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Merge pull request #1403 from alicevision/dev/distortionCalibration
New lens distortion calibration node
This commit is contained in:
Fabien Castan
GitHub
commit
d3cb164316
4 changed files with 85 additions and 10 deletions
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@ -12,7 +12,7 @@ imageExtensions = (
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# cineon:
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'.cin',
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# dds
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'dds'
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'.dds',
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# dpx:
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'.dpx',
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# gif:
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@ -490,6 +490,12 @@ def cameraTrackingPipeline(graph, sourceSfm=None):
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sfmNodes, _ = sfmAugmentation(graph, sourceSfm)
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cameraInitT, featureExtractionT, imageMatchingT, featureMatchingT, structureFromMotionT = sfmNodes
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distortionCalibrationT = graph.addNewNode('DistortionCalibration',
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input=cameraInitT.output)
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graph.removeEdge(featureMatchingT.input)
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graph.addEdge(distortionCalibrationT.outSfMData, featureMatchingT.input)
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imageMatchingT.attribute("nbMatches").value = 5 # voctree nb matches
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imageMatchingT.attribute("nbNeighbors").value = 10
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@ -500,6 +506,8 @@ def cameraTrackingPipeline(graph, sourceSfm=None):
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structureFromMotionT.attribute("minAngleForLandmark").value = 0.5
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exportAnimatedCameraT = graph.addNewNode('ExportAnimatedCamera', input=structureFromMotionT.output)
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if sourceSfm:
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graph.addEdge(sourceSfm.output, exportAnimatedCameraT.sfmDataFilter)
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# store current pipeline version in graph header
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graph.header.update({'pipelineVersion': __version__})
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@ -509,6 +517,7 @@ def cameraTrackingPipeline(graph, sourceSfm=None):
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featureExtractionT,
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imageMatchingT,
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featureMatchingT,
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distortionCalibrationT,
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structureFromMotionT,
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exportAnimatedCameraT,
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]
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@ -537,7 +546,7 @@ def photogrammetryAndCameraTracking(inputImages=list(), inputViewpoints=list(),
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with GraphModification(graph):
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cameraInit, featureExtraction, imageMatching, featureMatching, structureFromMotion = sfmPipeline(graph)
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cameraInitT, featureExtractionT, imageMatchingMultiT, featureMatchingT, structureFromMotionT, exportAnimatedCameraT = cameraTrackingPipeline(graph, structureFromMotion)
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cameraInitT, featureExtractionT, imageMatchingMultiT, featureMatchingT, distortionCalibrationT, structureFromMotionT, exportAnimatedCameraT = cameraTrackingPipeline(graph, structureFromMotion)
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cameraInit.viewpoints.extend([{'path': image} for image in inputImages])
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cameraInit.viewpoints.extend(inputViewpoints)
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@ -34,7 +34,10 @@ Intrinsic = [
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"So this value is used to limit the range of possible values in the optimization. \n"
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"If you put -1, this value will not be used and the focal length will not be bounded.",
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value=-1.0, uid=[0], range=None),
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desc.FloatParam(name="pxFocalLength", label="Focal Length", description="Known/Calibrated Focal Length (in pixels)", value=-1.0, uid=[0], range=None),
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desc.GroupAttribute(name="pxFocalLength", label="Focal Length", description="Known/Calibrated Focal Length (in pixels)", groupDesc=[
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desc.FloatParam(name="x", label="x", description="", value=-1, uid=[], range=(0, 10000, 1)),
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desc.FloatParam(name="y", label="y", description="", value=-1, uid=[], range=(0, 10000, 1)),
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]),
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desc.ChoiceParam(name="type", label="Camera Type",
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description="Mathematical Model used to represent a camera:\n"
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" * pinhole: Simplest projective camera model without optical distortion (focal and optical center).\n"
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@ -42,8 +45,11 @@ Intrinsic = [
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" * radial3: Pinhole camera with 3 radial distortion parameters\n"
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" * brown: Pinhole camera with 3 radial and 2 tangential distortion parameters\n"
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" * fisheye4: Pinhole camera with 4 distortion parameters suited for fisheye optics (like 120deg FoV)\n"
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" * equidistant_r3: Non-projective camera model suited for full-fisheye optics (like 180deg FoV)\n",
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value="", values=['', 'pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'equidistant_r3'], exclusive=True, uid=[0]),
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" * equidistant_r3: Non-projective camera model suited for full-fisheye optics (like 180deg FoV)\n"
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" * 3deanamorphic4: Pinhole camera with a 4 anamorphic distortion coefficients.\n"
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" * 3declassicld: Pinhole camera with a 10 anamorphic distortion coefficients\n"
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" * 3deradial4: Pinhole camera with 3DE radial4 model\n",
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value="", values=['', 'pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'equidistant_r3', '3deanamorphic4', '3declassicld', '3deradial4'], exclusive=True, uid=[0]),
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desc.IntParam(name="width", label="Width", description="Image Width", value=0, uid=[], range=(0, 10000, 1)),
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desc.IntParam(name="height", label="Height", description="Image Height", value=0, uid=[], range=(0, 10000, 1)),
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desc.FloatParam(name="sensorWidth", label="Sensor Width", description="Sensor Width (mm)", value=36, uid=[], range=(0, 1000, 1)),
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@ -100,6 +106,12 @@ def readSfMData(sfmFile):
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intrinsic['principalPoint'] = {}
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intrinsic['principalPoint']['x'] = pp[0]
