[GSoC 2017]Photometric Calibration.

modules/photometric_calib/CMakeLists.txt

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+set(the_description "Photometric Calibration")
+ocv_define_module(photometric_calib opencv_core opencv_imgproc opencv_calib3d opencv_features2d opencv_highgui WRAP python)

modules/photometric_calib/README.md

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+Photometric Calibration
+================================================
+
+Implementation of non-parametric photometric calibration algorithm proposed by J. Engel et al.:
+
+1. Camera Response Function Calibration
+2. Vignette Calibration
+3. Photometric Distortion Remover

modules/photometric_calib/doc/photometric_calib.bib

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+@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/photometric_calib/include/opencv2/photometric_calib.hpp

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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef __OPENCV_PHOTOMETRIC_CALIB_HPP__
+#define __OPENCV_PHOTOMETRIC_CALIB_HPP__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+
+#include <vector>
+#include <string>
+#include <iostream>
+#include <fstream>
+
+/** @defgroup photometric_calib Photometric Calibration
+*/
+
+namespace cv { namespace photometric_calib{
+
+//! @addtogroup photometric_calib
+//! @{
+
+class CV_EXPORTS PhotometricCalibrator : public Algorithm
+{
+public:
+    bool validImgs(const std::vector <Mat> &inputImgs, const std::vector<double> &exposureTime);
+};
+
+//! @}
+
+}} // namespace photometric_calib, cv
+
+#endif

modules/photometric_calib/include/opencv2/photometric_calib/Reader.hpp

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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef _OPENCV_READER_HPP
+#define _OPENCV_READER_HPP
+
+#include "opencv2/photometric_calib.hpp"
+
+namespace cv { namespace photometric_calib{
+
+//! @addtogroup photometric_calib
+//! @{
+
+class Reader
+{
+public:
+    Reader(const std::string &folderPath, const std::string &timesPath);
+
+    unsigned long getNumImages() const;
+
+    double getTimestamp(unsigned long id) const;
+
+    float getExposureTime(unsigned long id) const;
+
+
+private:
+    inline void loadTimestamps(const std::string &timesFile);
+
+    std::vector<String> files;
+    std::vector<double> timeStamps;
+    std::vector<float> exposureTimes;
+
+    int width, height;
+
+    String path;
+};
+
+//! @}
+
+}} // namespace cv photometric_calib
+#endif //_OPENCV_READER_HPP

modules/photometric_calib/src/Reader.cpp

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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "precomp.hpp"
+#include "opencv2/photometric_calib/Reader.hpp"
+
+namespace cv { namespace photometric_calib{
+
+unsigned long Reader::getNumImages() const
+{
+    return (unsigned long)files.size();
+}
+
+void Reader::loadTimestamps(const std::string &timesFile)
+{
+    CV_Assert(timesFile.substr(timesFile.find_last_of(".") + 1) == "yaml" || timesFile.substr(timesFile.find_last_of(".") + 1) == "yml");
+
+    FileStorage timeFile;
+    timeFile.open(timesFile, FileStorage::READ);
+    timeStamps.clear();
+    exposureTimes.clear();
+
+    CV_Assert(timeFile.isOpened());
+
+    FileNode timeStampNode = timeFile["times"];
+    FileNode exposureTimeNode = timeFile["exposures"];
+
+    CV_Assert(timeStampNode.type() == FileNode::SEQ && exposureTimeNode.type() == FileNode::SEQ);
+
+    FileNodeIterator itTs = timeStampNode.begin(), itTsEnd = timeStampNode.end();
+    FileNodeIterator itEt = exposureTimeNode.begin(), itEtEnd = exposureTimeNode.end();
+
+    for (; itTs != itTsEnd; ++itTs)
+        timeStamps.push_back((double)*itTs);
+    for (; itEt != itEtEnd; ++itEt)
+        exposureTimes.push_back((float)*itEt);
+
+    timeFile.release();
+
+    CV_Assert(timeStamps.size() == getNumImages() && exposureTimes.size() == getNumImages());
+}
+
+Reader::Reader(const std::string &folderPath, const std::string &timesPath)
+{
+    String cvFolderPath(folderPath);
+    glob(cvFolderPath, files);
+    CV_Assert(files.size() > 0);
+    std::sort(files.begin(), files.end());
+    loadTimestamps(timesPath);
+
+    width = 0;
+    height = 0;
+
+    for(size_t i = 0; i < files.size(); ++i)
+    {
+        Mat img = imread(files[i]);
+        CV_Assert(img.type() == CV_8U);
+        if(i == 0)
+        {
+            width = img.cols;
+            height = img.rows;
+        }
+        else
+        {
+            CV_Assert(width == img.cols && height == img.rows);
+        }
+    }
+}
+
+double Reader::getTimestamp(unsigned long id) const
+{
+    CV_Assert(id < timeStamps.size());
+    return timeStamps[id];
+}
+
+float Reader::getExposureTime(unsigned long id) const
+{
+    CV_Assert(id < exposureTimes.size());
+    return exposureTimes[id];
+}
+
+}} // namespace photometric_calib, cv

modules/photometric_calib/src/photometric_calib.cpp

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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "precomp.hpp"
+#include "opencv2/photometric_calib.hpp"
+
+namespace cv{ namespace photometric_calib{
+
+using namespace std;
+
+bool PhotometricCalibrator::validImgs(const std::vector <Mat> &inputImgs, const std::vector<double> &exposureTime)
+{
+    if(inputImgs.empty() || exposureTime.empty() || inputImgs.size() != exposureTime.size())
+        return false;
+
+    int width = 0, height = 0;
+    for(size_t i = 0; i < inputImgs.size(); ++ i)
+    {
+        Mat img;
+        img = inputImgs[i];
+        if(img.type() != CV_8U)
+        {
+            cout<<"The type of the image should be CV_8U!"<<endl;
+            return false;
+        }
+        if((width!=0 && width != img.cols) || img.cols==0)
+        {
+            cout<<"Width mismatch!"<<endl;
+            return false;
+        };
+        if((height!=0 && height != img.rows) || img.rows==0)
+        {
+            cout<<"Height mismatch!"<<endl;
+            return false;
+        };
+        width = img.cols;
+        height = img.rows;
+    }
+    return true;
+}
+
+}} // namespace photometric_calib, cv

modules/photometric_calib/src/precomp.hpp

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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef __OPENCV_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/highgui.hpp"
+#include <vector>
+#endif