From 9f3cc4df74bfb1035e085120eb19364ee0e43310 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Sat, 22 Jun 2019 21:35:01 +0300
Subject: [PATCH] Implements #41 colour correction
---
components/rgbd-sources/CMakeLists.txt | 1 +
components/rgbd-sources/src/colour.cpp | 73 +++++++++++++++++++
components/rgbd-sources/src/colour.hpp | 15 ++++
components/rgbd-sources/src/net.cpp | 8 ++
components/rgbd-sources/src/net.hpp | 2 +
.../rgbd-sources/src/snapshot_source.cpp | 7 ++
6 files changed, 106 insertions(+)
create mode 100644 components/rgbd-sources/src/colour.cpp
create mode 100644 components/rgbd-sources/src/colour.hpp
diff --git a/components/rgbd-sources/CMakeLists.txt b/components/rgbd-sources/CMakeLists.txt
index 19aaf7458..96c709b6e 100644
--- a/components/rgbd-sources/CMakeLists.txt
+++ b/components/rgbd-sources/CMakeLists.txt
@@ -6,6 +6,7 @@ set(RGBDSRC
src/stereovideo.cpp
src/net.cpp
src/streamer.cpp
+ src/colour.cpp
# src/algorithms/rtcensus.cpp
# src/algorithms/rtcensus_sgm.cpp
# src/algorithms/opencv_sgbm.cpp
diff --git a/components/rgbd-sources/src/colour.cpp b/components/rgbd-sources/src/colour.cpp
new file mode 100644
index 000000000..c476ee8e2
--- /dev/null
+++ b/components/rgbd-sources/src/colour.cpp
@@ -0,0 +1,73 @@
+#include "colour.hpp"
+
+#include <vector>
+#include <tuple>
+
+using std::vector;
+
+static void gammaCorrection(const cv::Mat &img, const double gamma_){
+ using namespace cv;
+
+ Mat lookUpTable(1, 256, CV_8U);
+ uchar* p = lookUpTable.ptr();
+ for( int i = 0; i < 256; ++i)
+ p[i] = saturate_cast<uchar>(pow(i / 255.0, gamma_) * 255.0);
+
+ Mat res = img.clone();
+ LUT(img, lookUpTable, img);
+}
+
+static const std::vector<std::tuple<uchar,uchar,uchar>> kelvin_table = {
+ {255,56,0}, // 1000
+ {255,109,0}, // 1500
+ {255,137,18}, // 2000
+ {255,161,72}, // 2500
+ {255,180,107}, // 3000
+ {255,196,137}, // 3500
+ {255,209,163}, // 4000
+ {255,219,186}, // 4500
+ {255,228,206}, // 5000
+ {255,236,224}, // 5500
+ {255,243,239}, // 6000
+ {255,249,253}, // 6500
+ {245,243,255}, // 7000
+ {235,238,255}, // 7500
+ {227,233,255}, // 8000
+ {220,229,255}, // 8500
+ {214,225,255}, // 9000
+ {208,222,255}, // 9500
+ {204,219,255}}; // 10000
+
+template <int C>
+inline float kelvinFactor(int temp) {
+ int index = (temp / 500) - 2;
+ if (index >= kelvin_table.size()) index = kelvin_table.size();
+ else if (index < 0) index = 0;
+ return (float)std::get<C>(kelvin_table[index]) / 255.0f;
+}
+
+void ftl::rgbd::colourCorrection(cv::Mat &img, float gamma, int temp) {
+ using namespace cv;
+
+ Mat lutRed(1, 256, CV_8U);
+ Mat lutGreen(1, 256, CV_8U);
+ Mat lutBlue(1, 256, CV_8U);
+
+ // TODO(Nick): Cache these lookup tables if used every frame...
