Update (AlbertoJaenal): the calibration accepts various camera model. The code was copied from https://github.com/JakobEngel/dso and reformed to fit.

Install

1. Install Eigen & OpenCV (if you don't have it):

sudo apt-get install libeigen3-dev libopencv-dev

2. install ziplib:

sudo apt-get install zlib1g-dev
cd thirdparty
tar -zxvf libzip-1.1.1.tar.gz
cd libzip-1.1.1/
./configure
make
sudo make install
sudo cp lib/zipconf.h /usr/local/include/zipconf.h   # (no idea why that is needed).

3. install aruco marker detection (optional - only required for vignette calibration):

see eg here:

http://maztories.blogspot.de/2013/07/installing-aruco-augmented-reality.html 

tested with version 1.3.0. which is included in /thirdparty.

4. Build

cmake . && make

Usage: C++ code

playbackDataset: read images, photometric undistortion & rectification.

Shows images of a dataset. Meant as example code regarding how to read the dataset. Run with (and replace X with the location of the dataset. Mind the trailing slash):

./playDataset X/sequence_01/  

optionally, the calibration is used for

• rectification ( r )
• response function inversion ( g )
• vignette removal ( v )
• removal of over-exposed (white) images. ( o ).

Pressing the respective key toggles the option. See code for details.

responseCalib: calibrate response function.

Performs photometric calibration from a set of images, showing the exact same scene at different exposures. Run with (and replace X with the location of the dataset. Mind the trailing slash):

./responseCalib X/CalibrationDatasets/narrow_sweep1/"

outputs some intermediate results, and pcalib.txt containing the calibrated inverse response function to ./photoCalibResult. See code for details.

vignetteCalib: calibrate vignette.

Performs photometric calibration from a set of images, showing a flat surface with an ARMarker. Run with (and replace X with the location of the dataset. Mind the trailing slash):

./vignetteCalib X/CalibrationDatasets/narrow_vignette/"

outputs some intermediate results, and vignette.png (16-bit png) containing the calibrated vignette function. vignetteSmoothed.png is a slightly smoothed version, mainly to remove the black borders (pixels at the border are never observed). See code for details. WARNING: requires a lot of Memory (16GB ram for 1000 input images)! Can easily be changed at the cost of slightly slower runtime... you'll have to do that yourself though.

Geometric Calibration File (from https://github.com/JakobEngel/dso)

Calibration File for Pre-Rectified Images

Pinhole fx fy cx cy 0
in_width in_height
"crop" / "full" / "none" / "fx fy cx cy 0"
out_width out_height

Calibration File for FOV camera model:

FOV fx fy cx cy omega
in_width in_height
"crop" / "full" / "fx fy cx cy 0"
out_width out_height

Calibration File for Radio-Tangential camera model

RadTan fx fy cx cy k1 k2 r1 r2
in_width in_height
"crop" / "full" / "fx fy cx cy 0"
out_width out_height

Calibration File for Equidistant camera model

EquiDistant fx fy cx cy k1 k2 r1 r2
in_width in_height
"crop" / "full" / "fx fy cx cy 0"
out_width out_height

(note: for backwards-compatibility, "Pinhole", "FOV" and "RadTan" can be omitted). See the respective ::distortCoordinates implementation in Undistorter.cpp for the exact corresponding projection function. Furthermore, it should be straight-forward to implement other camera models.

Usage: Matlab evaluation code

Implements Sim(3) alignment of a tracked trajectory to the ground-truth segments, and subsequent computation of the different error values. See MatlabEvaluationCode/Example.m for an example, and some documentation regarding the computed values. Further, we include example results computed with DSO for all 50 sequences.

License

The code provided in this repository is licensed under the BSD license.