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Robertson update

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pull/1474/head
Fedor Morozov 11 years ago
parent deeaddb0a9
commit c118f3c529
6 changed files with 92 additions and 77 deletions
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  1. 6
      modules/photo/include/opencv2/photo.hpp
  2. 14
      modules/photo/src/align.cpp
  3. 74
      modules/photo/src/calibrate.cpp
  4. 35
      modules/photo/src/hdr_common.cpp
  5. 8
      modules/photo/src/merge.cpp
  6. 32
      modules/photo/test/test_hdr.cpp

6
modules/photo/include/opencv2/photo.hpp
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@ -80,6 +80,8 @@ CV_EXPORTS_W void fastNlMeansDenoisingColoredMulti( InputArrayOfArrays srcImgs,
float h = 3, float hColor = 3,
int templateWindowSize = 7, int searchWindowSize = 21);
enum { LDR_SIZE = 256 };
class CV_EXPORTS_W Tonemap : public Algorithm
{
public:
@ -227,9 +229,11 @@ public:
CV_WRAP virtual float getThreshold() const = 0;
CV_WRAP virtual void setThreshold(float threshold) = 0;
CV_WRAP virtual Mat getRadiance() const = 0;
};
CV_EXPORTS_W Ptr<CalibrateRobertson> createCalibrateRobertson(int samples = 50, float lambda = 10.0f);
CV_EXPORTS_W Ptr<CalibrateRobertson> createCalibrateRobertson(int max_iter = 30, float threshold = 0.01f);
class CV_EXPORTS_W ExposureMerge : public Algorithm
{

14
modules/photo/src/align.cpp
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@ -243,14 +243,14 @@ protected:
{
int channels = 0;
Mat hist;
int hist_size = 256;
float range[] = {0, 256} ;
int hist_size = LDR_SIZE;
float range[] = {0, LDR_SIZE} ;
const float* ranges[] = {range};
calcHist(&img, 1, &channels, Mat(), hist, 1, &hist_size, ranges);
float *ptr = hist.ptr<float>();
int median = 0, sum = 0;
int thresh = img.total() / 2;
while(sum < thresh && median < 256) {
while(sum < thresh && median < LDR_SIZE) {
sum += static_cast<int>(ptr[median]);
median++;
}
@ -309,7 +309,7 @@ public:
std::vector<Mat> splitted(channels);
split(images[0], splitted);
for(int i = 0; i < images.size() - 1; i++) {
for(size_t i = 0; i < images.size() - 1; i++) {
std::vector<Mat> next_splitted(channels);
split(images[i + 1], next_splitted);
@ -399,7 +399,7 @@ public:
split(radiance, splitted);
std::vector<Mat> resp_split(channels);
split(response, resp_split);
for(int i = 0; i < images.size() - 1; i++) {
for(size_t i = 0; i < images.size() - 1; i++) {
std::vector<Mat> next_splitted(channels);
LUT(images[i + 1], response, radiance);
@ -430,7 +430,9 @@ public:
virtual void process(InputArrayOfArrays src, OutputArray dst, std::vector<float>& times)
{
process(src, dst, times, linearResponse(3));
Mat response = linearResponse(3);
response.at<Vec3f>(0) = response.at<Vec3f>(1);
process(src, dst, times, response);
}
CV_WRAP virtual int getThreshold() {return thresh;}

