last kinetic version Fco Bonin

srv · Sep 29, 2020 · f689b5d · f689b5d
1 parent b9ec247
commit f689b5d
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Showing 44 changed files with 117 additions and 16 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/data/stereo_forward_day/vignetting_mean_left.png b/data/stereo_forward_day/vignetting_mean_left.png
diff --git a/data/stereo_forward_day/vignetting_mean_right.png b/data/stereo_forward_day/vignetting_mean_right.png
diff --git a/data/stereo_forward_day/vignetting_std_left.png b/data/stereo_forward_day/vignetting_std_left.png
diff --git a/data/stereo_forward_day/vignetting_std_right.png b/data/stereo_forward_day/vignetting_std_right.png
diff --git a/data/vignetting_mean_left.png b/data/vignetting_mean_left.png
diff --git a/data/vignetting_mean_right.png b/data/vignetting_mean_right.png
diff --git a/data/vignetting_std_left.png b/data/vignetting_std_left.png
diff --git a/data/vignetting_std_right.png b/data/vignetting_std_right.png
diff --git a/include/image_preprocessing/clahs.h b/include/image_preprocessing/clahs.h
diff --git a/include/image_preprocessing/color_correction.h b/include/image_preprocessing/color_correction.h
diff --git a/include/image_preprocessing/dehazer.h b/include/image_preprocessing/dehazer.h
diff --git a/include/image_preprocessing/flicker_remover.h b/include/image_preprocessing/flicker_remover.h
diff --git a/include/image_preprocessing/mono_clahs.h b/include/image_preprocessing/mono_clahs.h
diff --git a/include/image_preprocessing/mono_dehazer.h b/include/image_preprocessing/mono_dehazer.h
diff --git a/include/image_preprocessing/stereo_clahs.h b/include/image_preprocessing/stereo_clahs.h
diff --git a/include/image_preprocessing/stereo_dehazer.h b/include/image_preprocessing/stereo_dehazer.h
diff --git a/launch/clahs.launch b/launch/clahs.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <arg name="bagfile" default="/home/plnegre/workspace/ros/data/bagfiles/2015_Valldemossa/06/2015-06-08-20-31-46_2.bag" />
+
+  <param name="/use_sim_time" value="true"/>
+  <arg name="camera" default="/stereo_down"/>
+
+  <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile) -r 0.2" />
+
+  <include file="$(find turbot)/launch/modules/stereo_pipeline.launch">
+    <arg name="stereo" value="$(arg camera)" />
+  </include>
+
+  <node pkg="image_preprocessing" type="stereo_clahs_node" name="clahs_node" respawn="true" output="screen" >
+    <remap from="stereo" to="$(arg camera)/scaled_x2"/>
+  </node>
+
+  <node pkg="image_preprocessing" type="stereo_dehazer_node" name="dehazer_node" respawn="true" output="screen" >
+    <remap from="stereo" to="$(arg camera)/scaled_x2"/>
+  </node>
+
+</launch>
diff --git a/launch/clahs_emisari27092017.launch b/launch/clahs_emisari27092017.launch
@@ -0,0 +1,26 @@
+<launch>
+
+  <arg name="bagfile" default="/home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-54-01_36.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-54-33_37.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-55-05_38.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-55-37_39.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-56-09_40.bag" />
+
+  <param name="/use_sim_time" value="true"/>
+  <arg name="camera" default="/stereo_down"/>
+
+  <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile) -r 0.2" />
+
+  <include file="$(find turbot)/launch/modules/stereo_pipeline.launch">
+    <arg name="stereo" value="$(arg camera)" />
+  </include>
+
+  <node pkg="image_preprocessing" type="stereo_clahs_node" name="clahs_node" respawn="true" output="screen" >
+    <remap from="stereo" to="$(arg camera)/scaled_x2"/>
+  </node>
+
+  <node pkg="image_preprocessing" type="stereo_dehazer_node" name="dehazer_node" respawn="true" output="screen" >
+    <remap from="stereo" to="$(arg camera)/scaled_x2"/>
+  </node>
+
+</launch>
diff --git a/launch/clahs_test.launch b/launch/clahs_test.launch
@@ -13,6 +13,10 @@
     <arg name="stereo" value="$(arg camera)" />
   </include>
 
