Calibration, various changes

modules/highgui/src/grfmt_hdr.cpp

@@ -69,11 +69,13 @@ bool  HdrDecoder::readHeader()
 {
 	file = fopen(m_filename.c_str(), "rb");
 	if(!file) {
-		CV_Error(Error::StsError, "HDR decoder: can't open file");
+		return false;
 	}
 	RGBE_ReadHeader(file, &m_width, &m_height, NULL);
 	if(m_width <= 0 || m_height <= 0) {
-		CV_Error(Error::StsError, "HDR decoder: invalid image size");
+		fclose(file); 
+		file = NULL;
+		return false;
 	}
 	return true;
 }
@@ -82,7 +84,9 @@ bool HdrDecoder::readData(Mat& _img)
 {
 	Mat img(m_height, m_width, CV_32FC3);
 	if(!file) {
-		readHeader();
+		if(!readHeader()) {
+			return false;
+		}
 	}
 	RGBE_ReadPixels_RLE(file, const_cast<float*>(img.ptr<float>()), img.cols, img.rows);
 	fclose(file); file = NULL;
@@ -125,13 +129,10 @@ bool HdrEncoder::write( const Mat& _img, const std::vector<int>& params )
 	} else {
 		_img.convertTo(img, CV_32FC3, 1/255.0f);
 	}
-	if(!(params.empty() || params[0] == HDR_NONE || params[0] == HDR_RLE)) {
-		CV_Error(Error::StsBadArg, "HDR encoder: wrong compression param");
-	}
-
+	CV_Assert(params.empty() || params[0] == HDR_NONE || params[0] == HDR_RLE);
 	FILE *fout = fopen(m_filename.c_str(), "wb");
 	if(!fout) {
-		CV_Error(Error::StsError, "HDR encoder: can't open file");
+		return false;
 	}
 
 	RGBE_WriteHeader(fout, img.cols, img.rows, NULL);
@@ -151,7 +152,7 @@ ImageEncoder HdrEncoder::newEncoder() const
 }
 
 bool HdrEncoder::isFormatSupported( int depth ) const {
-	return depth == CV_32F;
+	return depth != CV_64F;
 }
 
 }

modules/highgui/test/test_grfmt.cpp

@@ -410,8 +410,8 @@ TEST(Highgui_WebP, encode_decode_lossy_webp)
 TEST(Highgui_Hdr, regression)
 {
 	string folder = string(cvtest::TS::ptr()->get_data_path()) + "../cv/hdr/";
-	string name_rle = folder + "grand_canal_rle.hdr";
-	string name_no_rle = folder + "grand_canal_no_rle.hdr";
+	string name_rle = folder + "rle.hdr";
+	string name_no_rle = folder + "no_rle.hdr";
 	Mat img_rle = imread(name_rle, -1);
 	ASSERT_FALSE(img_rle.empty()) << "Could not open " << name_rle;
 	Mat img_no_rle = imread(name_no_rle, -1);

modules/photo/include/opencv2/photo.hpp

@@ -94,16 +94,20 @@ CV_EXPORTS_W void fastNlMeansDenoisingColoredMulti( InputArrayOfArrays srcImgs,
                                                     float h = 3, float hColor = 3,
                                                     int templateWindowSize = 7, int searchWindowSize = 21);
 
-CV_EXPORTS_W void makeHDR(InputArrayOfArrays srcImgs, const std::vector<float>& exp_times, OutputArray dst, bool align = false);
+CV_EXPORTS_W void makeHDR(InputArrayOfArrays srcImgs, const std::vector<float>& exp_times, OutputArray dst, Mat response = Mat());
 
 CV_EXPORTS_W void tonemap(InputArray src, OutputArray dst, int algorithm,
 	                      const std::vector<float>& params = std::vector<float>());
 
-CV_EXPORTS_W void exposureFusion(InputArrayOfArrays srcImgs, OutputArray dst, bool align = false, float wc = 1, float ws = 1, float we = 0);
+CV_EXPORTS_W void exposureFusion(InputArrayOfArrays srcImgs, OutputArray dst, float wc = 1, float ws = 1, float we = 0);
 
 CV_EXPORTS_W void shiftMat(InputArray src, Point shift, OutputArray dst);
 
