4arecorder/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,11 @@ int main(int argc, char **argv)
int32_t depth_delay_off_color_usec = 0;
uint32_t subordinate_delay_off_master_usec = 0;
int absoluteExposureValue = defaultExposureAuto;
int whiteBalance = defaultWhiteBalance;
int brightness = defaultBrightness;
int contrast = defaultContrast;
int saturation = defaultSaturation;
int sharpness = defaultSharpness;
int gain = defaultGainAuto;
char *recording_filename;

Expand Down Expand Up @@ -346,6 +351,67 @@ int main(int argc, char **argv)
throw std::runtime_error("Exposure value range is 2 to 5s, or -11 to 1.");
}
});
cmd_parser.RegisterOption("-w|--white-balance",
"Set manual white balance from 2500K to 12500K for the RGB camera (default: \n"
"auto white balance). The value has to be divisible by 10.",
1,
[&](const std::vector<char *> &args) {
int whiteBalanceSetting = std::stoi(args[0]);
if (whiteBalanceSetting < 2500 || whiteBalanceSetting > 12500 ||
whiteBalanceSetting % 10 != 0)
{
throw std::runtime_error("White balance setting has invalid value.");
}
whiteBalance = whiteBalanceSetting;
});
cmd_parser.RegisterOption("--brightness",
"Set brightness from 0 to 255 for the RGB camera (default: \n"
"previously set value, non deterministic).",
1,
[&](const std::vector<char *> &args) {
int brightnessSetting = std::stoi(args[0]);
if (brightnessSetting < 0 || brightnessSetting > 255)
{
throw std::runtime_error("Brightness setting has invalid value.");
}
brightness = brightnessSetting;
});
cmd_parser.RegisterOption("--contrast",
"Set contrast from 0 to 10 for the RGB camera (default: \n"
"previously set value, non deterministic).",
1,
[&](const std::vector<char *> &args) {
int contrastSetting = std::stoi(args[0]);
if (contrastSetting < 0 || contrastSetting > 10)
{
throw std::runtime_error("Contrast setting has invalid value.");
}
contrast = contrastSetting;
});
cmd_parser.RegisterOption("--saturation",
"Set saturation from 0 to 63 for the RGB camera (default: \n"
"previously set value, non deterministic).",
1,
[&](const std::vector<char *> &args) {
int saturationSetting = std::stoi(args[0]);
if (saturationSetting < 0 || saturationSetting > 63)
{
throw std::runtime_error("Saturation setting has invalid value.");
}
saturation = saturationSetting;
});
cmd_parser.RegisterOption("--sharpness",
"Set sharpness from 0 to 4 for the RGB camera (default: \n"
"previously set value, non deterministic).",
1,
[&](const std::vector<char *> &args) {
int sharpnessSetting = std::stoi(args[0]);
if (sharpnessSetting < 0 || sharpnessSetting > 4)
{
throw std::runtime_error("Sharpness setting has invalid value.");
}
sharpness = sharpnessSetting;
});
cmd_parser.RegisterOption("-g|--gain",
"Set cameras manual gain. The valid range is 0 to 255. (default: auto)",
1,
Expand Down Expand Up @@ -433,5 +499,10 @@ int main(int argc, char **argv)
&device_config,
recording_imu_enabled,
absoluteExposureValue,
whiteBalance,
brightness,
contrast,
saturation,
sharpness,
gain);
}
78 changes: 49 additions & 29 deletions tools/k4arecorder/recorder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,12 +48,49 @@ inline static uint32_t k4a_convert_fps_to_uint(k4a_fps_t fps)

std::atomic_bool exiting(false);

void set_color_param(k4a_device_t &device,
k4a_color_control_command_t command,
const char *command_name,
int32_t value,
int32_t defaultValue,
bool defaultAuto)
{
k4a_color_control_mode_t read_mode;
int32_t read_value;

