Dehazer C++ library

v2.0.3

Table of contents

• Overview
• Versions
• Library files
• Key features and capabilities
• Supported pixel formats
• Library principles
• Dehazer class description
  • Dehazer class declaration
  • initVFilter method
  • getVersion method
  • setParam method
  • getParam method
  • getParams method
  • executeCommand method
  • processFrame method
  • setMask method
  • encodeSetParamCommand method of VFilter class
  • encodeCommand method of VFilter class
  • decodeCommand method of VFilter class
  • decodeAndExecuteCommand method
• Data structures
  • VFilterCommand enum
  • VFilterParam enum
• VFilterParams class description
  • VFilterParams class declaration
  • Serialize VFilter params
  • Deserialize VFilter params
  • Read params from JSON file and write to JSON file
• Build and connect to your project
• Example
• Benchmark
• Demo application
  • Demo application overview
  • Launch and user interface
  • Control

Overview

Dehazer C++ library implements video defog / dehaze algorithm based on histogram manipulations. The library utilizes different histogram manipulations to improve the contrast of the video frame and to reduce the effect of haze. The library is implemented in C++ (C++17 standard) and exclusively relies on OpenCV library (version 4.5.0 and higher). This library is suitable for various types of camera (daylight, SWIR, MWIR and LWIR) and it provides simple programming interface. Each instance of the Dehazer C++ class object performs frame-by-frame processing of a video data stream, processing each video frame independently. The library depends on open source VFilter library (provides interface as well as defines data structures for various video filters implementation, source code included, Apache 2.0 license) and OpenCV library (version >=4.5.0, linked, Apache 2.0 license). Additionally demo application depends on open source SimpleFileDialog (provides dialog to open files, source code included, Apache 2.0 license).

Versions

Table 1 - Library versions.

Version	Release date	What’s new
1.0.0	11.12.2023	First version based on histogram manipulation.
2.0.0	21.02.2024	- Library updated with VFilter interface. - Added CLAHE algorithm as second algorithm type.
2.0.1	24.03.2024	- VFilter class updated. - SimpleFileDialog class updated. - Documentation updated.
2.0.2	21.05.2024	- Submodules updated. - Documentation updated.
2.0.3	19.07.2024	- CMake updated. - Files structure updated.

Library files

The library is supplied as source code only. The user is provided with a set of files in the form of a CMake project (repository). The repository structure is shown below:

CMakeLists.txt ------------ Main CMake file of the library.
3rdparty ------------------ Folder with third-party libraries.
    CMakeLists.txt -------- CMake file to include third-party libraries.
    VFilter --------------- Files with VFilter library source code.
src ----------------------- Folder with library source code.
    CMakeLists.txt -------- CMake file of the library.
    Dehazer.h ------------- Main library header file.
    DehazerVersion.h ------ Header file with library version.
    DehazerVersion.h.in --- Service CMake file to generate version header.
    Dehazer.cpp ----------- C++ implementation file.
    Impl ------------------ Folder with dehazer implementation.
        DehazerImpl.h ----- Header file of dehazer implementation.
        DehazerImpl.cpp --- C++ implementation file.
demo ---------------------- Folder for demo application files.
    CMakeLists.txt -------- CMake file for demo application.
    3rdaprty -------------- Folder with third-party libraries for demo application.
        CMakeLists.txt ---- CMake file to include third-party libraries.
        SimpleFileDialog -- Folder with SimpleFileDialog library folder source code.
    main.cpp -------------- Source C++ file of demo application.
example ------------------- Folder for simple example.
    CMakeLists.txt -------- CMake file of example.
    main.cpp -------------- Source C++ file of example.
benchmark ----------------- Folder with test application (benchmark).
    CMakeLists.txt -------- CMake file of test application (benchmark).
    main.cpp -------------- Source C++ file of test application.

Key features and capabilities

Table 2 - Key features and capabilities.

