From 0f60d084c36dcd21a951d7325e4c5999a3d3806f Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Mon, 25 Apr 2022 10:57:22 +0200
Subject: [PATCH] Add CLAHE preproc option to the processor
---
demos/processor_visual_odometry.yaml | 5 +++++
include/vision/processor/processor_visual_odometry.h | 4 ++++
src/processor/processor_visual_odometry.cpp | 10 ++++++----
3 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/demos/processor_visual_odometry.yaml b/demos/processor_visual_odometry.yaml
index dc256ca93..017dde68c 100644
--- a/demos/processor_visual_odometry.yaml
+++ b/demos/processor_visual_odometry.yaml
@@ -14,6 +14,11 @@ max_new_features: 100
####################################
# ProcessorVisualOdometry parameters
+
+# CLAHE = Contrast Limited Adaptive Histogram Equalization
+# -> more continuous lighting and higher contrast images, 1-1.5 ms overhead
+use_clahe: true
+
# FAST KeyPoint detection
fast_params:
# Threshold on the keypoint pixel intensity (in uchar [0-255])
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 8544e39ed..2a526b4f3 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -82,6 +82,7 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
};
double std_pix_;
+ bool use_clahe_;
RansacParams ransac_params_;
KltParams klt_params_;
FastParams fast_params_;
@@ -95,6 +96,8 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
{
std_pix_ = _server.getParam<int>(prefix + _unique_name + "/std_pix");
+ use_clahe_ = _server.getParam<bool>(prefix + _unique_name + "/use_clahe");
+
ransac_params_.ransac_prob_ = _server.getParam<double>(prefix + _unique_name + "/ransac_params/ransac_prob");
ransac_params_.ransac_thresh_ = _server.getParam<double>(prefix + _unique_name + "/ransac_params/ransac_thresh");
@@ -119,6 +122,7 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
std::string print() const override
{
return ParamsProcessorTracker::print() + "\n"
+ + "use_clahe_: " + std::to_string(use_clahe_) + "\n"
+ "ransac_params_.ransac_prob_: " + std::to_string(ransac_params_.ransac_prob_) + "\n"
+ "ransac_params_.ransac_thresh_: " + std::to_string(ransac_params_.ransac_thresh_) + "\n"
+ "klt_params_.tracker_width_: " + std::to_string(klt_params_.patch_width_) + "\n"
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index cf33dbcdf..ca1617787 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -86,10 +86,12 @@ void ProcessorVisualOdometry::preProcess()
cv::Mat img_incoming = capture_image_incoming_->getImage();
- // Adaptive Histogram Correction to get more continuous lighting and higher contrast
- // Seems to give better tracking but a bit slow, TOBENCHMARK
- // cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(2.0, cv::Size(8,8));
- // clahe->apply(img_incoming, img_incoming);
+ if (params_visual_odometry_->use_clahe_){
+ // Contrast Limited Adaptive Histogram Equalization
+ // -> more continuous lighting and higher contrast images
+ cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(2.0, cv::Size(8,8));
+ clahe->apply(img_incoming, img_incoming);
+ }
// Time to PREPreprocess the image if necessary: greyscale if BGR, CLAHE etc...
--
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