updates to cameraInit

alicevision · Jul 11, 2024 · 6590e17 · 6590e17
1 parent 6228873
commit 6590e17
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Showing 5 changed files with 38 additions and 9 deletions.
diff --git a/src/aliceVision/keyframe/KeyframeSelector.cpp b/src/aliceVision/keyframe/KeyframeSelector.cpp
@@ -1486,7 +1486,13 @@ std::shared_ptr<camera::IntrinsicBase> KeyframeSelector::createIntrinsic(const s
  const double imageRatio,
  const std::size_t mediaIndex)
 {
- auto intrinsic = sfmDataIO::getViewIntrinsic(view, focalLength, sensorWidth);
+ camera::EInitMode mode = camera::EInitMode::ESTIMATED;
+ if (sensorWidth <= 0)
+ {
+ mode = camera::EInitMode::UNKNOWN;
+ }
+
+ auto intrinsic = sfmDataIO::getViewIntrinsic(view, mode, focalLength, sensorWidth);
  if (imageRatio > 1.0 && sensorWidth > -1.0)
  {
  intrinsic->setSensorWidth(sensorWidth);

diff --git a/src/aliceVision/sfmDataIO/viewIO.cpp b/src/aliceVision/sfmDataIO/viewIO.cpp
@@ -10,7 +10,7 @@
 #include <aliceVision/sfmData/uid.hpp>
 #include <aliceVision/camera/camera.hpp>
 #include <aliceVision/image/io.hpp>
-#include "aliceVision/utils/filesIO.hpp"
+#include <aliceVision/utils/filesIO.hpp>
 
 #include <stdexcept>
 #include <regex>
@@ -109,6 +109,7 @@ void updateIncompleteView(sfmData::View& view, EViewIdMethod viewIdMethod, const
 }
 
 std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& view,
+ const camera::EInitMode intrinsicInitMode,
  double mmFocalLength,
  double sensorWidth,
  double defaultFocalLength,
@@ -190,13 +191,18 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
  hasFocalLengthInput = true;
  }
 
+ // Do not enforce focal length
+ if (intrinsicInitMode == camera::EInitMode::NONE || intrinsicInitMode == camera::EInitMode::UNKNOWN)
+ {
+ hasFocalLengthInput = false;
+ }
+
  double focalLengthIn35mm = 36.0 * focalLength;
  double pxFocalLength = (focalLength / sensorWidth) * std::max(view.getImage().getWidth(), view.getImage().getHeight());
 
  // retrieve pixel aspect ratio
  double pixelAspectRatio = 1.0 / defaultFocalRatio;
  view.getImage().getDoubleMetadata({"PixelAspectRatio"}, pixelAspectRatio);
- const double focalRatio = 1.0 / pixelAspectRatio;
 
  bool hasFisheyeCompatibleParameters = ((focalLengthIn35mm > 0.0 && focalLengthIn35mm < 18.0) || (defaultFieldOfView > 100.0));
 
@@ -239,16 +245,21 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
  distortionType = camera::EDISTORTION::DISTORTION_RADIALK3;
  }
 
+ //PixelAspectRatio is the vertical size of a pixel over the horizontal size of a pixel
+ //We divide x scale assuming the focal length on an anamorphic lens is for the vertical dimension
+ double horizontalScale = (pxFocalLength > 0) ? pxFocalLength / pixelAspectRatio : -1;
+ double verticalScale = pxFocalLength;
+
  // create the desired intrinsic
  std::shared_ptr<camera::IntrinsicBase> intrinsic = camera::createIntrinsic(
- /*camera*/ intrinsicType,
+ intrinsicType,
  distortionType,
  camera::EUNDISTORTION::UNDISTORTION_NONE,
- /*dimensions*/ view.getImage().getWidth(),
+ view.getImage().getWidth(),
  view.getImage().getHeight(),
- /*focal length*/ pxFocalLength,
- pxFocalLength / focalRatio,
- /*offset*/ 0,
+ horizontalScale,
+ verticalScale,
+ 0,
  0);
 
  if (hasFocalLengthInput)
@@ -257,7 +268,15 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
 
  if (intrinsicScaleOffset)
  {
- intrinsicScaleOffset->setInitialScale({pxFocalLength, (pxFocalLength > 0) ? pxFocalLength / focalRatio : -1});
+ intrinsicScaleOffset->setInitialScale({horizontalScale, verticalScale});
+ }
+ }
+
+ //In any case, we can fill the default offset
+ {
+ std::shared_ptr<camera::IntrinsicScaleOffset> intrinsicScaleOffset = std::dynamic_pointer_cast<camera::IntrinsicScaleOffset>(intrinsic);
+ if (intrinsicScaleOffset)
+ {
  intrinsicScaleOffset->setOffset({defaultOffsetX, defaultOffsetY});
  }
  }

diff --git a/src/aliceVision/sfmDataIO/viewIO.hpp b/src/aliceVision/sfmDataIO/viewIO.hpp
@@ -66,6 +66,7 @@ void updateIncompleteView(sfmData::View& view, EViewIdMethod viewIdMethod = EVie
 /**
  * @brief create an intrinsic for the given View
  * @param[in] view The given view
+ * @param[in] intrinsicInitMode validity flags
  * @param[in] mmFocalLength (-1 if unknown)
  * @param[in] sensorWidth (-1 if unknown)
  * @param[in] defaultFocalLength (-1 if unknown)
@@ -78,6 +79,7 @@ void updateIncompleteView(sfmData::View& view, EViewIdMethod viewIdMethod = EVie
  * @return shared_ptr IntrinsicBase
  */
 std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& view,
+ const camera::EInitMode intrinsicInitMode,
  double mmFocalLength = -1.0,
  double sensorWidth = -1,
  double defaultFocalLength = -1,

diff --git a/src/software/pipeline/main_cameraInit.cpp b/src/software/pipeline/main_cameraInit.cpp
@@ -642,6 +642,7 @@ int aliceVision_main(int argc, char** argv)
 
  // build intrinsic
  std::shared_ptr<camera::IntrinsicBase> intrinsicBase = getViewIntrinsic(view,
+ intrinsicInitMode,
  focalLengthmm,
  sensorWidth,
  defaultFocalLength,

diff --git a/src/software/utils/main_imageProcessing.cpp b/src/software/utils/main_imageProcessing.cpp
@@ -1750,6 +1750,7 @@ int aliceVision_main(int argc, char* argv[])
  const double defaultOffsetX = 0.0;
  const double defaultOffsetY = 0.0;
  intrinsicBase = sfmDataIO::getViewIntrinsic(view,
+ intrinsicInitMode,
  focalLengthmm,
  sensorWidth,
  defaultFocalLength,