 CV_EXPORTS_W Point getExpShift(InputArray img0, InputArray img1, int max_bits = 6, int exclude_range = 4);
+
+CV_EXPORTS_W void estimateResponse(InputArrayOfArrays srcImgs, const std::vector<float>& exp_times, OutputArray dst, int samples = 50, float lambda = 10);
+
+CV_EXPORTS_W void alignImages(InputArrayOfArrays src, std::vector<Mat>& dst);
 } // cv
 
 #endif

modules/photo/src/align.cpp

@@ -117,12 +117,8 @@ Point getExpShift(InputArray _img0, InputArray _img1, int max_bits, int exclude_
 {
 	Mat img0 = _img0.getMat();
 	Mat img1 = _img1.getMat();
-	if(img0.type() != CV_8UC1 || img1.type() != CV_8UC1) {
-		CV_Error(Error::StsBadArg, "Images must have CV_8UC1 type.");
-	}
-	if(img0.size() != img0.size()) {
-		CV_Error(Error::StsBadArg, "Image dimensions must be equal.");
-	}
+	CV_Assert(img0.type() == CV_8UC1 && img1.type() == CV_8UC1);
+	CV_Assert(img0.size() == img0.size());
 	int maxlevel = (int)(log((double)max(img0.rows, img0.cols)) / log(2.0)) - 1;
 	maxlevel = min(maxlevel, max_bits - 1);
 
@@ -161,4 +157,5 @@ Point getExpShift(InputArray _img0, InputArray _img1, int max_bits, int exclude_
 	}
 	return shift;
 }
+
 };

modules/photo/src/hdr_fusion.cpp

@@ -43,6 +43,8 @@
 #include "opencv2/photo.hpp"
 #include "opencv2/imgproc.hpp"
 
+#include <iostream>
+
 namespace cv
 {
 
@@ -56,37 +58,51 @@ static void triangleWeights(float weights[])
 	}
 }
 
-static void generateResponce(float responce[])
+static Mat linearResponse()
 {
-    for(int i = 0; i < 256; i++) {
-        responce[i] = log((float)i);
+	Mat response(256, 1, CV_32F);
+    for(int i = 1; i < 256; i++) {
+        response.at<float>(i) = log((float)i);
     }
-    responce[0] = responce[1];
+    response.at<float>(0) = response.at<float>(1);
+	return response;
 }
 
-static void checkImages(std::vector<Mat>& images, bool hdr, const std::vector<float>& _exp_times = std::vector<float>())
+static void modifyCheckResponse(Mat &response)
 {
-	if(images.empty()) {
-		CV_Error(Error::StsBadArg, "Need at least one image");
+	if(response.empty()) {
+		response = linearResponse();
 	}
-	if(hdr && images.size() != _exp_times.size()) {
-		CV_Error(Error::StsBadArg, "Number of images and number of exposure times must be equal.");
+	CV_Assert(response.rows == 256 && (response.cols == 1 || response.cols == 3));
+	response.convertTo(response, CV_32F);
+	if(response.cols == 1) {
+		Mat result(256, 3, CV_32F);
+		for(int i = 0; i < 3; i++) {
+			response.copyTo(result.col(i));
+		}
+		response = result;
 	}
+}
+
+static void checkImages(std::vector<Mat>& images, bool hdr, const std::vector<float>& _exp_times = std::vector<float>())
+{
+	CV_Assert(!images.empty());
+	CV_Assert(!hdr || images.size() == _exp_times.size());
 	int width = images[0].cols;
 	int height = images[0].rows;
+	int channels = images[0].channels();
 	for(size_t i = 0; i < images.size(); i++) {
 
-		if(images[i].cols != width || images[i].rows != height) {
-			CV_Error(Error::StsBadArg, "Image dimensions must be equal.");
-		}
-		if(images[i].type() != CV_8UC3) {
-			CV_Error(Error::StsBadArg, "Images must have CV_8UC3 type.");
-		}
+		CV_Assert(images[i].cols == width && images[i].rows == height);
+		CV_Assert(images[i].channels() == channels && images[i].depth() == CV_8U);
 	}
 }
 
