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Calculates RGB ratios between the shadow area and near-shadow area, multiplies RGB values of the shadow area with the ratio to remove shadows, and started to fix over-illuminated edges using a median filter.
Performs median filter on entire sections of the image and extracts the filtered shadow pixels.
Clean rgb2hsl functions
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Seems to slow things down a bit on my VM, running just the lane detection. Hopefully the laptop will be able to handle it.
To test the shadow removal on its own, refer to the "fix shadow removal" commit 42bb61e, where I publish the image with just the shadow removal applied in
lane_detection_processor.cpp. To disable shadow removal, just comment out the function call in the same file.