Parameter and feature	Description
Programming language	C++ (standard C++17). Depends on OpenCV library (version 4.5.0 and higher).
Supported OS	Compatible with any operating system that supports the C++ compiler (C++17 standard) and OpenCV library (version 4.5.0 and higher).
Algorithm type	Implemented two types of algorithms: histogram manipulation based on whole image area and histogram manipulation based on local pixel area (CLAHE).
Supported pixel formats	GRAY, YUV24, YUYV, UYVY, NV12, NV21, YV12, YU12. The library uses pixels intensity for video processing. If the pixel format of the image doesn’t include intensity channel it should be converted to proper format before applying dehazing.
Maximum and minimum video frame size	The minimum size of video frames to be processed is 16x16 pixels, and the maximum size is 8192x8192 pixels. The size of the video frames to be processed has a significant impact on the computation speed.
Calculation speed	The processing time per video frame depends on the computing platform used. The processing time per video frame can be estimated with the benchmark application.

Supported pixel formats

Frame library, which is included in Dehazer library contains Fourcc enum, which defines supported pixel formats (Frame.h file). Dehazer library supports intensity channel included pixel formats only (GRAY, YUV24, YUYV, UYVY, NV12, NV21, YV12, YU12). The library utilizes the intensity channel for video processing. Fourcc enum declaration:

enum class Fourcc
{
    /// RGB 24bit pixel format.
    RGB24 = MAKE_FOURCC_CODE('R', 'G', 'B', '3'),
    /// BGR 24bit pixel format.
    BGR24 = MAKE_FOURCC_CODE('B', 'G', 'R', '3'),
    /// YUYV 16bits per pixel format.
    YUYV  = MAKE_FOURCC_CODE('Y', 'U', 'Y', 'V'),
    /// UYVY 16bits per pixel format.
    UYVY  = MAKE_FOURCC_CODE('U', 'Y', 'V', 'Y'),
    /// Grayscale 8bit.
    GRAY  = MAKE_FOURCC_CODE('G', 'R', 'A', 'Y'),
    /// YUV 24bit per pixel format.
    YUV24  = MAKE_FOURCC_CODE('Y', 'U', 'V', '3'),
    /// NV12 pixel format.
    NV12  = MAKE_FOURCC_CODE('N', 'V', '1', '2'),
    /// NV21 pixel format.
    NV21  = MAKE_FOURCC_CODE('N', 'V', '2', '1'),
    /// YU12 (YUV420) - Planar pixel format.
    YU12 = MAKE_FOURCC_CODE('Y', 'U', '1', '2'),
    /// YV12 (YVU420) - Planar pixel format.
    YV12 = MAKE_FOURCC_CODE('Y', 'V', '1', '2'),
    /// JPEG compressed format.
    JPEG  = MAKE_FOURCC_CODE('J', 'P', 'E', 'G'),
    /// H264 compressed format.
    H264  = MAKE_FOURCC_CODE('H', '2', '6', '4'),
    /// HEVC compressed format.
    HEVC  = MAKE_FOURCC_CODE('H', 'E', 'V', 'C')
};

Table 3 - Bytes layout of supported RAW pixel formats. Example of 4x4 pixels image.

YUV24	GRAY
YUYV	UYVY
NV12	NV21
YU12	YV12

Library principles

The library is available as a source code only. To utilize the library as source code, developers have to incorporate the library files into their project. The usage sequence for the library is following:

1. Include the library files in the project.
2. Create an instance of the Dehazer C++ class. If you need multiple parallel cameras processing you have to create multiple Dehazer C++ class instances.
3. If necessary, modify the default library parameters using the setParam(…) method. Apply chosen type of the algorithm.
4. Create Frame class object for input frame.
5. Call the processFrame(…) method for frame processing.
6. The algorithm applies changes on the input original frame (taking into account mask if necessary).

