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support color histogram equalization (#1203)

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This commit is contained in:
Borong Yuan
2024-01-21 12:38:34 -08:00
committed by GitHub
parent 13cd5e7a5e
commit dcd5994456
1 changed files with 69 additions and 27 deletions
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corelib/src/CameraThread.cpp
+49 -7
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/IMUFilter.h" #include "rtabmap/core/IMUFilter.h"
#include "rtabmap/core/Features2d.h" #include "rtabmap/core/Features2d.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h" #include "rtabmap/core/clams/discrete_depth_distortion_model.h"
#include <opencv2/imgproc/types_c.h>
#include <opencv2/stitching/detail/exposure_compensate.hpp> #include <opencv2/stitching/detail/exposure_compensate.hpp>
#include <rtabmap/utilite/UTimer.h> #include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h> #include <rtabmap/utilite/ULogger.h>
@@ -542,15 +543,25 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
} }
if(_histogramMethod && !data.imageRaw().empty()) if(_histogramMethod && !data.imageRaw().empty())
{
if(data.imageRaw().type() == CV_8UC1)
{ {
UDEBUG(""); UDEBUG("");
UTimer timer; UTimer timer;
cv::Mat image; cv::Mat image;
if(_histogramMethod == 1) if(_histogramMethod == 1)
{
if(data.imageRaw().type() == CV_8UC1)
{ {
cv::equalizeHist(data.imageRaw(), image); cv::equalizeHist(data.imageRaw(), image);
}
else if(data.imageRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb);
cv::split(image, channels);
cv::equalizeHist(channels[0], channels[0]);
cv::merge(channels, 3, image);
cv::cvtColor(image, image, CV_YCrCb2BGR);
}
if(!data.depthRaw().empty()) if(!data.depthRaw().empty())
{ {
data.setRGBDImage(image, data.depthRaw(), data.cameraModels()); data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
@@ -558,14 +569,38 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
else if(!data.rightRaw().empty()) else if(!data.rightRaw().empty())
{ {
cv::Mat right; cv::Mat right;
if(data.rightRaw().type() == CV_8UC1)
{
cv::equalizeHist(data.rightRaw(), right); cv::equalizeHist(data.rightRaw(), right);
}
else if(data.rightRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb);
cv::split(right, channels);
cv::equalizeHist(channels[0], channels[0]);
cv::merge(channels, 3, right);
cv::cvtColor(right, right, CV_YCrCb2BGR);
}
data.setStereoImage(image, right, data.stereoCameraModels()[0]); data.setStereoImage(image, right, data.stereoCameraModels()[0]);
} }
} }
else if(_histogramMethod == 2) else if(_histogramMethod == 2)
{ {
cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0); cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0);
if(data.imageRaw().type() == CV_8UC1)
{
clahe->apply(data.imageRaw(), image); clahe->apply(data.imageRaw(), image);
}
else if(data.imageRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.imageRaw(), image, CV_BGR2YCrCb);
cv::split(image, channels);
clahe->apply(channels[0], channels[0]);
cv::merge(channels, 3, image);
cv::cvtColor(image, image, CV_YCrCb2BGR);
}
if(!data.depthRaw().empty()) if(!data.depthRaw().empty())
{ {
data.setRGBDImage(image, data.depthRaw(), data.cameraModels()); data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
@@ -573,17 +608,24 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
else if(!data.rightRaw().empty()) else if(!data.rightRaw().empty())
{ {
cv::Mat right; cv::Mat right;
if(data.rightRaw().type() == CV_8UC1)
{
clahe->apply(data.rightRaw(), right); clahe->apply(data.rightRaw(), right);
}
else if(data.rightRaw().type() == CV_8UC3)
{
cv::Mat channels[3];
cv::cvtColor(data.rightRaw(), right, CV_BGR2YCrCb);
cv::split(right, channels);
clahe->apply(channels[0], channels[0]);
cv::merge(channels, 3, right);
cv::cvtColor(right, right, CV_YCrCb2BGR);
}
data.setStereoImage(image, right, data.stereoCameraModels()[0]); data.setStereoImage(image, right, data.stereoCameraModels()[0]);
} }
} }
if(info) info->timeHistogramEqualization = timer.ticks(); if(info) info->timeHistogramEqualization = timer.ticks();
} }
else
{
UWARN("Histogram equalization only supports grayscale images...");
}
}
if(_stereoExposureCompensation && !data.imageRaw().empty() && !data.rightRaw().empty()) if(_stereoExposureCompensation && !data.imageRaw().empty() && !data.rightRaw().empty())
{ {