-static void alignImages(std::vector<Mat>& src, std::vector<Mat>& dst)
+void alignImages(InputArrayOfArrays _src, std::vector<Mat>& dst)
 {
+	std::vector<Mat> src;
+    _src.getMatVector(src);
+	checkImages(src, false);
 	dst.resize(src.size());
 
 	size_t pivot = src.size() / 2;
@@ -105,65 +121,55 @@ static void alignImages(std::vector<Mat>& src, std::vector<Mat>& dst)
 	}
 }
 
-void makeHDR(InputArrayOfArrays _images, const std::vector<float>& _exp_times, OutputArray _dst, bool align)
+void makeHDR(InputArrayOfArrays _images, const std::vector<float>& _exp_times, OutputArray _dst, Mat response)
 {
 	std::vector<Mat> images;
     _images.getMatVector(images);
 	checkImages(images, true, _exp_times);
-	_dst.create(images[0].size(), CV_32FC3);
+	modifyCheckResponse(response);
+	_dst.create(images[0].size(), CV_MAKETYPE(CV_32F, images[0].channels()));
 	Mat result = _dst.getMat();
 
-	if(align) {
-		std::vector<Mat> new_images;
-		alignImages(images, new_images);
-		images = new_images;
-	}
 	std::vector<float> exp_times(_exp_times.size());
 	for(size_t i = 0; i < exp_times.size(); i++) {
 		exp_times[i] = log(_exp_times[i]);
 	}
 
-	float weights[256], responce[256];
+	float weights[256];
 	triangleWeights(weights);
-	generateResponce(responce);
-
-	float max = 0;
+	
+	int channels = images[0].channels();
 	float *res_ptr = result.ptr<float>();
-	for(size_t pos = 0; pos < result.total(); pos++, res_ptr += 3) {
+	for(size_t pos = 0; pos < result.total(); pos++, res_ptr += channels) {
 
-		float sum[3] = {0, 0, 0};
+		std::vector<float> sum(channels, 0);
 		float weight_sum = 0;
 		for(size_t im = 0; im < images.size(); im++) {
 
-			uchar *img_ptr = images[im].ptr() + 3 * pos;
-			float w = (weights[img_ptr[0]] + weights[img_ptr[1]] +
-				       weights[img_ptr[2]]) / 3;
+			uchar *img_ptr = images[im].ptr() + channels * pos;
+			float w = 0;
+			for(int channel = 0; channel < channels; channel++) {
+				w += weights[img_ptr[channel]];
+			}
+			w /= channels;
 			weight_sum += w;
-			for(int channel = 0; channel < 3; channel++) {
-				sum[channel] += w * (responce[img_ptr[channel]] - exp_times[im]);
+			for(int channel = 0; channel < channels; channel++) {
+				sum[channel] += w * (response.at<float>(img_ptr[channel], channel) - exp_times[im]);
 			}
 		}
-		for(int channel = 0; channel < 3; channel++) {
+		for(int channel = 0; channel < channels; channel++) {
 			res_ptr[channel] = exp(sum[channel] / weight_sum);
-			if(res_ptr[channel] > max) {
-				max = res_ptr[channel];
-			}
 		}
 	}
-	result = result / max;
+	tonemap(result, result, 0);
 }
 
-void exposureFusion(InputArrayOfArrays _images, OutputArray _dst, bool align, float wc, float ws, float we)
+void exposureFusion(InputArrayOfArrays _images, OutputArray _dst, float wc, float ws, float we)
 {
 	std::vector<Mat> images;
     _images.getMatVector(images);
 	checkImages(images, false);
 
-	if(align) {
-		std::vector<Mat> new_images;
-		alignImages(images, new_images);
-		images = new_images;
-	}
 	std::vector<Mat> weights(images.size());
 	Mat weight_sum = Mat::zeros(images[0].size(), CV_32FC1);
 	for(size_t im = 0; im < images.size(); im++) {
@@ -242,4 +248,47 @@ void exposureFusion(InputArrayOfArrays _images, OutputArray _dst, bool align, fl
 	res_pyr[0].copyTo(result);
 }
 
