Add equalization options: none, average, clahe...

histogram not yet implemented

yaml/processor_visual_odometry.yaml

@@ -15,9 +15,19 @@ max_new_features: 30
 ####################################
 # ProcessorVisualOdometry parameters
 
-# CLAHE = Contrast Limited Adaptive Histogram Equalization  
-# -> more continuous lighting and higher contrast images, 1-1.5 ms overhead
-use_clahe: false
+# Image Equalization methods
+#   0: none
+#   1: average
+#   2: histogram_equalization
+#   3: CLAHE = Contrast Limited Adaptive Histogram Equalization, 1-1.5 ms overhead
+equalization_params:
+    method: 3
+    average:
+        median: 127
+    histogram:
+    clahe:
+        clip_limit: 2
+        tile_grid_size: [8,8]
 
 # FAST KeyPoint detection 
 fast_params: