[GSoC 2017]Photometric Calibration.

modules/photometric_calib/CMakeLists.txt

@@ -0,0 +1,2 @@
+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

@@ -0,0 +1,2 @@
+Photometric Calibration
+================================================

modules/photometric_calib/include/opencv2/photometric_calib.hpp

@@ -0,0 +1,68 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2014, OpenCV Foundation, all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and/or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#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>
+
+namespace cv { namespace photometric_calib{
+
+//! @addtogroup photometric_calib
+//! @{
+
+class CV_EXPORTS PhotometricCalibrator : public Algorithm
+{
+public:
+	bool validImgs(std::vector <Mat> &inputImgs, std::vector<double> &exposureTime);
+};
+
+//! @}
+
+}} // namespace photometric_calib, cv
+
+#endif

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

@@ -0,0 +1,33 @@
+#ifndef _OPENCV_READER_HPP
+#define _OPENCV_READER_HPP
+
+#include "opencv2/photometric_calib.hpp"
+
+namespace cv { namespace photometric_calib{
+
+class Reader
+{
+public:
+    Reader(std::string folderPath, std::string timesPath);
+
+    unsigned long getNumImages();
+
+    double getTimestamp(unsigned long id);
+
+    float getExposureTime(unsigned long id);
+
+
+private:
+    inline void loadTimestamps(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

@@ -0,0 +1,81 @@
+//
+// Created by Nan Yang on 17/6/14.
+//
+
+#include "precomp.hpp"
+#include "opencv2/photometric_calib/Reader.hpp"
+
+namespace cv { namespace photometric_calib{
+
+unsigned long Reader::getNumImages()
+{
+    return (unsigned long)files.size();
+}
+
+void Reader::loadTimestamps(std::string timesFile)
+{
+    std::ifstream timesStream;
+    timesStream.open(timesFile.c_str());
+    timeStamps.clear();
+    exposureTimes.clear();
+    while (!timesStream.eof() && timesStream.good())
+    {
+        char buf[1000];
+        timesStream.getline(buf, 1000);
+
+        int id = 0;
+        double timeStamp = 0.0;
+        float exposureTime = 0.0;
+
+        CV_Assert(3 == scanf(buf, "%d %lf %f", &id, &timeStamp, &exposureTime));
+
+        timeStamps.push_back(timeStamp);
+        exposureTimes.push_back(exposureTime);
+    }
+    timesStream.close();
+
+    CV_Assert(timeStamps.size() == getNumImages() && exposureTimes.size() == getNumImages());
+}
+
+Reader::Reader(std::string folderPath, 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(unsigned long i = 0; i < files.size(); ++i)
+    {
+        Mat img = imread(files[i]);
+        CV_Assert(img.type() == CV_8U);
+        if(0 == i)
+        {
+            width = img.cols;
+            height = img.rows;
+        }
+        else
+        {
+            CV_Assert(width == img.cols && height == img.rows);
+        }
+    }
+
+    std::cout<<getNumImages()<<" imgases from"<<folderPath<<" loaded successfully!"<<std::endl;
+}
+
+double Reader::getTimestamp(unsigned long id)
+{
+    CV_Assert(id < timeStamps.size());
+    return timeStamps[id];
+}
+
+float Reader::getExposureTime(unsigned long id)
+{
+    CV_Assert(id < exposureTimes.size());
+    return exposureTimes[id];
+}
+
+}} // namespace photometric_calib, cv

modules/photometric_calib/src/photometric_calib.cpp

@@ -0,0 +1,80 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2014, OpenCV Foundation, all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and/or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#include "precomp.hpp"
+#include "opencv2/photometric_calib.hpp"
+
+namespace cv{ namespace photometric_calib{
+
+using namespace std;
+
+bool PhotometricCalibrator::validImgs(std::vector <Mat> &inputImgs, 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

@@ -0,0 +1,50 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#include "opencv2/core.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/highgui.hpp"
+#include <vector>
+#endif