From 8e5a3550283255d734aac0d5f9732e4a88dc9601 Mon Sep 17 00:00:00 2001
From: raphaelchang <raphaelchang1227@gmail.com>
Date: Thu, 26 Sep 2019 23:32:11 -0400
Subject: [PATCH] brightness equalization

---
 src/ros/eval_base.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/ros/eval_base.cc b/src/ros/eval_base.cc
index 8ec16bc..3ca4180 100644
--- a/src/ros/eval_base.cc
+++ b/src/ros/eval_base.cc
@@ -188,6 +188,8 @@ void EvalBase<Stereo>::FrameCallback(const sensor_msgs::ImageConstPtr &image, co
     cv::cvtColor(cvImage->image, monoImg, CV_BGR2GRAY);
     cv::Mat monoImg2;
     cv::cvtColor(cvStereoImage->image, monoImg2, CV_BGR2GRAY);
+    cv::equalizeHist(monoImg, monoImg);
+    cv::equalizeHist(monoImg2, monoImg2);
     cv::Mat depthFloatImg;
     if (depth_image != nullptr)
     {