From 0502948bcdede5431d154c6a23ce0ceb6213a853 Mon Sep 17 00:00:00 2001
From: spdis <spdis@spdis.space>
Date: Tue, 7 Jul 2026 18:06:17 +0800
Subject: [PATCH] =?UTF-8?q?speed20:=20raw=5Fframe=20CLAHE=E9=A2=84?=
 =?UTF-8?q?=E5=A4=84=E7=90=86(=E6=90=9C=E7=BA=BF+=E6=A8=A1=E5=9E=8B?=
 =?UTF-8?q?=E5=85=B1=E4=BA=AB,clipLimit=3D1.5)?=
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---
 src/camera.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/camera.cpp b/src/camera.cpp
index de9fd84..fe1839e 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -1243,6 +1243,16 @@ int CameraHandler(void)
     // 1. 取帧 + MJPEG 解码
     if (capture_frame(&ts[0], &ts[1]) < 0) return -1;
 
+    // 1.5 CLAHE 亮度归一化 → 搜线和模型共享
+    static cv::Mat labF, labRes;
+    static std::vector<cv::Mat> labC(3);
+    static cv::Ptr<cv::CLAHE> clahe_raw = cv::createCLAHE(1.5, cv::Size(8, 8));
+    cv::cvtColor(raw_frame, labF, cv::COLOR_BGR2Lab);
+    cv::split(labF, labC);
+    clahe_raw->apply(labC[0], labC[0]);
+    cv::merge(labC, labF);
+    cv::cvtColor(labF, raw_frame, cv::COLOR_Lab2BGR);
+
     // 2. 保存图像 (debug)
     save_image_if_requested();