Dehazer class description

Dehazer class declaration

Dehazer.h file contains Dehazer class declaration.

namespace cr
{
namespace video
{
class Dehazer : public VFilter
{
public:

    /// Class constructor.
    Dehazer();

    /// Class destructor.
    ~Dehazer();

    /// Get string of current library version.
    static std::string getVersion();

    /// Initialize video filter.
    bool initVFilter(VFilterParams& params) override;

    /// Set parameter.
    bool setParam(VFilterParam id, float value) override;

    /// Get parameter value.
    float getParam(VFilterParam id) override;

    /// Get all library parameters.
    void getParams(VFilterParams& params) override;

    /// Execute action command.
    bool executeCommand(VFilterCommand id) override;

    /// Process frame.
    bool processFrame(Frame& frame) override;

    /// Set mask for the filter.
    bool setMask(cr::video::Frame mask) override;

    /// Decode and execute command.
    bool decodeAndExecuteCommand(uint8_t* data, int size) override;
};
}
}

getVersion method

The getVersion() method returns string of current version of Dehazer class. Method declaration:

static std::string getVersion();

Method can be used without Dehazer class instance. Example:

std::cout << "Dehazer version: " << Dehazer::getVersion();

Console output:

Dehazer version: 2.0.3

initVFilter method

The initVFilter(…) method initializes dehazer filter with applied parameters. The method will call setParam(…) method for parameters: mode, level and type. Method declaration:

bool initVFilter(VFilterParams& params) override;

Parameter	Value
params	VFilterParams class object. Parameters supported by Dehazer: mode (default value 1) level (default value 0.0) type (type of algorithm, default value 0) If particular parameter is out of valid range, the library will set default values automatically.

Returns: TRUE if the dehazer initialized or FALSE if not.

setParam method

The setParam(…) method sets Dehazer parameter value. setParam(…) is a thread-safe method. This means that the setParam(…) method can be safely called from any thread. Method declaration:

bool setParam(VFilterParam id, float value) override;

Parameter	Description
id	Parameter ID according to VFilterParam enum. The library supports only parameters: MODE, LEVEL and TYPE. For other parameters the method will return FALSE.
value	Parameter value. Value depends on parameter ID.

Returns: TRUE if the parameter was set or FALSE if not (if it is read-only parameter or parameter value out of range).

getParam method

The getParam(…) method returns Dehazer parameter value. getParam(…) is a thread-safe method. This means that the getParam(…) method can be safely called from any thread. Method declaration:

float getParam(VFilterParam id) override;

Parameter	Description
id	Parameter ID according to VFilterParam enum. The library supports only parameters: MODE, LEVEL and TYPE. For other parameters the method will return -1.

Returns: parameter value or -1, if the parameter ID is not supported.

getParams method

The getParams(…) method is designed to obtain params structure and it is thread-safe. This means that the getParams(…) method can be safely called from any thread. Method declaration:

void getParams(VFilterParams& params) override;

Parameter	Description
params	Reference to VFilterParams object to store params.

executeCommand method

The executeCommand(…) method executes library action command and it is thread-safe. This means that the executeCommand(…) method can be safely called from any thread. Method declaration:

bool executeCommand(VFilterCommand id) override;

Parameter	Description
id	Command ID according to VFilterCommand enum.

Returns: TRUE if the command executed or FALSE if not.

processFrame method

The processFrame(..) method processes the given frame. If the mode is set to 0 (disabled), the method will skip the frame and return true.

bool processFrame(cr::video::Frame& frame) override;

Parameter	Description
frame	Video Frame for processing. Implemented algorithm takes frame as a source and process original video frame. Dehazer processes only GRAY, YUV24, YUYV, UYVY, NV12, NV21, YV12, YU12 formats. The library utilizes pixels intensity for video processing. If the pixel format of the image doesn’t include intensity channel it should be converted to proper format before dehazing.

Returns: TRUE if frame was successfully processed or skipped, FALSE if method encountered an error.

setMask method

The setMask(…) method designed to set filtration mask. The user can disable dehazing in any area of the video frame. For this purpose the user can create an image of any size and configuration with GRAY pixel format. Mask image pixel values equal to 0 prohibit video filtration in the corresponding area of video frames. Any mask pixel value different than 0 allows to apply filter in this area. The method can be called either before video frame processing or during video frame processing. Method declaration:

bool setMask(cr::video::Frame mask) override;

Parameter	Description
mask	Filtration mask in form of Frame object with GRAY pixel format. Dehazer omits image segments, where filtration mask pixel values equal 0. Mask can have any resolution. If resolution of mask (width and height) is not equal to video frame resolution, the library will scale this mask up to original processed video resolution.

