Merge pull request #1403 from alicevision/dev/distortionCalibration

New lens distortion calibration node

meshroom/multiview.py

@@ -12,7 +12,7 @@ imageExtensions = (
     # cineon:
     '.cin',
     # dds
-    'dds'
+    '.dds',
     # dpx:
     '.dpx',
     # gif:
@@ -490,6 +490,12 @@ def cameraTrackingPipeline(graph, sourceSfm=None):
             sfmNodes, _ = sfmAugmentation(graph, sourceSfm)
             cameraInitT, featureExtractionT, imageMatchingT, featureMatchingT, structureFromMotionT = sfmNodes
 
+        distortionCalibrationT = graph.addNewNode('DistortionCalibration',
+                                                  input=cameraInitT.output)
+
+        graph.removeEdge(featureMatchingT.input)
+        graph.addEdge(distortionCalibrationT.outSfMData, featureMatchingT.input)
+
         imageMatchingT.attribute("nbMatches").value = 5  # voctree nb matches
         imageMatchingT.attribute("nbNeighbors").value = 10
 
@@ -500,6 +506,8 @@ def cameraTrackingPipeline(graph, sourceSfm=None):
         structureFromMotionT.attribute("minAngleForLandmark").value = 0.5
 
         exportAnimatedCameraT = graph.addNewNode('ExportAnimatedCamera', input=structureFromMotionT.output)
+        if sourceSfm:
+            graph.addEdge(sourceSfm.output, exportAnimatedCameraT.sfmDataFilter)
 
     # store current pipeline version in graph header
     graph.header.update({'pipelineVersion': __version__})
@@ -509,6 +517,7 @@ def cameraTrackingPipeline(graph, sourceSfm=None):
         featureExtractionT,
         imageMatchingT,
         featureMatchingT,
+        distortionCalibrationT,
         structureFromMotionT,
         exportAnimatedCameraT,
         ]
@@ -537,7 +546,7 @@ def photogrammetryAndCameraTracking(inputImages=list(), inputViewpoints=list(),
     with GraphModification(graph):
         cameraInit, featureExtraction, imageMatching, featureMatching, structureFromMotion = sfmPipeline(graph)
 
-        cameraInitT, featureExtractionT, imageMatchingMultiT, featureMatchingT, structureFromMotionT, exportAnimatedCameraT = cameraTrackingPipeline(graph, structureFromMotion)
+        cameraInitT, featureExtractionT, imageMatchingMultiT, featureMatchingT, distortionCalibrationT, structureFromMotionT, exportAnimatedCameraT = cameraTrackingPipeline(graph, structureFromMotion)
 
         cameraInit.viewpoints.extend([{'path': image} for image in inputImages])
         cameraInit.viewpoints.extend(inputViewpoints)

