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support color histogram equalization #1203

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Jan 21, 2024
Merged

support color histogram equalization #1203

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90 changes: 66 additions & 24 deletions corelib/src/CameraThread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/IMUFilter.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h"
#include <opencv2/imgproc/types_c.h>
#include <opencv2/stitching/detail/exposure_compensate.hpp>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h>
Expand Down Expand Up @@ -543,46 +544,87 @@ 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)
{
UDEBUG("");
UTimer timer;
cv::Mat image;
if(_histogramMethod == 1)
if(data.imageRaw().type() == CV_8UC1)
{
cv::equalizeHist(data.imageRaw(), image);
if(!data.depthRaw().empty())
}
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())
{
data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
}
else if(!data.rightRaw().empty())
{
cv::Mat right;
if(data.rightRaw().type() == CV_8UC1)
{
data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
cv::equalizeHist(data.rightRaw(), right);
}
else if(!data.rightRaw().empty())
else if(data.rightRaw().type() == CV_8UC3)
{
cv::Mat right;
cv::equalizeHist(data.rightRaw(), right);
data.setStereoImage(image, right, data.stereoCameraModels()[0]);
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]);
}
else if(_histogramMethod == 2)
}
else if(_histogramMethod == 2)
{
cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0);
if(data.imageRaw().type() == CV_8UC1)
{
cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0);
clahe->apply(data.imageRaw(), image);
if(!data.depthRaw().empty())
}
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())
{
data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
}
else if(!data.rightRaw().empty())
{
cv::Mat right;
if(data.rightRaw().type() == CV_8UC1)
{
data.setRGBDImage(image, data.depthRaw(), data.cameraModels());
clahe->apply(data.rightRaw(), right);
}
else if(!data.rightRaw().empty())
else if(data.rightRaw().type() == CV_8UC3)
{
cv::Mat right;
clahe->apply(data.rightRaw(), right);
data.setStereoImage(image, right, data.stereoCameraModels()[0]);
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]);
}
if(info) info->timeHistogramEqualization = timer.ticks();
}
else
{
UWARN("Histogram equalization only supports grayscale images...");
}
if(info) info->timeHistogramEqualization = timer.ticks();
}

if(_stereoExposureCompensation && !data.imageRaw().empty() && !data.rightRaw().empty())
Expand Down