def process_lut(self, image_path, meta_path=None):
"""
Takes a raw data image and converts it to a 8 bit RGB image with for visual inspection.
Images are applied with an hand crafted image enhancement process including a gamma correction and
contrast enhancement. This approach reimplements the process for the images in cam_stereo_left_lut.
"""
image_raw = read_tiff_image(image_path)
if meta_path is not None:
meta = read_meta_file(meta_path)
else:
meta = None
if self.DEBUG:
check_image(image_raw)
image = self.decompand_lut[image_raw]
if parse_day_night(meta):
image_lut = self.daytime_lut[image]
else:
image_lut = self.nighttime_lut[image]
image_bayer = cv2.cvtColor(image_lut, cv2.COLOR_BAYER_GB2BGR)
image_bit = np.right_shift(image_bayer, 8).astype(np.uint8)
image_bit = apply_clahe_8bit(image_bit)
self.PC.rectifyImage(image_bit, image_bit)
return image_bit
def process_rect_gated(self, image_path):
"""
Takes a raw data gated image and converts it to a rectified 10 bit grayscale image
"""
image_raw = read_tiff_image(image_path)
if self.DEBUG:
check_image(image_raw)
self.PC.rectifyImage(image_raw, image_raw)
return image_raw
def process_rect_decompand(self, image_path):
"""
Takes a raw data image and converts it to a decompanded rectified 16 bit image.
"""
image_raw = read_tiff_image(image_path)
image_bayer = cv2.cvtColor(image_raw, cv2.COLOR_BAYER_GB2BGR)
self.PC.rectifyImage(image_bayer, image_bayer)
image_decomp = self.decompand_lut[image_bayer]
return image_decomp
def process_rect(self, image_path):
"""
Takes a raw data image and converts it to a rectified 12 bit RGB image
"""
image_raw = read_tiff_image(image_path)
if self.DEBUG:
check_image(image_raw)
image_bayer = cv2.cvtColor(image_raw, cv2.COLOR_BAYER_GB2BGR)
self.PC.rectifyImage(image_bayer, image_bayer)
return image_bayer
def process_rect_lut_gated8(self, image_path):
"""
Takes a raw data gated image and converts it to a rectified bit shifted 8 bit grayscale image
"""
image_raw = read_tiff_image(image_path)
if self.DEBUG:
check_image(image_raw)
image_raw = self.gated_lut[image_raw]
image_raw = np.right_shift(image_raw, 2).astype(np.uint8)
clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(8, 8))
return clahe.apply(image_raw)
def process_rect8(self, image_path):
"""
Takes a raw data image and converts it to a 8 bit RGB image with for visual inspection.
Images are only rectified and bitshifted.
"""
image_raw = read_tiff_image(image_path)
if self.DEBUG:
check_image(image_raw)
image_bayer = cv2.cvtColor(image_raw, cv2.COLOR_BAYER_GB2BGR)
self.PC.rectifyImage(image_bayer, image_bayer)
image_bit = np.right_shift(image_bayer, 4).astype(np.uint8)
return image_bit