+  <node pkg="image_preprocessing" type="stereo_clahs_node" name="clahs_node" respawn="true" output="screen" >
+    <remap from="stereo" to="$(arg camera)/scaled_x2"/>
+  </node>
+
   <node pkg="image_preprocessing" type="clahs" name="clahs" output="screen">
     <remap from="image" to="$(arg camera)/scaled_x2/left/image_rect_color"/>
   </node>

diff --git a/launch/color_correction_image.launch b/launch/color_correction_image.launch
diff --git a/launch/flicker_remover.launch b/launch/flicker_remover.launch
diff --git a/launch/remove_vignetting.launch b/launch/remove_vignetting.launch
@@ -1,6 +1,15 @@
 <launch>
 
-  <arg name="bagfiles" default="/home/plnegre/bagfiles/images170927_1234_2017-09-27-10-43-51_17.bag"/>
+  <arg name="bagfiles" default="/home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-54-01_36.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-54-33_37.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-55-05_38.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-55-37_39.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-56-09_40.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-56-41_41.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-57-13_42.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-57-45_43.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-58-17_44.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-58-49_45.bag"/>
 
   <arg name="camera" default="stereo_forward"/>
   <arg name="image" default="image_raw"/>
@@ -9,30 +18,43 @@
 
   <node pkg="rosbag" type="play" name="player" args="--clock -d 5 -l $(arg bagfiles)"/>
 
-  <group ns="$(arg camera)">
+  <!--group ns="$(arg camera)">
     <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
-  </group>
+  </group-->
 
-  <group ns="/vig/$(arg camera)">
+  <!--include file="$(find turbot)/launch/modules/stereo_pipeline.launch">
+    <arg name="stereo" value="$(arg camera)" />
+  </include-->
+
+  <include file="$(find turbot)/launch/modules/stereo_pipeline.launch">
+    <arg name="stereo" value="/vig/$(arg camera)" />
+  </include>
+
+  <!--group ns="/vig/$(arg camera)">
     <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
-  </group>
+  </group-->
 
   <node pkg="image_preprocessing" type="vignetting_remover" name="vignetting_remover_l" output="screen">
     <param name="mean_filename" value="$(find image_preprocessing)/data/vignetting_mean_left.png"/>
     <param name="std_filename" value="$(find image_preprocessing)/data/vignetting_std_left.png"/>
     <param name="output_namespace" value="/vig/$(arg camera)/left"/>
     <remap from="image" to="$(arg camera)/left/$(arg image)"/>
   </node>
-  <node pkg="image_preprocessing" type="vignetting_remover" name="vignetting_remover_r" output="screen">
+
+  <!--node pkg="image_preprocessing" type="vignetting_remover" name="vignetting_remover_r" output="screen">
     <param name="mean_filename" value="$(find image_preprocessing)/data/vignetting_mean_right.png"/>
     <param name="std_filename" value="$(find image_preprocessing)/data/vignetting_std_right.png"/>
     <param name="output_namespace" value="/vig/$(arg camera)/right"/>
     <remap from="image" to="$(arg camera)/right/$(arg image)"/>
-  </node>
-
+  </node-->
+  
   <node pkg="image_preprocessing" type="color_correction_image" name="color_correction_image" output="screen">
-    <remap from="/color_correction_image/input" to="/vig/$(arg camera)/left/image_rect_color"/>
-    <remap from="/color_correction_image/output" to="/vig/$(arg camera)/left/image_rect_color_corrected"/>
+    <remap from="/color_correction_image/input" to="/vig/$(arg camera)/scaled_x2/left/image_rect_color"/>
+    <remap from="/color_correction_image/output" to="/vig/$(arg camera)/scaled_x2/left/image_rect_color_corrected"/>
   </node>
 