Returns: TRUE if the the mask is accepted or FALSE if not (not valid pixel format or empty).

encodeSetParamCommand method of VFilter class

The encodeSetParamCommand(…) static method encodes command to change any VFilter parameter value. To control any video filter remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the VFilter class contains static methods for encoding the control command. The VFilter class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeSetParamCommand(…) designed to encode SET_PARAM command. Method declaration:

static void encodeSetParamCommand(uint8_t* data, int& size, VFilterParam id, float value);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 11.
size	Size of encoded data. Will be 11 bytes.
id	Parameter ID according to VFilterParam enum.
value	Parameter value.

encodeSetParamCommand(…) is static and used without VFilter class instance. This method used on client side (control system). Command encoding example:

// Buffer for encoded data.
uint8_t data[11];
// Size of encoded data.
int size = 0;
// Random parameter value.
float outValue = static_cast<float>(rand() % 20);
// Encode command.
VFilter::encodeSetParamCommand(data, size, VFilterParam::LEVEL, outValue);

encodeCommand method of VFilter class

The encodeCommand(…) static method encodes command for VFilter remote control. To control any video filter remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the VFilter class contains static methods for encoding the control command. The VFilter class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). encodeCommand(…) designed to encode COMMAND command (action command). Method declaration:

static void encodeCommand(uint8_t* data, int& size, VFilterCommand id);

Parameter	Description
data	Pointer to data buffer for encoded command. Must have size >= 7.
size	Size of encoded data. Will be 7 bytes.
id	Command ID according to VFilterCommand enum.

encodeCommand(…) is static and used without VFilter class instance. This method used on client side (control system). Command encoding example:

// Buffer for encoded data.
uint8_t data[7];
// Size of encoded data.
int size = 0;
// Encode command.
VFilter::encodeCommand(data, size, VFilterCommand::RESTART);

decodeCommand method of VFilter class

The decodeCommand(…) static method decodes command on image filter side. Method declaration:

static int decodeCommand(uint8_t* data, int size, VFilterParam& paramId, VFilterCommand& commandId, float& value);

Parameter	Description
data	Pointer to input command.
size	Size of command. Must be 11 bytes for SET_PARAM and 7 bytes for COMMAND.
paramId	VFilter parameter ID according to VFilterParam enum. After decoding SET_PARAM command the method will return parameter ID.
commandId	VFilter command ID according to VFilterCommand enum. After decoding COMMAND the method will return command ID.
value	VFilter parameter value (after decoding SET_PARAM command).

Returns: 0 - in case decoding COMMAND, 1 - in case decoding SET_PARAM command or -1 in case errors.

decodeAndExecuteCommand method

decodeAndExecuteCommand(…) method decodes and executes command encoded on video filter side. The decodeAndExecuteCommand(…) method can be safely called from any thread. Method declaration:

bool decodeAndExecuteCommand(uint8_t* data, int size) override;

Parameter	Description
data	Pointer to input command.
size	Size of command. Should be 11 bytes for SET_PARAM or 7 bytes for COMMAND.

Returns: TRUE if command decoded (SET_PARAM or COMMAND) and executed (action command or set param command) or FALSE if not.

Data structures

VFilterCommand enum

Enum declaration:

enum class VFilterCommand
{
    /// Restart image filter algorithm.
    RESET = 1,
    /// Enable filter.
    ON,
    /// Disable filter.
    OFF
};

Table 4 - Action commands description.

Command	Description
RESET	Not supported by Dehazer class.
ON	Enable video filter.
OFF	Disable video filter.

