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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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48
corelib/src/CameraThread.cpp
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@@ -57,6 +57,7 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
_stereoExposureCompensation(false),
_colorOnly(false),
_imageDecimation(1),
_histogramMethod(0),
_stereoToDepth(false),
_scanFromDepth(false),
_scanDownsampleStep(1),
@@ -96,6 +97,7 @@ CameraThread::CameraThread(
_stereoExposureCompensation(false),
_colorOnly(false),
_imageDecimation(1),
_histogramMethod(0),
_stereoToDepth(false),
_scanFromDepth(false),
_scanDownsampleStep(1),
@@ -134,6 +136,7 @@ CameraThread::CameraThread(
_stereoExposureCompensation(false),
_colorOnly(false),
_imageDecimation(1),
_histogramMethod(0),
_stereoToDepth(false),
_scanFromDepth(false),
_scanDownsampleStep(1),
@@ -458,6 +461,7 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
}
if(info) info->timeImageDecimation = timer.ticks();
}
if(_mirroring && !data.imageRaw().empty() && data.cameraModels().size()>=1)
{
if(data.cameraModels().size() == 1)
@@ -493,6 +497,50 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
}
}
if(_histogramMethod && !data.imageRaw().empty())
{
if(data.imageRaw().type() == CV_8UC1)
{
UDEBUG("");
UTimer timer;
cv::Mat image;
if(_histogramMethod == 1)
{
cv::equalizeHist(data.imageRaw(), image);
if(!data.depthRaw().empty())
{
data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
}
else if(!data.rightRaw().empty())
{
cv::Mat right;
cv::equalizeHist(data.rightRaw(), right);
data.setStereoImage(image, right, data.stereoCameraModels()[0]);
}
}
else if(_histogramMethod == 2)
{
cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0);
clahe->apply(data.imageRaw(), image);
if(!data.depthRaw().empty())
{
data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
}
else if(!data.rightRaw().empty())
{
cv::Mat right;
clahe->apply(data.rightRaw(), right);
data.setStereoImage(image, right, data.stereoCameraModels()[0]);
}
}
if(info) info->timeHistogramEqualization = timer.ticks();
}
else
{
UWARN("Histogram equalization only supports grayscale images...");
}
}
if(_stereoExposureCompensation && !data.imageRaw().empty() && !data.rightRaw().empty())
{
if(data.stereoCameraModels().size()==1)