+  <!--node pkg="image_preprocessing" type="stereo_clahs_node" name="clahs_node" respawn="true" output="screen" >
+    <remap from="stereo" to="/vig/$(arg camera)/scaled_x2"/>
+  </node-->
+
 </launch>
diff --git a/launch/test.launch b/launch/test.launch
diff --git a/launch/train_vignetting.launch b/launch/train_vignetting.launch
diff --git a/launch/vignetting.launch b/launch/vignetting.launch
@@ -0,0 +1,28 @@
+<launch>
+  <arg name="bagfiles" default="/home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-54-01_36.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-54-33_37.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-55-05_38.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-55-37_39.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-56-09_40.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-56-41_41.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-57-13_42.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-57-45_43.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-58-17_44.bag
+    /home/xesc/BAGFILES_BAG/emisari_27092017/images170927_1234_2017-09-27-10-58-49_45.bag"/>
+
+  <arg name="camera" default="stereo_forward/right"/>
+  <arg name="image" default="image_raw"/>
+
+
+  <param name="use_sim_time" value="true"/>
+
+  <node pkg="rosbag" type="play" name="player" args="--clock -d 5 $(arg bagfiles)" output="screen" />
+
+  <group ns="$(arg camera)">
+    <node pkg="image_proc" type="image_proc" name="image_proc" output="screen"/>
+  </group>
+
+  <node pkg="image_preprocessing" type="vignetting_extractor" name="vignetting_extractor" output="screen">
+    <remap from="image" to="$(arg camera)/$(arg image)"/>
+  </node>
+</launch>
diff --git a/package.xml b/package.xml
diff --git a/src/clahs.cpp b/src/clahs.cpp
diff --git a/src/color_correction.cpp b/src/color_correction.cpp
diff --git a/src/dehazer.cpp b/src/dehazer.cpp
diff --git a/src/flicker_remover.cpp b/src/flicker_remover.cpp
diff --git a/src/mono_clahs.cpp b/src/mono_clahs.cpp
diff --git a/src/mono_dehazer.cpp b/src/mono_dehazer.cpp
diff --git a/src/nodes/clahs_node.cpp b/src/nodes/clahs_node.cpp
diff --git a/src/nodes/color_correction_image_node.cpp b/src/nodes/color_correction_image_node.cpp
@@ -19,9 +19,9 @@ using namespace cv;
 image_transport::Subscriber img_sub_;
 image_transport::Publisher img_pub_;
 
-void cv_clahe(cv::Mat _src, cv::Mat& _dst) {
+void cv_clahe(cv::Mat _src, cv::Mat& _dst, int gain) {
   cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE();
-  clahe->setClipLimit(2);
+  clahe->setClipLimit(gain);
   clahe->apply(_src, _dst);
   return;
 }
@@ -46,9 +46,9 @@ void imageCallback(const sensor_msgs::ImageConstPtr &image_msg) {
 
   // Equalizes the histogram of a one channel image (8UC1) using Contrast
   // Limited Adaptive Histogram Equalization.
-  std::thread thread_b(cv_clahe, BGR[0], std::ref(BGR[0]));
-  std::thread thread_g(cv_clahe, BGR[1], std::ref(BGR[1]));
-  std::thread thread_r(cv_clahe, BGR[2], std::ref(BGR[2]));
+  std::thread thread_b(cv_clahe, BGR[0], std::ref(BGR[0]),2);
+  std::thread thread_g(cv_clahe, BGR[1], std::ref(BGR[1]),2);
+  std::thread thread_r(cv_clahe, BGR[2], std::ref(BGR[2]),2);
   thread_b.join();
   thread_g.join();
   thread_r.join();

diff --git a/src/nodes/color_correction_node.cpp b/src/nodes/color_correction_node.cpp
diff --git a/src/nodes/dehazer_node.cpp b/src/nodes/dehazer_node.cpp
diff --git a/src/nodes/flicker_remover_node.cpp b/src/nodes/flicker_remover_node.cpp
diff --git a/src/nodes/stereo_clahs_node.cpp b/src/nodes/stereo_clahs_node.cpp
diff --git a/src/nodes/stereo_dehazer_node.cpp b/src/nodes/stereo_dehazer_node.cpp
diff --git a/src/nodes/vignetting_extractor_node.cpp b/src/nodes/vignetting_extractor_node.cpp
diff --git a/src/nodes/vignetting_remover_node.cpp b/src/nodes/vignetting_remover_node.cpp
diff --git a/src/stereo_clahs.cpp b/src/stereo_clahs.cpp
@@ -80,7 +80,6 @@ StereoClahs::StereoClahs(ros::NodeHandle nh, ros::NodeHandle nhp)
     ros::names::clean(stereo_ns + "/clahs/left/image_rect"),  1);
   right_mono_pub_  = it.advertiseCamera(
     ros::names::clean(stereo_ns + "/clahs/right/image_rect"), 1);
-
   left_color_pub_   = it.advertiseCamera(
     ros::names::clean(stereo_ns + "/clahs/left/image_rect_color"),  1);
   right_color_pub_  = it.advertiseCamera(

diff --git a/src/stereo_dehazer.cpp b/src/stereo_dehazer.cpp