+void estimateResponse(InputArrayOfArrays _images, const std::vector<float>& exp_times, OutputArray _dst, int samples, float lambda)
+{
+	std::vector<Mat> images;
+    _images.getMatVector(images);
+	checkImages(images, true, exp_times);
+	_dst.create(256, images[0].channels(), CV_32F);
+	Mat response = _dst.getMat();
+
+	float w[256];
+	triangleWeights(w);
+
+	for(int channel = 0; channel < images[0].channels(); channel++) {
+		Mat A = Mat::zeros(samples * images.size() + 257, 256 + samples, CV_32F);
+		Mat B = Mat::zeros(A.rows, 1, CV_32F);
+
+		int eq = 0;
+		for(int i = 0; i < samples; i++) {
+
+			int pos = 3 * (rand() % images[0].total()) + channel;
+			for(size_t j = 0; j < images.size(); j++) {
+
+				int val = (images[j].ptr() + pos)[0];
+				A.at<float>(eq, val) = w[val];
+				A.at<float>(eq, 256 + i) = -w[val];
+				B.at<float>(eq, 0) = w[val] * log(exp_times[j]);		
+				eq++;
+			}
+		}
+		A.at<float>(eq, 128) = 1;
+		eq++;
+
+		for(int i = 0; i < 254; i++) {
+			A.at<float>(eq, i) = lambda * w[i + 1];
+			A.at<float>(eq, i + 1) = -2 * lambda * w[i + 1];
+			A.at<float>(eq, i + 2) = lambda * w[i + 1];
+			eq++;
+		}
+		Mat solution;
+		solve(A, B, solution, DECOMP_SVD);
+		solution.rowRange(0, 256).copyTo(response.col(channel));
+	}
+}
+
 };
\ No newline at end of file

modules/photo/src/tonemap.cpp

@@ -163,20 +163,15 @@ void tonemap(InputArray _src, OutputArray _dst, int algorithm,
         NULL, DragoMap, ReinhardDevlinMap, DurandMap};
 
     Mat src = _src.getMat();
-    if(src.empty()) {
-        CV_Error(Error::StsBadArg, "Empty input image");
-    }
-    if(algorithm < 0 || algorithm >= TONEMAP_COUNT) {
-        CV_Error(Error::StsBadArg, "Wrong algorithm index");
-    }
-
+    CV_Assert(!src.empty());
+    CV_Assert(0 <= algorithm && algorithm < TONEMAP_COUNT);
     _dst.create(src.size(), CV_32FC3);
     Mat dst = _dst.getMat();
     src.copyTo(dst);
 
     double min, max;
     minMaxLoc(dst, &min, &max);
-    if(max - min < 1e-10f) {
+    if(max - min < DBL_EPSILON) {
         return;
     }
     dst = (dst - min) / (max - min);

modules/photo/test/test_hdr.cpp

@@ -43,79 +43,93 @@
 #include "test_precomp.hpp"
 #include <string>
 #include <algorithm>
+#include <fstream>
 
 using namespace cv;
 using namespace std;
 
+void loadImage(string path, Mat &img) 
+{
+	img = imread(path, -1);
+	ASSERT_FALSE(img.empty()) << "Could not load input image " << path;
+}
+
+void checkEqual(Mat img0, Mat img1, double threshold)
+{
+	double max = 1.0;
+	minMaxLoc(abs(img0 - img1), NULL, &max);
+	ASSERT_FALSE(max > threshold);
+}
+
 TEST(Photo_HdrFusion, regression)
 {
-	string folder = string(cvtest::TS::ptr()->get_data_path()) + "hdr/";
+	string test_path = string(cvtest::TS::ptr()->get_data_path()) + "hdr/";
+	string fuse_path = test_path + "fusion/";
 	