VFilterParam enum

Enum declaration:

enum class VFilterParam
{
	/// Current filter mode, usually 0 - off, 1 - on.
	MODE = 1,
	/// Enhancement level for particular filter, as a percentage in range from 
	/// 0% to 100%.
	LEVEL,
	/// Processing time in microseconds. Read only parameter.
	PROCESSING_TIME_MCSEC,
	/// Type of the filter. Depends on the implementation.
	TYPE,
	/// VFilter custom parameter. Custom parameters used when particular image 
	/// filter has specific unusual parameter.
	CUSTOM_1,
	/// VFilter custom parameter. Custom parameters used when particular image 
	/// filter has specific unusual parameter.
	CUSTOM_2,
	/// VFilter custom parameter. Custom parameters used when particular image 
	/// filter has specific unusual parameter.
	CUSTOM_3
};

Table 5 - Params description.

Parameter	Access	Description
MODE	read / write	Current filter mode: 0 - off, 1 - on. When the mode is set to 0, processFrame just forwards frame without processing and returns true.
LEVEL	read / write	Enhancement level applied in histogram filtering coefficient, as a percentage in range from 0% to 100%. The bigger value of level, the more influence on processing frame.
PROCESSING_TIME_MCSEC	read only	Processing time in microseconds. Read only parameter. Used to control performance of video filter.
TYPE	read / write	Type of the algorithm for dehazing. 0 - Custom histogram manipulation based on cumulative distribution function. 1 - CLAHE histogram equalization algorithm.
CUSTOM_1	read / write	Custom parameter. Not supported.
CUSTOM_2	read / write	Custom parameter. Not supported.
CUSTOM_3	read / write	Custom parameter. Not supported.

VFilterParams class description

VFilterParams class declaration

VFilterParams class is used to provide video filter parameters structure. Also VFilterParams provides possibility to write/read params from JSON files (JSON_READABLE macro) and provides methods to encode and decode params. VFilterParams interface class declared in VFilter.h file. Class declaration:

class VFilterParams
{
public:
    /// Current filter mode, usually 0 - off, 1 - on.
    int mode{ 0 };
    /// Enhancement level for particular filter, as a percentage in range from 
    /// 0% to 100%.
    float level{ 0 };
    /// Processing time in microseconds. Read only parameter.
    int processingTimeMcSec{ 0 };
    /// Type of the filter. Depends on the implementation.
    int type{ 0 };
    /// VFilter custom parameter. Custom parameters used when particular image 
    /// filter has specific unusual parameter.
    float custom1{ 0.0f };
    /// VFilter custom parameter. Custom parameters used when particular image 
    /// filter has specific unusual parameter.
    float custom2{ 0.0f };
    /// VFilter custom parameter. Custom parameters used when particular image 
    /// filter has specific unusual parameter.
    float custom3{ 0.0f };

    /// Macro from ConfigReader to make params readable/writable from JSON.
    JSON_READABLE(VFilterParams, mode, level, type, custom1, custom2, custom3)

    /// operator =
    VFilterParams& operator= (const VFilterParams& src);

    // Encode (serialize) params.
    bool encode(uint8_t* data, int bufferSize, int& size,
                                             VFilterParamsMask* mask = nullptr);
	// Decode (deserialize) params.
    bool decode(uint8_t* data, int dataSize);
};

Table 6 - VFilterParams class fields description is related to VFilterParam enum description.

Field	type	Description
mode	int	Current filter mode, 0 - off, 1 - on. When the mode is set to 0, processFrame just forwards frame without processing and returns true.
level	int	Enhancement level applied in histogram filtering coefficient, as a percentage in range from 0% to 100%. The bigger value of level, the more influence on processing frame.
processingTimeMcSec	int	Processing time in microseconds. Read only parameter. Used to control performance of video filter.
type	int	Type of the algorithm for dehazing. 0 - Custom histogram manipulation based on cumulative distribution function. 1 - CLAHE histogram equalization algorithm from OpenCV library.
custom1	float	Custom parameter. Not supported.
custom2	float	Custom parameter. Not supported.
custom3	float	Custom parameter. Not supported.

None: VFilterParams class fields listed in Table 6 have to reflect params set/get by methods setParam(…) and getParam(…).

