tud_img_prep

Set of tools for preprocessing a camera video feed using OpenCV.

Includes:

• Deinterlacing of analog video signals, e.g. video feed acquired using an Easycap USB capture card. Different interlacing methods:
  • Half image
  • Interpolation (several interpolation methods)
• Color format selection and conversion
• Equalization of the images
  • Manual equalization using brighness and contrast controls
  • Automatic using OpenCV EqualizeHistogram function
• Filtering
  • Median
  • Gaussian
  • Bilateral Filter

All the options can be changed in real time using Dynamic Reconfigure.

Installation

Clone repository in your catkin worskspace:

cd ~/catkin_ws/src
git clone https://github.com/raultron/tud_img_prep.git

Compile using catkin:

catkin build tud_img_prep

Usage

rosrun tud_img_prep img_prep

This package requires ROS camera topics properly published.

Default input topics:

/cam/image_raw
/cam/camera_info

Default output topics:

/prep/cam/image_raw
/prep/cam/camera_info

The default camera namespace can be changed using the parameter "camera_namespace" in a launch file or directly in the terminal.

For example, if you have a camera that publishes in:

/my_camera/image_raw
/my_camera/camera_info

Then the terminal command will be:

rosrun tud_img_prep img_prep _camera_namespace:=/my_camera

And the ouput topics will be

/prep/my_camera/image_raw
/prep/my_camera/camera_info