meshroom/nodes/aliceVision/CameraInit.py

@@ -34,7 +34,10 @@ Intrinsic = [
                     "So this value is used to limit the range of possible values in the optimization. \n"
                     "If you put -1, this value will not be used and the focal length will not be bounded.",
                     value=-1.0, uid=[0], range=None),
-    desc.FloatParam(name="pxFocalLength", label="Focal Length", description="Known/Calibrated Focal Length (in pixels)", value=-1.0, uid=[0], range=None),
+    desc.GroupAttribute(name="pxFocalLength", label="Focal Length", description="Known/Calibrated Focal Length (in pixels)", groupDesc=[
+        desc.FloatParam(name="x", label="x", description="", value=-1, uid=[], range=(0, 10000, 1)),
+        desc.FloatParam(name="y", label="y", description="", value=-1, uid=[], range=(0, 10000, 1)),
+        ]),
     desc.ChoiceParam(name="type", label="Camera Type",
                      description="Mathematical Model used to represent a camera:\n"
                      " * pinhole: Simplest projective camera model without optical distortion (focal and optical center).\n"
@@ -42,8 +45,11 @@ Intrinsic = [
                      " * radial3: Pinhole camera with 3 radial distortion parameters\n"
                      " * brown: Pinhole camera with 3 radial and 2 tangential distortion parameters\n"
                      " * fisheye4: Pinhole camera with 4 distortion parameters suited for fisheye optics (like 120deg FoV)\n"
-                     " * equidistant_r3: Non-projective camera model suited for full-fisheye optics (like 180deg FoV)\n",
+                     " * equidistant_r3: Non-projective camera model suited for full-fisheye optics (like 180deg FoV)\n"
-                     value="", values=['', 'pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'equidistant_r3'], exclusive=True, uid=[0]),
+                     " * 3deanamorphic4: Pinhole camera with a 4 anamorphic distortion coefficients.\n"
+                     " * 3declassicld: Pinhole camera with a 10 anamorphic distortion coefficients\n"
+                     " * 3deradial4: Pinhole camera with 3DE radial4 model\n",
+                     value="", values=['', 'pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'equidistant_r3', '3deanamorphic4', '3declassicld', '3deradial4'], exclusive=True, uid=[0]),
     desc.IntParam(name="width", label="Width", description="Image Width", value=0, uid=[], range=(0, 10000, 1)),
     desc.IntParam(name="height", label="Height", description="Image Height", value=0, uid=[], range=(0, 10000, 1)),
     desc.FloatParam(name="sensorWidth", label="Sensor Width", description="Sensor Width (mm)", value=36, uid=[], range=(0, 1000, 1)),
@@ -100,6 +106,12 @@ def readSfMData(sfmFile):
         intrinsic['principalPoint'] = {}
         intrinsic['principalPoint']['x'] = pp[0]
         intrinsic['principalPoint']['y'] = pp[1]
+
+        f = intrinsic['pxFocalLength']
+        intrinsic['pxFocalLength'] = {}
+        intrinsic['pxFocalLength']['x'] = f[0]
+        intrinsic['pxFocalLength']['y'] = f[1]
+
         # convert empty string distortionParams (i.e: Pinhole model) to empty list
         if intrinsic['distortionParams'] == '':
             intrinsic['distortionParams'] = list()
@@ -182,8 +194,8 @@ The metadata needed are:
             name='allowedCameraModels',
             label='Allowed Camera Models',
             description='the Camera Models that can be attributed.',
-            value=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1'],
+            value=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1', '3deanamorphic4', '3deradial4', '3declassicld'],
-            values=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1'],
+            values=['pinhole', 'radial1', 'radial3', 'brown', 'fisheye4', 'fisheye1', '3deanamorphic4', '3deradial4', '3declassicld'],
             exclusive=False,
             uid=[],
             joinChar=',',
@@ -298,6 +310,7 @@ The metadata needed are:
             intrinsics = node.intrinsics.getPrimitiveValue(exportDefault=True)
             for intrinsic in intrinsics:
                 intrinsic['principalPoint'] = [intrinsic['principalPoint']['x'], intrinsic['principalPoint']['y']]
+                intrinsic['pxFocalLength'] = [intrinsic['pxFocalLength']['x'], intrinsic['pxFocalLength']['y']]
             views = node.viewpoints.getPrimitiveValue(exportDefault=False)
 
             # convert the metadata string into a map
@@ -306,7 +319,7 @@ The metadata needed are:
                     view['metadata'] = json.loads(view['metadata'])
 
             sfmData = {
-                "version": [1, 0, 0],
+                "version": [1, 2, 0],
                 "views": views + newViews,
                 "intrinsics": intrinsics,
                 "featureFolder": "",

meshroom/nodes/aliceVision/DistortionCalibration.py

@@ -0,0 +1,53 @@
+__version__ = '2.0'
+
+from meshroom.core import desc
+
+
+class DistortionCalibration(desc.CommandLineNode):
+    commandLine = 'aliceVision_distortionCalibration {allParams}'
+    size = desc.DynamicNodeSize('input')
+
+    documentation = '''
+    Calibration of a camera/lens couple distortion using a full screen checkerboard
+'''
+
+    inputs = [
+        desc.File(
+            name='input',
+            label='SfmData',
+            description='SfmData File',
+            value='',
+            uid=[0],
+        ),
+        desc.ListAttribute(
+            elementDesc=desc.File(
+                name='lensGridImage',
+                label='Lens Grid Image',
+                description='',
+                value='',
+                uid=[0],
+            ),
+            name='lensGrid',
+            label='Lens Grid Images',
+            description='Lens grid images to estimate the optical distortions.',
+        ),
+        desc.ChoiceParam(
+            name='verboseLevel',
+            label='Verbose Level',
+            description='Verbosity level (fatal, error, warning, info, debug, trace).',
+            value='info',
+            values=['fatal', 'error', 'warning', 'info', 'debug', 'trace'],
+            exclusive=True,
+            uid=[],
+        ),
+    ]
+
+    outputs = [
+        desc.File(
+            name='outSfMData',
+            label='Output SfmData File',
+            description='Path to the output sfmData file',
+            value=desc.Node.internalFolder + 'sfmData.sfm',
+            uid=[],
+        )
+    ]

meshroom/ui/reconstruction.py

@@ -360,8 +360,8 @@ class ViewpointWrapper(QObject):
         """ Get camera vertical field of view in degrees. """
         if not self.solvedIntrinsics:
             return None
-        pxFocalLength = float(self.solvedIntrinsics["pxFocalLength"])
+        pxFocalLength = self.solvedIntrinsics["pxFocalLength"]
-        return 2.0 * math.atan(self.orientedImageSize.height() / (2.0 * pxFocalLength)) * 180 / math.pi
+        return 2.0 * math.atan(self.orientedImageSize.height() / (2.0 * float(pxFocalLength[0]))) * 180 / math.pi
 
     @Property(type=QUrl, notify=denseSceneParamsChanged)
     def undistortedImageSource(self):