New panorama pipeline for fisheye images

.github/workflows/continuous-integration.yml

@@ -84,7 +84,7 @@ jobs:
           git clone --branch master https://github.com/alicevision/SfM_quality_evaluation.git
           cd SfM_quality_evaluation/
           # checkout a specific commit to ensure repeatability
-          git checkout 203e55c6e70de5f79496407961eb10b15deece4b
+          git checkout 9f7d5876a76aad8e8d45c258fddfbb04aaa11d60
           export LD_LIBRARY_PATH=$PWD/../../../AV_install/lib64:${DEPS_INSTALL_DIR}/lib64:${DEPS_INSTALL_DIR}/lib:${LD_LIBRARY_PATH}
           echo "ldd aliceVision_cameraInit"
           ldd $PWD/../../../AV_install/bin/aliceVision_cameraInit

src/CMakeLists.txt

@@ -247,7 +247,7 @@ if(ALICEVISION_HAVE_OPENMP)
   if(NOT MSVC)
     if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
       # for those using the clang with OpenMP support
-      list(APPEND ALICEVISION_LIBRARY_DEPENDENCIES iomp)
+      list(APPEND ALICEVISION_LIBRARY_DEPENDENCIES omp)
     else()
     list(APPEND ALICEVISION_LIBRARY_DEPENDENCIES gomp)
     endif()
@@ -344,7 +344,7 @@ endif()
 # ==============================================================================
 find_package(Eigen3 3.3 REQUIRED)
 if(Eigen3_FOUND OR EIGEN3_FOUND)
-  message(STATUS "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}")
+  # message(STATUS "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}")
   # See https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html
   set(AV_EIGEN_DEFINITIONS -DEIGEN_MAX_ALIGN_BYTES=0 -DEIGEN_MAX_STATIC_ALIGN_BYTES=0)
 else()
@@ -806,7 +806,7 @@ set(ALICEVISION_INCLUDE_DIRS
         ${generatedDir}
         ${CMAKE_CURRENT_SOURCE_DIR}/dependencies
         ${LEMON_INCLUDE_DIRS}
-        ${EIGEN_INCLUDE_DIRS}
+        ${EIGEN3_INCLUDE_DIRS}
         ${CERES_INCLUDE_DIRS}
         ${UNCERTAINTYTE_INCLUDE_DIRS}
         ${MAGMA_INCLUDE_DIRS}

src/aliceVision/camera/CMakeLists.txt

@@ -1,15 +1,24 @@
 # Headers
 set(camera_files_headers
-    camera.hpp
-    cameraCommon.hpp
-    cameraUndistortImage.hpp
-    IntrinsicBase.hpp
-    IntrinsicInitMode.hpp
-    Pinhole.hpp
-    PinholeBrown.hpp
-    PinholeFisheye.hpp
-    PinholeFisheye1.hpp
-    PinholeRadial.hpp
+	camera.hpp
+	cameraCommon.hpp
+	cameraUndistortImage.hpp
+	IntrinsicBase.hpp
+	IntrinsicInitMode.hpp
+	Distortion.hpp
+	DistortionRadial.hpp
+	DistortionBrown.hpp
+	DistortionFisheye.hpp
+	DistortionFisheye1.hpp
+	IntrinsicsScaleOffset.hpp
+	IntrinsicsScaleOffsetDisto.hpp
+	Pinhole.hpp
+	PinholeBrown.hpp
+	PinholeFisheye.hpp
+	PinholeFisheye1.hpp
+	PinholeRadial.hpp
+	Equidistant.hpp
+	EquidistantRadial.hpp
 )
 
 alicevision_add_interface(aliceVision_camera
@@ -23,7 +32,9 @@ alicevision_add_interface(aliceVision_camera
 )
 
 # Unit tests
-alicevision_add_test(pinholeBrown_test.cpp    NAME "camera_pinholeBrown"    LINKS aliceVision_camera)
-alicevision_add_test(pinholeFisheye_test.cpp  NAME "camera_pinholeFisheye"  LINKS aliceVision_camera)
-alicevision_add_test(pinholeFisheye1_test.cpp NAME "camera_pinholeFisheye1" LINKS aliceVision_camera)
-alicevision_add_test(pinholeRadial_test.cpp   NAME "camera_pinholeRadial"   LINKS aliceVision_camera)
+alicevision_add_test(distortion_test.cpp        NAME "camera_distortionRadial"    LINKS aliceVision_camera)
+alicevision_add_test(pinholeBrown_test.cpp      NAME "camera_pinholeBrown"        LINKS aliceVision_camera)
+alicevision_add_test(pinholeFisheye_test.cpp    NAME "camera_pinholeFisheye"      LINKS aliceVision_camera)
+alicevision_add_test(pinholeFisheye1_test.cpp   NAME "camera_pinholeFisheye1"     LINKS aliceVision_camera)
+alicevision_add_test(pinholeRadial_test.cpp     NAME "camera_pinholeRadial"       LINKS aliceVision_camera)
+alicevision_add_test(equidistant_test.cpp       NAME "camera_equidistant"         LINKS aliceVision_camera)