Serialize VFilter params

VFilterParams class provides method encode(…) to serialize VFilter params. Serialization of VFilterParams is necessary in case when video filter parameters have to be sent via communication channels. Method provides options to exclude particular parameters from serialization. To do this method inserts binary mask (1 byte) where each bit represents particular parameter and decode(…) method recognizes it. Method declaration:

bool encode(uint8_t* data, int bufferSize, int& size, VFilterParamsMask* mask = nullptr);

Parameter	Value
data	Pointer to data buffer. Buffer size must be >= 32 bytes.
bufferSize	Data buffer size. Buffer size must be >= 32 bytes.
size	Size of encoded data.
mask	Parameters mask - pointer to VFilterParamsMask structure. VFilterParamsMask (declared in VFilter.h file) determines flags for each field (parameter) declared in VFilterParams class. If user wants to exclude any parameters from serialization, he can put a pointer to the mask. If the user wants to exclude a particular parameter from serialization, he should set the corresponding flag in the VFilterParamsMask structure.

Returns: TRUE if params encoded (serialized) or FALSE if not (buffer size < 32).

VFilterParamsMask structure declaration:

struct VFilterParamsMask
{
    bool mode{ true };
    bool level{ true };
    bool processingTimeMcSec{ true };
    bool type{ true };
    bool custom1{ true };
    bool custom2{ true };
    bool custom3{ true };
};

Example without parameters mask:

// Prepare parameters.
cr::video::VFilterParams params;
params.level = 80.0f;

// Encode (serialize) params.
int bufferSize = 128;
uint8_t buffer[128];
int size = 0;
params.encode(buffer, bufferSize, size);

Example with parameters mask:

// Prepare parameters.
cr::video::VFilterParams params;
params.level = 80.0;

// Prepare mask.
cr::video::VFilterParams mask;
// Exclude level.
mask.level = false;

// Encode (serialize) params.
int bufferSize = 128;
uint8_t buffer[128];
int size = 0;
params1.encode(buffer, bufferSize, size, &mask);

Deserialize VFilter params

VFilterParams class provides method decode(…) to deserialize params. Deserialization of VFilterParams is necessary in case when it is needed to receive params via communication channels. Method automatically recognizes which parameters were serialized by encode(…) method. Method declaration:

bool decode(uint8_t* data, int dataSize);

Parameter	Value
data	Pointer to data buffer with serialized params.
dataSize	Size of command data.

Returns: TRUE if params decoded (deserialized) or FALSE if not.

Example:

// Prepare parameters.
cr::video::VFilterParams params1;
params1.level = 80;

// Encode (serialize) params.
int bufferSize = 128;
uint8_t buffer[128];
int size = 0;
params1.encode(buffer, bufferSize, size);

// Decode (deserialize) params.
cr::video::VFilterParams params2;
params2.decode(buffer, size);

Read params from JSON file and write to JSON file

VFilter depends on open source ConfigReader library which provides method to read params from JSON file and to write params to JSON file. Example of writing and reading params to JSON file:

// Prepare random params.
cr::video::VFilterParams params1;
params1.mode = 1;
params1.level = 10.1f;
params1.processingTimeMcSec = 10;
params1.type = 2;
params1.custom1 = 22.3;
params1.custom2 = 23.4;
params1.custom3 = 24.5;

// Save to JSON.
cr::utils::ConfigReader configReader1;
if (!configReader1.set(params1, "Params"))
    std::cout << "Can't set params" << std::endl;
if (!configReader1.writeToFile("VFilterParams.json"))
    std::cout << "Can't write to file" << std::endl;

// Read params from file.
cr::utils::ConfigReader configReader2;
if (!configReader2.readFromFile("VFilterParams.json"))
    std::cout << "Can't read from file" << std::endl;
cr::video::VFilterParams params2;
if (!configReader2.get(params2, "Params"))
    std::cout << "Can't get params" << std::endl;

VFilterParams.json will look like:

{
    "Params": {
        "custom1": 22.3,
        "custom2": 23.4,
        "custom3": 24.5,
        "level": 10.1,
        "mode": 1,
        "type": 2
    }
}

