Merge pull request #465 from stfuchs/feature/camera-settings

Feature/camera settings

Author: floe

include/libfreenect2/frame_listener.hpp

@@ -54,11 +54,17 @@ class LIBFREENECT2_API Frame
   size_t height;          ///< Number of lines in the frame.
   size_t bytes_per_pixel; ///< Number of bytes in a pixel.
   unsigned char* data;    ///< Data of the frame (aligned).
+  float exposure;         ///< Get the exposure time set by the color camera.
+  float gain;             ///< Get the gain set by the color camera.
+  float gamma;            ///< Get the gamma level set by the color camera.
 
   Frame(size_t width, size_t height, size_t bytes_per_pixel) :
     width(width),
     height(height),
-    bytes_per_pixel(bytes_per_pixel)
+    bytes_per_pixel(bytes_per_pixel),
+    exposure(0.f),
+    gain(0.f),
+    gamma(0.f)
   {
     const size_t alignment = 64;
     size_t space = width * height * bytes_per_pixel + alignment;

include/libfreenect2/rgb_packet_processor.h

@@ -47,6 +47,10 @@ struct LIBFREENECT2_API RgbPacket
   uint32_t timestamp;
   unsigned char *jpeg_buffer; ///< JPEG data.
   size_t jpeg_buffer_length;  ///< Length of the JPEG data.
+  float exposure;
+  float gain;
+  float gamma;
+
 };
 
 typedef PacketProcessor<RgbPacket> BaseRgbPacketProcessor;

src/rgb_packet_stream_parser.cpp

@@ -57,7 +57,7 @@ LIBFREENECT2_PACK(struct RgbPacketFooter {
   float gain; // ? ranges from 1.0 when camera is clear to 1.5 when camera is covered.
   uint32_t magic_footer; // is 'BBBB' equal 0x42424242
   uint32_t packet_size;
-  float unknown3; // seems 1.0f always
+  float gamma; // ranges from 1.0f to about 6.4 when camera is fully covered
   uint32_t unknown4[3]; // seems to be 0 all the time.
 });
 
@@ -149,6 +149,9 @@ void RgbPacketStreamParser::onDataReceived(unsigned char* buffer, size_t length)
         RgbPacket rgb_packet;
         rgb_packet.sequence = raw_packet->sequence;
         rgb_packet.timestamp = footer->timestamp;
+        rgb_packet.exposure = footer->exposure;
+        rgb_packet.gain = footer->gain;
+        rgb_packet.gamma = footer->gamma;
         rgb_packet.jpeg_buffer = raw_packet->jpeg_buffer;
         rgb_packet.jpeg_buffer_length = jpeg_length;
 

src/turbo_jpeg_rgb_packet_processor.cpp

@@ -88,6 +88,9 @@ void TurboJpegRgbPacketProcessor::process(const RgbPacket &packet)
 
     impl_->frame->timestamp = packet.timestamp;
     impl_->frame->sequence = packet.sequence;
+    impl_->frame->exposure = packet.exposure;
+    impl_->frame->gain = packet.gain;
+    impl_->frame->gamma = packet.gamma;
 
     int r = tjDecompress2(impl_->decompressor, packet.jpeg_buffer, packet.jpeg_buffer_length, impl_->frame->data, 1920, 1920 * tjPixelSize[TJPF_BGRX], 1080, TJPF_BGRX, 0);