src/aliceVision/camera/Distortion.hpp

@@ -0,0 +1,71 @@
+#pragma once
+
+#include <vector>
+#include <aliceVision/numeric/numeric.hpp>
+
+namespace aliceVision{
+namespace camera{
+
+class Distortion
+{
+public:
+
+    Distortion() = default;
+
+    virtual Distortion* clone() const = 0;
+
+    std::vector<double>& getParameters()
+    {
+        return _distortionParams;
+    }
+
+    size_t getDistortionParametersCount()
+    {
+        return _distortionParams.size();
+    }
+
+    /// Add distortion to the point p (assume p is in the camera frame [normalized coordinates])
+    virtual Vec2 addDistortion(const Vec2& p) const
+    {
+        return p;
+    }
+
+    /// Remove distortion (return p' such that disto(p') = p)
+    virtual Vec2 removeDistortion(const Vec2& p) const
+    {
+        return p;
+    }
+
+    virtual double getUndistortedRadius(double r) const
+    {
+        return r;
+    }
+
+    virtual Eigen::Matrix2d getDerivativeAddDistoWrtPt(const Vec2& p) const
+    {
+        return Eigen::Matrix2d::Identity();
+    }
+
+    virtual Eigen::MatrixXd getDerivativeAddDistoWrtDisto(const Vec2& p) const
+    {
+        return Eigen::MatrixXd(0, 0);
+    }
+
+    virtual Eigen::Matrix2d getDerivativeRemoveDistoWrtPt(const Vec2& p) const
+    {
+        return Eigen::Matrix2d::Identity();
+    }
+
+    virtual Eigen::MatrixXd getDerivativeRemoveDistoWrtDisto(const Vec2& p) const
+    {
+        return Eigen::MatrixXd(0, 0);
+    }
+
+    virtual ~Distortion() = default;
+
+protected:
+    std::vector<double> _distortionParams{};
+};
+
+} // namespace camera
+} // namespace aliceVision

src/aliceVision/camera/DistortionBrown.hpp

@@ -0,0 +1,72 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2016 AliceVision contributors.
+// Copyright (c) 2012 openMVG contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include <aliceVision/camera/Distortion.hpp>
+
+namespace aliceVision {
+namespace camera {
+
+class DistortionBrown : public Distortion
+{
+public:
+    DistortionBrown()
+    {
+        _distortionParams = {0.0, 0.0, 0.0, 0.0, 0.0};
+    }
+
+    DistortionBrown(double p1, double p2, double p3, double p4, double p5)
+    {
+        _distortionParams = {p1, p2, p3, p4, p5};
+    }
+
+    DistortionBrown* clone() const override
+    {
+        return new DistortionBrown(*this);
+    }
+
+    /// Add distortion to the point p (assume p is in the camera frame [normalized coordinates])
+    Vec2 addDistortion(const Vec2& p) const override
+    {
+        return (p + distoFunction(_distortionParams, p));
+    }
+
+    /// Remove distortion (return p' such that disto(p') = p)
+    Vec2 removeDistortion(const Vec2& p) const override
+    {
+        const double epsilon = 1e-8; // criteria to stop the iteration
+        Vec2 p_u = p;
+
+        while((addDistortion(p_u) - p).lpNorm<1>() > epsilon) // manhattan distance between the two points
+        {
+            p_u = p - distoFunction(_distortionParams, p_u);
+        }
+
+        return p_u;
+    }
+
+    // Functor to calculate distortion offset accounting for both radial and tangential distortion
+    static Vec2 distoFunction(const std::vector<double>& params, const Vec2& p)
+    {
+        const double k1 = params[0], k2 = params[1], k3 = params[2], t1 = params[3], t2 = params[4];
+        const double r2 = p(0) * p(0) + p(1) * p(1);
+        const double r4 = r2 * r2;
+        const double r6 = r4 * r2;
+        const double k_diff = (k1 * r2 + k2 * r4 + k3 * r6);
+        const double t_x = t2 * (r2 + 2 * p(0) * p(0)) + 2 * t1 * p(0) * p(1);
+        const double t_y = t1 * (r2 + 2 * p(1) * p(1)) + 2 * t2 * p(0) * p(1);
+        Vec2 d(p(0) * k_diff + t_x, p(1) * k_diff + t_y);
+
+        return d;
+    }
+
+    ~DistortionBrown() override = default;
+};
+
+} // namespace camera
+} // namespace aliceVision