modified for C++17 and OpenCV4 compatibility

README.md

@@ -28,6 +28,15 @@ tested with version 1.3.0. which is included in /thirdparty.
 
 
 
+#### 5. Dataset Description:
+The dataset used is [TUM dataset](https://vision.in.tum.de/data/datasets/mono-dataset). For photometric calibration, it contains `images.zip`, `pcalib.txt`, `times.txt` and `camera.txt` files. 
+- `camera.txt` contains camera parameters (as per the camera model) normalized to the video frame dimensions.
+- `pcalib.txt` is the output of gamma calibration and contains inverse irradiance values [0, 255].
+- `times.txt` contains 3 columns: `video_frame_number`, `video_frame_timestamp` (absolute/relative time), exposure_values (1/f). For `exposure_values` TUM_dataset has used sensors but one can use another workaround; capture a static scene without camera motion through various discrete exposure values and 
+set the exposure values in the `times.txt` `exposure_values` column (generated the files and tested in custom dataset).
+
+**NOTE:** Gamma calibration requires `times.txt`, `camera.txt` and `images.zip` and outputs `pcalib.txt`
+while Vignette calibration requires `camera.txt`, `images.zip` and `pcalib.txt` and outputs `vignette.png`
 
 
 # Usage: C++ code

src/BenchmarkDatasetReader.h

@@ -249,7 +249,7 @@ class DatasetReader
 		if(!isZipped)
 		{
 			// CHANGE FOR ZIP FILE
-			return cv::imread(files[id],CV_LOAD_IMAGE_GRAYSCALE);
+			return cv::imread(files[id],cv::IMREAD_GRAYSCALE);
 		}
 		else
 		{
@@ -271,7 +271,7 @@ class DatasetReader
 					exit(1);
 				}
 			}
-			return cv::imdecode(cv::Mat(readbytes,1,CV_8U, databuffer), CV_LOAD_IMAGE_GRAYSCALE);
+			return cv::imdecode(cv::Mat(readbytes,1,CV_8U, databuffer),cv::IMREAD_GRAYSCALE);
 		}
 	}
 
@@ -343,4 +343,3 @@ class DatasetReader
 
 	float* internalTempBuffer;
 };
-

src/PhotometricUndistorter.cpp

@@ -117,7 +117,7 @@ PhotometricUndistorter::PhotometricUndistorter(
 
 
 	printf("Reading Vignette Image from %s\n",vignetteImage.c_str());
-	cv::Mat vignetteMat = cv::imread(vignetteImage.c_str(), CV_LOAD_IMAGE_UNCHANGED);
+	cv::Mat vignetteMat = cv::imread(vignetteImage.c_str(), cv::IMREAD_UNCHANGED);
 	vignetteMap = new float[w*h];
 	vignetteMapInv = new float[w*h];
 	if(vignetteMat.rows != h || vignetteMat.cols != w)
@@ -210,6 +210,3 @@ void PhotometricUndistorter::unMapImage(
 		for(int i=0;i<n;i++) if(image_in[i]==255) image_out[i]=NAN;
 	}
 }
-
-
-

src/main_responseCalib.cpp

@@ -45,7 +45,23 @@ int leakPadding=2;
 int nits = 10;
 int skipFrames = 1;
 
-
+void swap(double* xp, double* yp)
+{
+    double temp = *xp;
+    *xp = *yp;
+    *yp = temp;
+}
+
+void bubbleSort(double arr[])
+{
+    int i, j;
+    for (i = 0; i < 255; i++)
+
+        // Last i elements are already in place
+        for (j = 0; j < 255 - i; j++)
+            if (arr[j] > arr[j + 1])
+                swap(&arr[j], &arr[j + 1]);
+}
 
 Eigen::Vector2d rmse(double* G, double* E, std::vector<double> &exposureVec, std::vector<unsigned char*> &dataVec,  int wh)
 {
@@ -345,9 +361,21 @@ int main( int argc, char** argv )
 			plotE(E,w,h, buf);
 		}
 
+		double max_G = 0;
+		for(int i = 0; i < 256; i++)
+		{
+		if(max_G < G[i])
+		{
+			max_G = G[i];
+		}
+		}
+        std::cout << " Max G = " << max_G << std::endl;
+
+		bubbleSort(G);
 
 		// rescale such that maximum response is 255 (fairly arbitrary choice).
-		double rescaleFactor=255.0 / G[255];
+		// double rescaleFactor=255.0 / G[255];
+		double rescaleFactor=255.0 / max_G;
 		for(int i=0;i<w*h;i++)
 		{
 			E[i] *= rescaleFactor;

src/main_vignetteCalib.cpp

@@ -40,11 +40,14 @@
 #include "BenchmarkDatasetReader.h"
 #include "Eigen/Core"
 #include "Eigen/LU"
+#include "opencv2/core/eigen.hpp"
 