74
modules/photo/src/calibrate.cpp
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@ -45,7 +45,6 @@
#include "opencv2/imgproc.hpp"
//#include "opencv2/highgui.hpp"
#include "hdr_common.hpp"
#include <iostream>
namespace cv
{
@ -74,7 +73,7 @@ public:
int channels = images[0].channels();
int CV_32FCC = CV_MAKETYPE(CV_32F, channels);
dst.create(256, 1, CV_32FCC);
dst.create(LDR_SIZE, 1, CV_32FCC);
Mat result = dst.getMat();
std::vector<Point> sample_points;
@ -97,7 +96,7 @@ public:
std::vector<Mat> result_split(channels);
for(int channel = 0; channel < channels; channel++) {
Mat A = Mat::zeros(sample_points.size() * images.size() + 257, 256 + sample_points.size(), CV_32F);
Mat A = Mat::zeros(sample_points.size() * images.size() + LDR_SIZE + 1, LDR_SIZE + sample_points.size(), CV_32F);
Mat B = Mat::zeros(A.rows, 1, CV_32F);
int eq = 0;
@ -107,12 +106,12 @@ public:
int val = images[j].ptr()[3*(sample_points[i].y * images[j].cols + sample_points[j].x) + channel];
A.at<float>(eq, val) = w.at<float>(val);
A.at<float>(eq, 256 + i) = -w.at<float>(val);
A.at<float>(eq, LDR_SIZE + i) = -w.at<float>(val);
B.at<float>(eq, 0) = w.at<float>(val) * log(times[j]);
eq++;
}
}
A.at<float>(eq, 128) = 1;
A.at<float>(eq, LDR_SIZE / 2) = 1;
eq++;
for(int i = 0; i < 254; i++) {
@ -123,7 +122,7 @@ public:
}
Mat solution;
solve(A, B, solution, DECOMP_SVD);
solution.rowRange(0, 256).copyTo(result_split[channel]);
solution.rowRange(0, LDR_SIZE).copyTo(result_split[channel]);
}
merge(result_split, result);
exp(result, result);
@ -192,20 +191,14 @@ public:
int channels = images[0].channels();
int CV_32FCC = CV_MAKETYPE(CV_32F, channels);
dst.create(256, 1, CV_32FCC);
dst.create(LDR_SIZE, 1, CV_32FCC);
Mat response = dst.getMat();
response = linearResponse(3) / (LDR_SIZE / 2.0f);
response = Mat::zeros(256, 1, CV_32FCC);
for(int i = 0; i < 256; i++) {
for(int c = 0; c < channels; c++) {
response.at<Vec3f>(i)[c] = i / 128.0;
}
}
Mat card = Mat::zeros(256, 1, CV_32FCC);
for(int i = 0; i < images.size(); i++) {
Mat card = Mat::zeros(LDR_SIZE, 1, CV_32FCC);
for(size_t i = 0; i < images.size(); i++) {
uchar *ptr = images[i].ptr();
for(int pos = 0; pos < images[i].total(); pos++) {
for(size_t pos = 0; pos < images[i].total(); pos++) {
for(int c = 0; c < channels; c++, ptr++) {
card.at<Vec3f>(*ptr)[c] += 1;
}
@ -213,43 +206,34 @@ public:
}
card = 1.0 / card;
Ptr<MergeRobertson> merge = createMergeRobertson();
for(int iter = 0; iter < max_iter; iter++) {
Scalar channel_err(0, 0, 0);
Mat radiance = Mat::zeros(images[0].size(), CV_32FCC);
Mat wsum = Mat::zeros(images[0].size(), CV_32FCC);
for(int i = 0; i < images.size(); i++) {
Mat im, w;
LUT(images[i], weight, w);
LUT(images[i], response, im);
Mat err_mat;
pow(im - times[i] * radiance, 2.0f, err_mat);
err_mat = w.mul(err_mat);
channel_err += sum(err_mat);
radiance += times[i] * w.mul(im);
wsum += pow(times[i], 2) * w;
}
float err = (channel_err[0] + channel_err[1] + channel_err[2]) / (channels * radiance.total());
radiance = radiance.mul(1 / wsum);
radiance = Mat::zeros(images[0].size(), CV_32FCC);
merge->process(images, radiance, times, response);
float* rad_ptr = radiance.ptr<float>();
response = Mat::zeros(256, 1, CV_32FC3);
for(int i = 0; i < images.size(); i++) {
Mat new_response = Mat::zeros(LDR_SIZE, 1, CV_32FC3);
for(size_t i = 0; i < images.size(); i++) {
uchar *ptr = images[i].ptr();
for(int pos = 0; pos < images[i].total(); pos++) {
float* rad_ptr = radiance.ptr<float>();
for(size_t pos = 0; pos < images[i].total(); pos++) {
for(int c = 0; c < channels; c++, ptr++, rad_ptr++) {
response.at<Vec3f>(*ptr)[c] += times[i] * *rad_ptr;
new_response.at<Vec3f>(*ptr)[c] += times[i] * *rad_ptr;
}
}
}
response = response.mul(card);
new_response = new_response.mul(card);
for(int c = 0; c < 3; c++) {
for(int i = 0; i < 256; i++) {
response.at<Vec3f>(i)[c] /= response.at<Vec3f>(128)[c];
float middle = new_response.at<Vec3f>(LDR_SIZE / 2)[c];
for(int i = 0; i < LDR_SIZE; i++) {
new_response.at<Vec3f>(i)[c] /= middle;
}
}
float diff = sum(sum(abs(new_response - response)))[0] / channels;
new_response.copyTo(response);
if(diff < threshold) {
break;
}
}
}
@ -259,6 +243,8 @@ public:
float getThreshold() const { return threshold; }
void setThreshold(float val) { threshold = val; }
Mat getRadiance() const { return radiance; }
void write(FileStorage& fs) const
{
fs << "name" << name
@ -278,7 +264,7 @@ protected:
String name;
int max_iter;
float threshold;
Mat weight;
Mat weight, radiance;
};
Ptr<CalibrateRobertson> createCalibrateRobertson(int max_iter, float threshold)

