Added various possible camera models for the photometric and response calibration

CMakeLists.txt

@@ -25,10 +25,10 @@ include_directories(
 )
 
 
-add_executable(responseCalib src/main_responseCalib.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+add_executable(responseCalib src/main_responseCalib.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 target_link_libraries(responseCalib ${OpenCV_LIBS} ${LIBZIP_LIBRARY})
 
-add_executable(playDataset src/main_playbackDataset.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+add_executable(playDataset src/main_playbackDataset.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 target_link_libraries(playDataset ${OpenCV_LIBS} ${LIBZIP_LIBRARY})
 
 
@@ -40,7 +40,7 @@ SET(CMAKE_MODULE_PATH ${CMAKE_INSTALL_PREFIX}/lib/cmake/ )
 find_package(aruco)
 
 IF(aruco_FOUND)
-	add_executable(vignetteCalib src/main_vignetteCalib.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+	add_executable(vignetteCalib src/main_vignetteCalib.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 	target_link_libraries(vignetteCalib ${OpenCV_LIBS} ${aruco_LIBS} ${LIBZIP_LIBRARY})
 ELSE()
 	message("================ aruco not found. not compiling vignetteCalib. ========================")

README.md

@@ -1,4 +1,4 @@
-
+Update (AlbertoJaenal): the calibration accepts various camera model. The code was copied from [https://github.com/JakobEngel/dso](https://github.com/JakobEngel/dso) and reformed to fit.
 
 # Install
 
@@ -69,6 +69,44 @@ vignetteSmoothed.png is a slightly smoothed version, mainly to remove the black
 **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](https://github.com/JakobEngel/dso#geometric-calibration-file))
+
+
+###### 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.

src/BenchmarkDatasetReader.h

@@ -35,7 +35,8 @@
 #include <algorithm>
 
 #include "opencv2/opencv.hpp"
-#include "FOVUndistorter.h"
+//#include "FOVUndistorter.h"
+#include "Undistorter.h"
 #include "PhotometricUndistorter.h"
 
 #include "zip.h"
@@ -132,7 +133,8 @@ class DatasetReader
 
 
 		// create undistorter.
-		undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+		//undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+		undistorter = Undistort::getUndistorterForFile((path+"camera.txt").c_str());
 		photoUndistorter = new PhotometricUndistorter(path+"pcalib.txt", path+"vignette.png",undistorter->getInputDims()[0],undistorter->getInputDims()[1]);
 
 
@@ -156,7 +158,12 @@ class DatasetReader
 
 	}
 
-	UndistorterFOV* getUndistorter()
+	/*UndistorterFOV* getUndistorter()
+	{
+		return undistorter;
+	}*/
+
+	Undistort* getUndistorter()
 	{
 		return undistorter;
 	}
@@ -336,7 +343,8 @@ class DatasetReader
 
 
 	// internal structures.
-	UndistorterFOV* undistorter;
+	//UndistorterFOV* undistorter;
+	Undistort* undistorter;
 	PhotometricUndistorter* photoUndistorter;
 	zip_t* ziparchive;
 	char* databuffer;