-	vector<string>file_names(3);
-	file_names[0] = folder + "grand_canal_1_45.jpg";
-	file_names[1] = folder + "grand_canal_1_180.jpg";
-	file_names[2] = folder + "grand_canal_1_750.jpg";
-	vector<Mat>images(3);
-	for(int i = 0; i < 3; i++) {
-		images[i] = imread(file_names[i]);
-		ASSERT_FALSE(images[i].empty()) << "Could not load input image " << file_names[i];
+	vector<float> times;
+	vector<Mat> images;
+
+	ifstream list_file(fuse_path + "list.txt");
+	string name; 
+	float val;
+	while(list_file >> name >> val) {
+		Mat img = imread(fuse_path + name);
+		ASSERT_FALSE(img.empty()) << "Could not load input image " << fuse_path + name;
+		images.push_back(img);
+		times.push_back(1 / val);
 	}
-	
-	string expected_path = folder + "grand_canal_rle.hdr";
-	Mat expected = imread(expected_path, -1);
-	ASSERT_FALSE(expected.empty()) << "Could not load input image " << expected_path;
-
-	vector<float>times(3);
-	times[0] = 1.0f/45.0f;
-	times[1] = 1.0f/180.0f;
-	times[2] = 1.0f/750.0f;
-	
+	list_file.close();
+
+	Mat response, expected(256, 3, CV_32F);
+	ifstream resp_file(test_path + "response.csv");
+	for(int i = 0; i < 256; i++) {
+		for(int channel = 0; channel < 3; channel++) {
+			resp_file >> expected.at<float>(i, channel);
+			resp_file.ignore(1);
+		}
+	}
+	resp_file.close();
+
+	estimateResponse(images, times, response);
+	checkEqual(expected, response, 0.001);
+
 	Mat result;
+	loadImage(test_path + "no_calibration.hdr", expected);
 	makeHDR(images, times, result);
-	double max = 1.0;
-	minMaxLoc(abs(result - expected), NULL, &max);
-	ASSERT_TRUE(max < 0.01);
+	checkEqual(expected, result, 0.01);
+
+	loadImage(test_path + "rle.hdr", expected);
+	makeHDR(images, times, result, response);
+	checkEqual(expected, result, 0.01);
 
-	expected_path = folder + "grand_canal_exp_fusion.png";
-	expected = imread(expected_path);
-	ASSERT_FALSE(expected.empty()) << "Could not load input image " << expected_path;
+	loadImage(test_path + "exp_fusion.png", expected);
 	exposureFusion(images, result);
 	result.convertTo(result, CV_8UC3, 255);
-	minMaxLoc(abs(result - expected), NULL, &max);
-	ASSERT_FALSE(max > 0);
+	checkEqual(expected, result, 0);
 }
 
 TEST(Photo_Tonemap, regression)
 {
 	string folder = string(cvtest::TS::ptr()->get_data_path()) + "hdr/";
-	
-	vector<string>file_names(TONEMAP_COUNT);
-	file_names[TONEMAP_DRAGO] = folder + "grand_canal_drago_2.2.png";
-	file_names[TONEMAP_REINHARD] = folder + "grand_canal_reinhard_2.2.png";
-	file_names[TONEMAP_DURAND] = folder + "grand_canal_durand_2.2.png"; 
-	file_names[TONEMAP_LINEAR] = folder + "grand_canal_linear_map_2.2.png";
-
 	vector<Mat>images(TONEMAP_COUNT);
 	for(int i = 0; i < TONEMAP_COUNT; i++) {
-		images[i] = imread(file_names[i]);
-		ASSERT_FALSE(images[i].empty()) << "Could not load input image " << file_names[i];
+		stringstream stream;
+		stream << "tonemap" << i << ".png";
+		string file_name;
+		stream >> file_name;
+		loadImage(folder + "tonemap/" + file_name ,images[i]);
 	}
-	
-	string hdr_file_name = folder + "grand_canal_rle.hdr";
-	Mat img = imread(hdr_file_name, -1);
-	ASSERT_FALSE(img.empty()) << "Could not load input image " << hdr_file_name;
-	
+	Mat img;
+	loadImage(folder + "rle.hdr", img);
 	vector<float> param(1);
 	param[0] = 2.2f;
 
-	for(int i = TONEMAP_DURAND; i < TONEMAP_COUNT; i++) {
+	for(int i = 0; i < TONEMAP_COUNT; i++) {
 		
 		Mat result;
         tonemap(img, result, i, param);
 		result.convertTo(result, CV_8UC3, 255);
-		double max = 1.0;
-		minMaxLoc(abs(result - images[i]), NULL, &max);
-		ASSERT_FALSE(max > 0);
+		checkEqual(images[i], result, 0);
 	}
 }
 
@@ -124,7 +138,7 @@ TEST(Photo_Align, regression)
 	const int TESTS_COUNT = 100;
 	string folder = string(cvtest::TS::ptr()->get_data_path()) + "hdr/";
 	
-	string file_name = folder + "grand_canal_1_45.jpg";
+	string file_name = folder + "exp_fusion.png";
 	Mat img = imread(file_name);
 	ASSERT_FALSE(img.empty()) << "Could not load input image " << file_name;
 	cvtColor(img, img, COLOR_RGB2GRAY);