if (value != defaultValue)
{
if (K4A_FAILED(k4a_device_set_color_control(device, command, K4A_COLOR_CONTROL_MODE_MANUAL, value)))
{
std::cerr << "Runtime error: k4a_device_set_color_control() failed for manual " << command_name
<< std::endl;
}
}
else if (defaultAuto)
{
if (K4A_FAILED(k4a_device_set_color_control(device, command, K4A_COLOR_CONTROL_MODE_AUTO, 0)))
{
std::cerr << "Runtime error: k4a_device_set_color_control() failed for auto " << command_name << std::endl;
}
}

k4a_device_get_color_control(device, command, &read_mode, &read_value);
std::cout << "Current " << command_name << " set to "
<< (read_mode == K4A_COLOR_CONTROL_MODE_AUTO ? "AUTO" : "MANUAL") << " mode and has value " << read_value
<< std::endl;
}

int do_recording(uint8_t device_index,
char *recording_filename,
int recording_length,
k4a_device_configuration_t *device_config,
bool record_imu,
int32_t absoluteExposureValue,
int32_t whiteBalance,
int32_t brightness,
int32_t contrast,
int32_t saturation,
int32_t sharpness,
int32_t gain)
{
seconds recording_length_seconds(recording_length);
Expand Down Expand Up @@ -96,35 +133,18 @@ int do_recording(uint8_t device_index,
return 1;
}

if (absoluteExposureValue != defaultExposureAuto)
{
if (K4A_FAILED(k4a_device_set_color_control(device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
K4A_COLOR_CONTROL_MODE_MANUAL,
absoluteExposureValue)))
{
std::cerr << "Runtime error: k4a_device_set_color_control() for manual exposure failed " << std::endl;
}
}
else
{
if (K4A_FAILED(k4a_device_set_color_control(device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
K4A_COLOR_CONTROL_MODE_AUTO,
0)))
{
std::cerr << "Runtime error: k4a_device_set_color_control() for auto exposure failed " << std::endl;
}
}

if (gain != defaultGainAuto)
{
if (K4A_FAILED(
k4a_device_set_color_control(device, K4A_COLOR_CONTROL_GAIN, K4A_COLOR_CONTROL_MODE_MANUAL, gain)))
{
std::cerr << "Runtime error: k4a_device_set_color_control() for manual gain failed " << std::endl;
}
}
set_color_param(device,
K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE,
"exposure",
absoluteExposureValue,
defaultExposureAuto,
true);
set_color_param(device, K4A_COLOR_CONTROL_WHITEBALANCE, "white balance", whiteBalance, defaultWhiteBalance, true);
set_color_param(device, K4A_COLOR_CONTROL_BRIGHTNESS, "brightness", brightness, defaultBrightness, false);
set_color_param(device, K4A_COLOR_CONTROL_CONTRAST, "contrast", contrast, defaultContrast, false);
set_color_param(device, K4A_COLOR_CONTROL_SATURATION, "saturation", saturation, defaultSaturation, false);
set_color_param(device, K4A_COLOR_CONTROL_SHARPNESS, "sharpness", sharpness, defaultSharpness, false);
set_color_param(device, K4A_COLOR_CONTROL_GAIN, "gain", gain, defaultGainAuto, false);

CHECK(k4a_device_start_cameras(device, device_config), device);
if (record_imu)
Expand Down
10 changes: 10 additions & 0 deletions tools/k4arecorder/recorder.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,11 @@
extern std::atomic_bool exiting;

static const int32_t defaultExposureAuto = -12;
static const int32_t defaultWhiteBalance = -1;
static const int32_t defaultBrightness = -1;
static const int32_t defaultContrast = -1;
static const int32_t defaultSaturation = -1;
static const int32_t defaultSharpness = -1;
static const int32_t defaultGainAuto = -1;

int do_recording(uint8_t device_index,
Expand All @@ -18,6 +23,11 @@ int do_recording(uint8_t device_index,
k4a_device_configuration_t *device_config,
bool record_imu,
int32_t absoluteExposureValue,
int32_t whiteBalance,
int32_t brightness,
int32_t contrast,
int32_t saturation,
int32_t sharpness,
int32_t gain);

#endif /* RECORDER_H */