35
modules/photo/src/hdr_common.cpp
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@ -61,21 +61,22 @@ void checkImageDimensions(const std::vector<Mat>& images)
Mat tringleWeights()
{
Mat w(256, 1, CV_32F);
for(int i = 0; i < 256; i++) {
w.at<float>(i) = i < 128 ? i + 1.0f : 256.0f - i;
Mat w(LDR_SIZE, 1, CV_32F);
int half = LDR_SIZE / 2;
for(int i = 0; i < LDR_SIZE; i++) {
w.at<float>(i) = i < half ? i + 1.0f : LDR_SIZE - i;
}
return w;
}
Mat RobertsonWeights()
{
Mat weight(256, 1, CV_32FC3);
for(int i = 0; i < 256; i++) {
float value = exp(-4.0f * pow(i - 127.5f, 2.0f) / pow(127.5f, 2.0f));
for(int c = 0; c < 3; c++) {
weight.at<Vec3f>(i)[c] = value;
}
Mat weight(LDR_SIZE, 1, CV_32FC3);
float q = (LDR_SIZE - 1) / 4.0f;
for(int i = 0; i < LDR_SIZE; i++) {
float value = i / q - 2.0f;
value = exp(-value * value);
weight.at<Vec3f>(i) = Vec3f::all(value);
}
return weight;
}
@ -94,19 +95,11 @@ void mapLuminance(Mat src, Mat dst, Mat lum, Mat new_lum, float saturation)
Mat linearResponse(int channels)
{
Mat single_response = Mat(256, 1, CV_32F);
for(int i = 1; i < 256; i++) {
single_response.at<float>(i) = static_cast<float>(i);
Mat response = Mat(LDR_SIZE, 1, CV_MAKETYPE(CV_32F, channels));
for(int i = 0; i < LDR_SIZE; i++) {
response.at<Vec3f>(i) = Vec3f::all(i);
}
single_response.at<float>(0) = static_cast<float>(1);
std::vector<Mat> splitted(channels);
for(int c = 0; c < channels; c++) {
splitted[c] = single_response;
}
Mat result;
merge(splitted, result);
return result;
return response;
}
};

8
modules/photo/src/merge.cpp
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@ -43,7 +43,6 @@
#include "opencv2/photo.hpp"
#include "opencv2/imgproc.hpp"
#include "hdr_common.hpp"
#include <iostream>
namespace cv
{
@ -77,9 +76,10 @@ public:
if(response.empty()) {
response = linearResponse(channels);
response.at<Vec3f>(0) = response.at<Vec3f>(1);
}
log(response, response);
CV_Assert(response.rows == 256 && response.cols == 1 &&
CV_Assert(response.rows == LDR_SIZE && response.cols == 1 &&
response.channels() == channels);
Mat exp_values(times);
@ -312,9 +312,9 @@ public:
Mat response = input_response.getMat();
if(response.empty()) {
response = linearResponse(channels) / 128.0f;
response = linearResponse(channels) / (LDR_SIZE / 2.0f);
}
CV_Assert(response.rows == 256 && response.cols == 1 &&
CV_Assert(response.rows == LDR_SIZE && response.cols == 1 &&
response.channels() == channels);
result = Mat::zeros(images[0].size(), CV_32FCC);

32
modules/photo/test/test_hdr.cpp
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@ -187,7 +187,22 @@ TEST(Photo_MergeDebevec, regression)
Mat result, expected;
loadImage(test_path + "merge/debevec.exr", expected);
merge->process(images, result, times, response);
imwrite("test.exr", result);
checkEqual(expected, result, 1e-2f);
}
TEST(Photo_MergeRobertson, regression)
{
string test_path = string(cvtest::TS::ptr()->get_data_path()) + "hdr/";
vector<Mat> images;
vector<float> times;
loadExposureSeq(test_path + "exposures/", images, times);
Ptr<MergeRobertson> merge = createMergeRobertson();
Mat result, expected;
loadImage(test_path + "merge/robertson.exr", expected);
merge->process(images, result, times);
checkEqual(expected, result, 1e-2f);
}
@ -208,3 +223,18 @@ TEST(Photo_CalibrateDebevec, regression)
minMaxLoc(diff, NULL, &max);
ASSERT_FALSE(max > 0.1);
}
TEST(Photo_CalibrateRobertson, regression)
{
string test_path = string(cvtest::TS::ptr()->get_data_path()) + "hdr/";
vector<Mat> images;
vector<float> times;
Mat response, expected;
loadExposureSeq(test_path + "exposures/", images, times);
loadResponseCSV(test_path + "calibrate/robertson.csv", expected);
Ptr<CalibrateRobertson> calibrate = createCalibrateRobertson();
calibrate->process(images, response, times);
checkEqual(expected, response, 1e-3f);
}
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