From 44f98778b0249f0ef28c4a6aacce5fd07060c6d4 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Mon, 25 Apr 2022 10:58:30 +0200
Subject: [PATCH] Add CLAHE option to yaml
---
yaml/processor_visual_odometry.yaml | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 3db1b77..bd3ee84 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -14,6 +14,11 @@ max_new_features: 15
####################################
# 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])
--
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