[GSoC 2017] Photometric Calibration

doc/opencv.bib

@@ -904,3 +904,12 @@ @INPROCEEDINGS{Ke17
   year = {2017},
   organization = {IEEE}
 }
+@InProceedings{engel2016monodataset,
+  author = "J. Engel and V. Usenko and D. Cremers",
+  title = "A Photometrically Calibrated Benchmark For Monocular Visual Odometry",
+  booktitle = "arXiv:1607.02555",
+  arXiv = " arXiv:1607.02555",
+  year = "2016",
+  month = "July",
+  keywords={mono-ds,dso}
+}

modules/calib3d/include/opencv2/calib3d.hpp

@@ -1925,6 +1925,42 @@ class CV_EXPORTS_W StereoSGBM : public StereoMatcher
                                           int mode = StereoSGBM::MODE_SGBM);
 };
 
+/** @brief The class for photometric calibration algorithms.
+*/
+class CV_EXPORTS_W PhotometricCalibrator : public Algorithm
+{
+
+};
+
+/** @brief The class implements the non-parametric photometric calbration algorithm from J. Engel et al. @cite engel2016monodataset
+
+ */
+class CV_EXPORTS_W PhotoCalbrNonPara : public PhotometricCalibrator
+{
+public:
+/** @brief Check if the images and corresponding exposure times are valid for response calibration.
+
+    @param inputImgs Vector containing all the images used for response calibration.
+    @param exposureTimes Vector containing all the exposure times for response calibration.
+     */
+    CV_WRAP virtual bool validResponseCalibrImgs(std::vector<Mat> &inputImgs, std::vector<double> &exposureTimes) = 0;
+
+    /** @brief Creates PhotoCalbrNonPara object
+
+    @param numDisparities the disparity search range. For each pixel algorithm will find the best
+    disparity from 0 (default minimum disparity) to numDisparities. The search range can then be
+    shifted by changing the minimum disparity.
+    @param blockSize the linear size of the blocks compared by the algorithm. The size should be odd
+    (as the block is centered at the current pixel). Larger block size implies smoother, though less
+    accurate disparity map. Smaller block size gives more detailed disparity map, but there is higher
+    chance for algorithm to find a wrong correspondence.
+
+    The function create StereoBM object. You can then call StereoBM::compute() to compute disparity for
+    a specific stereo pair.
+     */
+    CV_WRAP static Ptr<PhotoCalbrNonPara> create();
+};
+
 //! @} calib3d
 
 /** @brief The methods in this namespace use a so-called fisheye camera model.

modules/calib3d/src/photo_calbr_nonpara.cpp

@@ -0,0 +1,76 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
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+
+/*
+ This is an implementation of photometric calibration in
+ "Stereo Processing by Semiglobal Matching and Mutual Information"
+ by J. Engel et al.
+ */
+
+#include "precomp.hpp"
+#include <limits.h>
+#include "opencv2/core/hal/intrin.hpp"
+
+namespace cv {
+
+class PhotoCalbrNonParaImpl : public PhotoCalbrNonPara
+{
+public:
+    PhotoCalbrNonParaImpl() {}
+
+    bool validResponseCalibrImgs(std::vector <Mat> &inputImgs, std::vector<double> &exposureTime)
+    {
+        return inputImgs.size() != 0 && inputImgs.size() == exposureTime.size();
+    }
+
+    static const char* name_;
+};
+
+const char* PhotoCalbrNonParaImpl::name_ = "PhotometricCalibrator.NonPara";
+
+Ptr <PhotoCalbrNonPara> PhotoCalbrNonPara::create()
+{
+    return Ptr <PhotoCalbrNonPara> (new PhotoCalbrNonParaImpl());
+}
+
+}