Image preprocessing

[MariusGhica]

Image preprocessing applying contrast adaptive histogram equalization and edge sharpening to increase the feature points.

As a comparison, the 3D pointcloud with and without preprocessing. The hyperparameters such as scalling factor, roi border for feature detection and error projection are the same in both cases.

3D point cloud with preprocessing:

3D point cloud without preprocessing.

I have taken two 2D images, one with and one without preprocessing, to show the difference. At first glance, the difference is not really visible. In principle, the edges are more prominent and the contrast/intensity of the image is more pronounced.

2D image with preprocessing:

2D image without preprocessing:

[danielsanjosepro]

~It looks quite good in my opinion, now we have to add a step to increase the pc density~ Nevermind, @lole-elol just confused. Good Work.

[danielsanjosepro]

Well I am merging this, two reviews are good enough.