Build and connect to your project

Typical commands to build Dehazer library:

cd Dehazer
mkdir build
cd build
cmake ..
make

If you want to connect Dehazer library to your CMake project as source code, you can do the following. For example, if your repository has structure:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp

Create folder 3rdparty in your repository folder and copy Dehazer repository folder there. The new structure of your repository will be as follows:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp
3rdparty
    Dehazer

Create CMakeLists.txt file in 3rdparty folder. CMakeLists.txt should be containing:

cmake_minimum_required(VERSION 3.13)

################################################################################
## 3RD-PARTY
## dependencies for the project
################################################################################
project(3rdparty LANGUAGES CXX)

################################################################################
## SETTINGS
## basic 3rd-party settings before use
################################################################################
# To inherit the top-level architecture when the project is used as a submodule.
SET(PARENT ${PARENT}_YOUR_PROJECT_3RDPARTY)
# Disable self-overwriting of parameters inside included subdirectories.
SET(${PARENT}_SUBMODULE_CACHE_OVERWRITE OFF CACHE BOOL "" FORCE)

################################################################################
## CONFIGURATION
## 3rd-party submodules configuration
################################################################################
SET(${PARENT}_SUBMODULE_DEHAZER                         ON  CACHE BOOL "" FORCE)
if (${PARENT}_SUBMODULE_DEHAZER)
    SET(${PARENT}_DEHAZER                               ON  CACHE BOOL "" FORCE)
    SET(${PARENT}_DEHAZER_DEMO                          OFF CACHE BOOL "" FORCE)
    SET(${PARENT}_DEHAZER_EXAMPLE                       OFF CACHE BOOL "" FORCE)
    SET(${PARENT}_DEHAZER_BENCHMARK                     OFF CACHE BOOL "" FORCE)
endif()

################################################################################
## INCLUDING SUBDIRECTORIES
## Adding subdirectories according to the 3rd-party configuration
################################################################################
if (${PARENT}_SUBMODULE_DEHAZER)
    add_subdirectory(Dehazer)
endif()

File 3rdparty/CMakeLists.txt adds folder Dehazer to your project and excludes test applications and examples from compiling (by default test applications and example excluded from compiling if Dehazer included as sub-repository).The new structure of your repository:

CMakeLists.txt
src
    CMakeList.txt
    yourLib.h
    yourLib.cpp
3rdparty
    CMakeLists.txt
    Dehazer

Next, you need to include the ‘3rdparty’ folder in the main CMakeLists.txt file of your repository. Add the following string at the end of your main CMakeLists.txt:

add_subdirectory(3rdparty)

Next, you have to include Dehazer library in your src/CMakeLists.txt file:

target_link_libraries(${PROJECT_NAME} Dehazer)

Done!

Example

A example shows how to use the Dehazer library. The application opens a video file “test.mp4” and copies the video frame data into an object of the Frame class and performs dehazing.

#include <iostream>
#include <opencv2/opencv.hpp>
#include "Dehazer.h"

int main(void)
{
    // Open video source.
    cv::VideoCapture source;
    if (!source.open("test.mp4"))
        return -1;

    // Init dehazer and set initial params.
    cr::video::Dehazer dehazer;
    dehazer.setParam(cr::video::VFilterParam::TYPE, 1);
    dehazer.setParam(cr::video::VFilterParam::LEVEL, 30);

    // Get frame size.
    int width = (int)source.get(cv::CAP_PROP_FRAME_WIDTH);
    int height = (int)source.get(cv::CAP_PROP_FRAME_HEIGHT);

    // Init frames.
    cv::Mat openCvBgrImg(height, width, CV_8UC3);
    cr::video::Frame frame(width, height, cr::video::Fourcc::YUV24);

    // Main loop.
    while (true)
    {
        // Capture next video frame.
        source >> openCvBgrImg;
        if (openCvBgrImg.empty())
            return 0;

        // Convert BGR to YUV.
        cv::Mat yuvImg(frame.height, frame.width, CV_8UC3, frame.data);
        cvtColor(openCvBgrImg, yuvImg, cv::COLOR_BGR2YUV);