+ uchar* pr = lutRed.ptr();
+ uchar* pg = lutGreen.ptr();
+ uchar* pb = lutBlue.ptr();
+ for( int i = 0; i < 256; ++i) {
+ float g = pow(i / 255.0f, gamma) * 255.0f;
+ pr[i] = saturate_cast<uchar>(g * kelvinFactor<2>(temp));
+ pg[i] = saturate_cast<uchar>(g * kelvinFactor<1>(temp));
+ pb[i] = saturate_cast<uchar>(g * kelvinFactor<0>(temp));
+ }
+
+ vector<Mat> channels(3);
+ split(img, channels);
+ LUT(channels[0], lutBlue, channels[0]);
+ LUT(channels[1], lutGreen, channels[1]);
+ LUT(channels[2], lutRed, channels[2]);
+ merge(channels, img);
+}
diff --git a/components/rgbd-sources/src/colour.hpp b/components/rgbd-sources/src/colour.hpp
new file mode 100644
index 000000000..be88853a5
--- /dev/null
+++ b/components/rgbd-sources/src/colour.hpp
@@ -0,0 +1,15 @@
+#ifndef _FTL_RGBD_COLOUR_HPP_
+#define _FTL_RGBD_COLOUR_HPP_
+
+#include <opencv2/opencv.hpp>
+
+namespace ftl {
+namespace rgbd {
+
+void colourCorrection(cv::Mat &img, float gamma, int temp);
+// void colourCorrection(cv::GpuMat &img, float gamma, int temp);
+
+}
+}
+
+#endif // _FTL_RGBD_COLOUR_HPP_
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 674bc2471..6f915f127 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -4,6 +4,8 @@
#include <chrono>
#include <shared_mutex>
+#include "colour.hpp"
+
#include <ftl/rgbd/streamer.hpp>
using ftl::rgbd::detail::NetSource;
@@ -46,6 +48,9 @@ bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &s
NetSource::NetSource(ftl::rgbd::Source *host)
: ftl::rgbd::detail::Source(host), active_(false) {
+ gamma_ = host->value("gamma", 1.0f);
+ temperature_ = host->value("temperature", 6500);
+
_updateURI();
h_ = host_->getNet()->onConnect([this](ftl::net::Peer *p) {
@@ -90,6 +95,9 @@ void NetSource::_recvChunk(int frame, int chunk, bool delta, const vector<unsign
cv::imdecode(jpg, cv::IMREAD_COLOR, &tmp_rgb);
cv::imdecode(d, cv::IMREAD_UNCHANGED, &tmp_depth);
+ // Apply colour correction to chunk
+ ftl::rgbd::colourCorrection(tmp_rgb, gamma_, temperature_);
+
// Build chunk head
int cx = (chunk % chunks_dim_) * chunk_width_;
int cy = (chunk / chunks_dim_) * chunk_height_;
diff --git a/components/rgbd-sources/src/net.hpp b/components/rgbd-sources/src/net.hpp
index ce88d10c3..5a5639273 100644
--- a/components/rgbd-sources/src/net.hpp
+++ b/components/rgbd-sources/src/net.hpp
@@ -41,6 +41,8 @@ class NetSource : public detail::Source {
int chunk_width_;
int chunk_height_;
cv::Mat idepth_;
+ float gamma_;
+ int temperature_;
bool _getCalibration(ftl::net::Universe &net, const ftl::UUID &peer, const std::string &src, ftl::rgbd::Camera &p);
void _recv(const std::vector<unsigned char> &jpg, const std::vector<unsigned char> &d);
diff --git a/components/rgbd-sources/src/snapshot_source.cpp b/components/rgbd-sources/src/snapshot_source.cpp
index 367fc2861..686e55b93 100644
--- a/components/rgbd-sources/src/snapshot_source.cpp
+++ b/components/rgbd-sources/src/snapshot_source.cpp
@@ -1,16 +1,23 @@
#include "snapshot_source.hpp"
+#include "colour.hpp"
+#include <loguru.hpp>
#include <opencv2/opencv.hpp>
#include <Eigen/Eigen>
#include <opencv2/core/eigen.hpp>
+#include <vector>
using namespace ftl::rgbd;
using ftl::rgbd::detail::SnapshotSource;
using std::string;
+using std::vector;
SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, SnapshotReader &reader, const string &id) : detail::Source(host) {
Eigen::Matrix4d pose;
reader.getCameraRGBD(id, rgb_, depth_, pose, params_);
+
+ ftl::rgbd::colourCorrection(rgb_, host->value("gamma", 1.0f), host->value("temperature", 6500));
+
setPose(pose);
}
--
GitLab