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intrinsic['principalPoint']['y'] = pp[1]
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f = intrinsic['pxFocalLength']
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intrinsic['pxFocalLength'] = {}
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intrinsic['pxFocalLength']['x'] = f[0]
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intrinsic['pxFocalLength']['y'] = f[1]
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# convert empty string distortionParams (i.e: Pinhole model) to empty list
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if intrinsic['distortionParams'] == '':
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intrinsic['distortionParams'] = list()
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@ -182,8 +194,8 @@ The metadata needed are:
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name='allowedCameraModels',
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label='Allowed Camera Models',
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description='the Camera Models that can be attributed.',
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value=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1'],
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values=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1'],
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value=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1', '3deanamorphic4', '3deradial4', '3declassicld'],
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values=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1', '3deanamorphic4', '3deradial4', '3declassicld'],
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exclusive=False,
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uid=[],
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joinChar=',',
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@ -298,6 +310,7 @@ The metadata needed are:
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intrinsics = node.intrinsics.getPrimitiveValue(exportDefault=True)
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for intrinsic in intrinsics:
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intrinsic['principalPoint'] = [intrinsic['principalPoint']['x'], intrinsic['principalPoint']['y']]
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intrinsic['pxFocalLength'] = [intrinsic['pxFocalLength']['x'], intrinsic['pxFocalLength']['y']]
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views = node.viewpoints.getPrimitiveValue(exportDefault=False)
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# convert the metadata string into a map
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@ -306,7 +319,7 @@ The metadata needed are:
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view['metadata'] = json.loads(view['metadata'])
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sfmData = {
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"version": [1, 0, 0],
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"version": [1, 2, 0],
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"views": views + newViews,
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"intrinsics": intrinsics,
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"featureFolder": "",
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53
meshroom/nodes/aliceVision/DistortionCalibration.py
Normal file
53
meshroom/nodes/aliceVision/DistortionCalibration.py
Normal file
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@ -0,0 +1,53 @@
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__version__ = '2.0'
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from meshroom.core import desc
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class DistortionCalibration(desc.CommandLineNode):
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commandLine = 'aliceVision_distortionCalibration {allParams}'
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size = desc.DynamicNodeSize('input')
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documentation = '''
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Calibration of a camera/lens couple distortion using a full screen checkerboard
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'''
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inputs = [
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desc.File(
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name='input',
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label='SfmData',
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description='SfmData File',
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value='',
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uid=[0],
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),
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desc.ListAttribute(
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elementDesc=desc.File(
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name='lensGridImage',
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label='Lens Grid Image',
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description='',
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value='',
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uid=[0],
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),
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name='lensGrid',
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label='Lens Grid Images',
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description='Lens grid images to estimate the optical distortions.',
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),
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desc.ChoiceParam(
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name='verboseLevel',
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label='Verbose Level',
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description='Verbosity level (fatal, error, warning, info, debug, trace).',
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value='info',
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values=['fatal', 'error', 'warning', 'info', 'debug', 'trace'],
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exclusive=True,
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uid=[],
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),
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]
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outputs = [
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desc.File(
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name='outSfMData',
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label='Output SfmData File',
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description='Path to the output sfmData file',
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value=desc.Node.internalFolder + 'sfmData.sfm',
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uid=[],
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)
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]
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@ -360,8 +360,8 @@ class ViewpointWrapper(QObject):
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""" Get camera vertical field of view in degrees. """
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if not self.solvedIntrinsics:
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return None
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pxFocalLength = float(self.solvedIntrinsics["pxFocalLength"])
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return 2.0 * math.atan(self.orientedImageSize.height() / (2.0 * pxFocalLength)) * 180 / math.pi
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pxFocalLength = self.solvedIntrinsics["pxFocalLength"]
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return 2.0 * math.atan(self.orientedImageSize.height() / (2.0 * float(pxFocalLength[0]))) * 180 / math.pi
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@Property(type=QUrl, notify=denseSceneParamsChanged)
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def undistortedImageSource(self):
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