From 96333390d2d494d7331a4de35e4be7d780426081 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 26 Apr 2022 14:03:19 +0200
Subject: [PATCH] Add equalization options: none, average, clahe...

histogram not yet implemented
---
 yaml/processor_visual_odometry.yaml | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index cd1eae4..1210deb 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/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:
-- 
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