Commit c0c70e39 authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Add histogram equalization method

parent c95fdcfd
......@@ -86,14 +86,11 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
struct EqualizationParams
{
unsigned int method_; // 0: none; 1: average; 2: histogram; 3: CLAHE
// note: cv::histogramEqualization() has no tuning params
struct AverageParams
{
int median_;
} average_;
struct HistogramParams
{
// TODO: to be implemented
} histogram_;
struct ClaheParams
{
double clip_limit_;
......@@ -124,7 +121,7 @@ struct ParamsProcessorVisualOdometry : public ParamsProcessorTracker
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");
// note: cv::histogramEqualization() has no tuning params
break;
case 3:
equalization_params_.clahe_.clip_limit_ = _server.getParam<double>(prefix + _unique_name + "/equalization_params/clahe/clip_limit");
......
......@@ -24,6 +24,8 @@
//standard
#include "vision/processor/processor_visual_odometry.h"
#include <opencv2/imgproc.hpp>
#include <chrono>
#include <ctime>
......@@ -107,8 +109,7 @@ void ProcessorVisualOdometry::preProcess()
}
case 2:
{
// TODO: implement histogram equalization
WOLF_WARN("Histogram equalization not yet implemented. Ignoring.");
cv::equalizeHist( img_incoming, img_incoming );
break;
}
case 3:
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment