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add histogram equalization (#1137)

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This commit is contained in:
Borong Yuan
2023-09-22 06:46:10 +08:00
committed by GitHub
parent f1cd819673
commit afd10b1aa6
11 changed files with 122 additions and 10 deletions
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2
corelib/include/rtabmap/core/CameraInfo.h
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@@ -45,6 +45,7 @@ public:
timeMirroring(0.0f),
timeStereoExposureCompensation(0.0f),
timeImageDecimation(0.0f),
timeHistogramEqualization(0.0f),
timeScanFromDepth(0.0f),
timeUndistortDepth(0.0f),
timeBilateralFiltering(0.0f),
@@ -62,6 +63,7 @@ public:
float timeMirroring;
float timeStereoExposureCompensation;
float timeImageDecimation;
float timeHistogramEqualization;
float timeScanFromDepth;
float timeUndistortDepth;
float timeBilateralFiltering;

4
corelib/include/rtabmap/core/CameraThread.h
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@@ -50,7 +50,7 @@ class IMUFilter;
/**
* Class CameraThread
*
*
*/
class RTABMAP_CORE_EXPORT CameraThread :
public UThread,
@@ -80,6 +80,7 @@ public:
void setStereoExposureCompensation(bool enabled) {_stereoExposureCompensation = enabled;}
void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
void setImageDecimation(int decimation) {_imageDecimation = decimation;}
void setHistogramMethod(int histogramMethod) {_histogramMethod = histogramMethod;}
void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
void setImageRate(float imageRate);
void setDistortionModel(const std::string & path);
@@ -134,6 +135,7 @@ private:
bool _stereoExposureCompensation;
bool _colorOnly;
int _imageDecimation;
int _histogramMethod;
bool _stereoToDepth;
bool _scanFromDepth;
int _scanDownsampleStep;