开发环境:Ubuntu 18.04 LTS + ROS Melodic + ViSP 3.3.1
文章内容主要参考ViSP官方教学文档:https://visp-doc.inria.fr/doxygen/visp-daily/tutorial_mainpage.html
本文主要介绍如何使用ViSP实现图像锐化处理,主要涉及直方图拉伸、直方图均衡、CLAHE算法、非锐化掩膜(unsharp masking)算法。本文主要参考imgproc中的 tutorial-contrast-sharpening.cpp例程。首先要获取这个例程文件并编译它
svn export https://github.com/lagadic/visp.git/trunk/tutorial/imgproc
cd imgproc/contrast-sharpening
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=$VISP_WS/visp-build
make
执行例程,查看效果
./tutorial-contrast-sharpening
原图
直方图拉伸处理后的结果
HSV颜色空间中,直方图拉伸处理后的结果
直方图均衡处理后的结果
CLAHE算法处理后的结果
非锐化掩膜处理后的结果
我们来看一下程序的实现过程
#include <cstdlib>
#include <iostream>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_MODULE_IMGPROC)
//! [Include]
#include <visp3/imgproc/vpImgproc.h>
//! [Include]
#endif
int main(int argc, const char **argv)
{
//! [Macro defined]
#if defined(VISP_HAVE_MODULE_IMGPROC) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
//! [Macro defined]
//!
std::string input_filename = "Crayfish-low-contrast.png"; //设置默认输入图像的名称
int blockRadius = 150; //设置CLAHE算法的默认参数
int bins = 256; //设置CLAHE算法的默认参数
float slope = 3.0f; //设置CLAHE算法的默认参数
float sigma = 2.0f; //设置非锐化掩膜算法的默认参数
double weight = 0.5; //设置非锐化掩膜算法的默认参数
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--input" && i + 1 < argc) {
input_filename = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--blockRadius" && i + 1 < argc) {
blockRadius = atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--bins" && i + 1 < argc) {
bins = atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--slope" && i + 1 < argc) {
slope = (float)atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--sigma" && i + 1 < argc) {
sigma = (float)atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--weight" && i + 1 < argc) {
weight = atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--input <input image>]"
" [--blockRadius <block radius for CLAHE>] "
" [--bins <nb histogram bins for CLAHE>] [--slope <slope for CLAHE>]"
" [--sigma <Gaussian kernel standard deviation>] [--weight <unsharp mask weighting>]"
" [--help] [-h]"
<< std::endl;
return EXIT_SUCCESS;
}
}
//! [Read]
vpImage<vpRGBa> I_color;
vpImageIo::read(I_color, input_filename);
//! [Read]
#ifdef VISP_HAVE_X11
vpDisplayX d, d2, d3, d4, d5, d6;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d, d2, d3, d4, d5, d6;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV d, d2, d3, d4, d5, d6;
#endif
d.init(I_color, 0, 0, "Input color image");
//! [Stretch contrast]
vpImage<vpRGBa> I_stretch;
vp::stretchContrast(I_color, I_stretch); //直方图拉伸处理
//! [Stretch contrast]
d2.init(I_stretch, I_color.getWidth(), 10, "Stretch contrast");
//! [Stretch contrast HSV]
vpImage<vpRGBa> I_stretch_hsv;
vp::stretchContrastHSV(I_color, I_stretch_hsv);//HSV颜色空间中的直方图拉伸处理
//! [Stretch contrast HSV]
d3.init(I_stretch_hsv, 0, I_color.getHeight() + 80, "Stretch contrast HSV");
//! [Histogram equalization]
vpImage<vpRGBa> I_hist_eq;
vp::equalizeHistogram(I_color, I_hist_eq); //直方图均衡处理
//! [Histogram equalization]
d4.init(I_hist_eq, I_color.getWidth(), I_color.getHeight() + 80, "Histogram equalization");
//! [CLAHE]
vpImage<vpRGBa> I_clahe;
vp::clahe(I_color, I_clahe, blockRadius, bins, slope); //CLAHE算法处理
//! [CLAHE]
d5.init(I_clahe, 0, 2 * I_color.getHeight() + 80, "CLAHE");
//! [Unsharp mask]
vpImage<vpRGBa> I_unsharp;
vp::unsharpMask(I_clahe, I_unsharp, sigma, weight); //非锐化掩膜算法处理
//! [Unsharp mask]
d6.init(I_unsharp, I_color.getWidth(), 2 * I_color.getHeight() + 80, "Unsharp mask");
vpDisplay::display(I_color);
vpDisplay::display(I_stretch);
vpDisplay::display(I_stretch_hsv);
vpDisplay::display(I_hist_eq);
vpDisplay::display(I_clahe);
vpDisplay::display(I_unsharp);
vpDisplay::displayText(I_unsharp, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(I_color);
vpDisplay::flush(I_stretch);
vpDisplay::flush(I_stretch_hsv);
vpDisplay::flush(I_hist_eq);
vpDisplay::flush(I_clahe);
vpDisplay::flush(I_unsharp);
vpDisplay::getClick(I_unsharp);
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
return 0;
#endif
}
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