 #include <sstream>
 #include <fstream>
 #include <dirent.h>
 #include <algorithm>
+#include<iostream>
+#include<string>
 
 
 // reads interpolated element from a uchar* array
@@ -187,7 +190,6 @@ int main( int argc, char** argv )
 {
 	for(int i=2; i<argc;i++)
 		parseArgument(argv[i]);
-
 	if(-1 == system("rm -rf vignetteCalibResult")) printf("could not delete old vignetteCalibResult folder!\n");
 	if(-1 == system("mkdir vignetteCalibResult")) printf("could not delete old vignetteCalibResult folder!\n");
 
@@ -205,11 +207,19 @@ int main( int argc, char** argv )
 	printf("SEQUENCE NAME: %s!\n", argv[1]);
 
 	int w_out, h_out;
-	//Eigen::Matrix3f K = reader->getUndistorter()->getK_rect();
 	w_out = reader->getUndistorter()->getOutputDims()[0];
 	h_out = reader->getUndistorter()->getOutputDims()[1];
 
 	aruco::MarkerDetector MDetector;
+	std::string path = argv[1];
+	UndistorterFOV* undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+	// Eigen::Matrix3f Krect = undistorter->getK_rect();
+	// float Omega = undistorter->getOmega();
+
+	cv::Mat camMatrix;
+	cv::Mat_<float> distCoeff(4, 1);
+	cv::eigen2cv(undistorter->getK_rect(), camMatrix);
+	distCoeff<< undistorter->getOmega(), 0, 0, 0;
 
 	std::vector<float*> images;
 	std::vector<float*> p2imgX;
@@ -236,7 +246,7 @@ int main( int argc, char** argv )
 		cv::Mat(h_out, w_out, CV_32F, img->image).convertTo(InImage, CV_8U, 1, 0);
 		delete img;
 
-		MDetector.detect(InImage,Markers);
+		MDetector.detect(InImage,Markers, camMatrix, distCoeff);
 		if(Markers.size() != 1) continue;
 
         std::vector<cv::Point2f> ptsP;
@@ -321,7 +331,7 @@ int main( int argc, char** argv )
 				int v_dT = plane2imgY[idxT]+0.5;
 
 				if(u_dS>=0 && v_dS >=0 && u_dS<wI && v_dS<hI && u_dT>=0 && v_dT >=0 && u_dT<wI && v_dT<hI)
-					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, CV_AA);
+					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, cv::LINE_AA);
 			}
 
 
@@ -338,7 +348,7 @@ int main( int argc, char** argv )
 				int v_dT = plane2imgY[idxT]+0.5;
 
 				if(u_dS>=0 && v_dS >=0 && u_dS<wI && v_dS<hI && u_dT>=0 && v_dT >=0 && u_dT<wI && v_dT<hI)
-					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, CV_AA);
+					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, cv::LINE_AA);
 			}
 
 

thirdparty/aruco-3.1.12/CMakeLists.txt

@@ -0,0 +1,45 @@
+# ----------------------------------------------------------------------------
+#   Basic Configuration
+# ----------------------------------------------------------------------------
+cmake_minimum_required(VERSION 3.0)
+project(aruco VERSION "3.1.12" LANGUAGES CXX)
+set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_CXX_STANDARD 11) # C++11...
+set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required...
+set(CMAKE_CXX_EXTENSIONS ON) #...with compiler extensions like gnu++11
+
+include(cmake/options.cmake)
+
+include(cmake/findDependencies.cmake)
+include(cmake/compilerOptions.cmake)
+
+
+
+add_subdirectory(src)
+
+if(GL_FOUND AND BUILD_GLSAMPLES)
+  add_subdirectory(utils_gl)
+endif()
+if(BUILD_TESTS)
+  add_subdirectory(tests)
+endif()
+
+
+if(BUILD_UTILS)
+  add_subdirectory(utils)
+  add_subdirectory(utils_markermap)
+  add_subdirectory(utils_calibration)
+  add_subdirectory(utils_dcf)
+  IF(BUILD_SVM)
+  ADD_SUBDIRECTORY(utils_svm)
+  ENDIF()
+   ADD_SUBDIRECTORY(utils_fractal)
+endif()
+include(cmake/printInfo.cmake)
+include(cmake/installOptions.cmake)
+
+# Package Generator  #######################################################
+IF(BUILD_DEBPACKAGE)
+include(cmake/cpack.cmake)
+ENDIF()