        // Dehaze.
        dehazer.processFrame(frame);

        // Convert YUV to BGR.
        cvtColor(yuvImg, openCvBgrImg, cv::COLOR_YUV2BGR);

        // Show results.
        imshow("Result", openCvBgrImg);
        if (cv::waitKey(1) == 27)
            return 0;
    }
    return 1;
}

Benchmark

Benchmark allows you to evaluate the speed of the algorithm on different platforms. This is a console application that allows you to enter initial parameters after startup. After entering the parameters, the application will create 100 synthetic images and process them. After processing 100 images, the application will calculate and show statistics (average / minimum / maximum processing time per frame). Benchmark console interface:

--------------------------------------------------
Dehazer v2.0.3 benchmark
Benchmark will process 100 frames and will show
processing time per frame
--------------------------------------------------

Set frame width: 1290
Set frame height: 720
Set dehazer type (0 - custom, 1 - CLAHE) 1
Processing time: 2.87 -> 3.733 -> 40.799 msec
Processing time: 2.862 -> 3.298 -> 4.518 msec
Processing time: 2.503 -> 3.621 -> 8.356 msec
Processing time: 2.556 -> 2.837 -> 4.675 msec
Processing time: 2.447 -> 2.87 -> 3.62 msec
Processing time: 2.527 -> 2.885 -> 5.494 msec

Demo application

Demo application overview

The demo application is intended to evaluate the performance of the Dehazer C++ library. The application allows you to evaluate the operation of the algorithm with different dehazing level and algorithms. It is console application and serves as an example of using the Dehazer library. The application uses the OpenCV library for capturing video, recording video, displaying video, and forming a simple user interface.

Launch and user interface

The demo application does not require installation. The demo application compiled for Windows OS x64 (Windows 10 and never) as well for Linux OS (few distros, to get demo application for specific Linux distro sent us request). Table 7. shows list of files of demo application.

Table 7 - List of files of demo application (example for Windows OS).

File	Description
DehazerDemo.exe	Demo application executable file for windows OS.
opencv_world480.dll	OpenCV library file version 4.8.0 for Windows x64.
opencv_videoio_msmf480_64.dll	OpenCV library file version 4.8.0 for Windows x64.
opencv_videoio_ffmpeg480_64.dll	OpenCV library file version 4.8.0 for Windows x64.
VC_redist.x64	Installer of necessary system libraries for Windows x64 (use if required).
src	Folder with application source code.

To launch demo application run DehazerDemo.exe executable file on Windows x64 OS or run commands on Linux:

sudo chmod +x DehazerDemo
./Dehazer

If a message about missing system libraries appears (on Windows OS) when launching the application, you must install the VC_redist.x64.exe program, which will install the system libraries required for operation.

After starting the application (running the executable file) the user should select the video file in the dialog box (if typed “y” to run file dialog). After that the user will see the user interface as shown bellow. Image at the top is the source image and image at the bottom shows results of algorithm.

Control

To control the application, it is necessary that the main video display window was active (in focus), and also it is necessary that the English keyboard layout was activated without CapsLock mode. The program is controlled by the keyboard and mouse.

Table 8 - Control buttons.

Button	Description
ESC	Exit the application. If video recording is active, it will be stopped.
SPACE	Enable / disable dehazing algorithm.
1	Change algorithm type. Default - 1 (CLAHE).
R	Start/stop video recording. When video recording is enabled, a files mix_[date and time].avi (result video) and dst_[date and time].avi (combined source and result video) are created in the directory with the application executable file. Recording is performed of what is displayed to the user. To stop the recording, press the R key again. During video recording, the application shows a warning message.
Level	Dehazing algorithm enhancement value trackbar, can be set by dragging slider with a mouse.

The user can set the detection mask (mark a rectangular area where objects are to be detected). In order to set a rectangular detection area it is necessary to draw a line with the mouse with the left button pressed from the left-top corner of the required detection area to the right-bottom corner. The detection area will be marked in blue color as shown in the image.