From c0c70e393028718e78211e4652ca6d063b5325d5 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 26 Apr 2022 14:20:12 +0200
Subject: [PATCH] Add histogram equalization method
---
include/vision/processor/processor_visual_odometry.h | 7 ++-----
src/processor/processor_visual_odometry.cpp | 5 +++--
2 files changed, 5 insertions(+), 7 deletions(-)
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 433035dfa..099f3e145 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -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");
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 4ef31d06b..947807475 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -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:
--
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