From 4947a8a47543dc1247551ec1d75cdf7b04f45689 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 26 Apr 2022 14:02:22 +0200
Subject: [PATCH] Add equalization options: none, average, clahe
---
.../processor/processor_visual_odometry.h | 39 +++++++++++++++++--
src/processor/processor_visual_odometry.cpp | 39 ++++++++++++++++---
2 files changed, 70 insertions(+), 8 deletions(-)
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 2a526b4f3..b42766496 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -81,12 +81,30 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
unsigned int separation_;
};
+ struct EqualizationParams
+ {
+ unsigned int method_; // 0: none; 1: average; 2: histogram; 3: CLAHE
+ struct AverageParams
+ {
+ int median_;
+ } average_;
+ struct HistogramParams
+ {
+ // TODO: to be implemented
+ } histogram_;
+ struct ClaheParams
+ {
+ double clip_limit_;
+ cv::Size2i tile_grid_size_;
+ } clahe_;
+ };
+
double std_pix_;
- bool use_clahe_;
RansacParams ransac_params_;
KltParams klt_params_;
FastParams fast_params_;
GridParams grid_params_;
+ EqualizationParams equalization_params_;
unsigned int max_nb_tracks_;
unsigned int min_track_length_for_landmark_;
@@ -96,7 +114,23 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
{
std_pix_ = _server.getParam<int>(prefix + _unique_name + "/std_pix");
- use_clahe_ = _server.getParam<bool>(prefix + _unique_name + "/use_clahe");
+ equalization_params_.method_ = _server.getParam<unsigned int>(prefix + _unique_name + "/equalization_params/method");
+ switch (equalization_params_.method_)
+ {
+ case 0: break;
+ case 1:
+ equalization_params_.average_.median_ = _server.getParam<unsigned int>(prefix + _unique_name + "/equalization_params/average/median");
+ break;
+ case 2:
+// equalization_params_.average_.median_ = _server.getParam<unsigned int>(prefix + _unique_name + "/equalization_params/average/median");
+ break;
+ case 3:
+ equalization_params_.clahe_.clip_limit_ = _server.getParam<double>(prefix + _unique_name + "/equalization_params/clahe/clip_limit");
+ vector<int> grid_size = _server.getParam<vector<int>>(prefix + _unique_name + "/equalization_params/clahe/tile_grid_size");
+ equalization_params_.clahe_.tile_grid_size_.width = grid_size[0];
+ equalization_params_.clahe_.tile_grid_size_.height = grid_size[1];
+ break;
+ }
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");
@@ -122,7 +156,6 @@ 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 9b6c0c89e..4ef31d06b 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -86,11 +86,40 @@ void ProcessorVisualOdometry::preProcess()
cv::Mat img_incoming = capture_image_incoming_->getImage();
- 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);
+
+ /* Equalize image for better detection and tracking
+ * available methods:
+ * 0. none
+ * 1. average
+ * 2. opencv: histogram_equalization
+ * 3. opencv: CLAHE
+ */
+ switch (params_visual_odometry_->equalization_params_.method_)
+ {
+ case 0:
+ break;
+ case 1:
+ {
+ // average to central brightness
+ auto img_avg = (cv::mean(img_incoming)).val[0];
+ img_incoming += cv::Scalar(round(params_visual_odometry_->equalization_params_.average_.median_ - img_avg) );
+ break;
+ }
+ case 2:
+ {
+ // TODO: implement histogram equalization
+ WOLF_WARN("Histogram equalization not yet implemented. Ignoring.");
+ break;
+ }
+ case 3:
+ {
+ // Contrast Limited Adaptive Histogram Equalization CLAHE
+ // -> more continuous lighting and higher contrast images
+ cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(params_visual_odometry_->equalization_params_.clahe_.clip_limit_,
+ params_visual_odometry_->equalization_params_.clahe_.tile_grid_size_);
+ clahe->apply(img_incoming, img_incoming);
+ break;
+ }
}
--
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