Merge pull request #1986 from alicevision/mug/undistortionCalibration

[nodes] Distortion calibration
alicevision · Jun 2, 2023 · fb97ac1 · fb97ac1
2 parents 190af16 + 44a2ce7
commit fb97ac1
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Showing 7 changed files with 380 additions and 227 deletions.
diff --git a/meshroom/nodes/aliceVision/ApplyCalibration.py b/meshroom/nodes/aliceVision/ApplyCalibration.py
@@ -0,0 +1,39 @@
+__version__ = "1.0"
+
+from meshroom.core import desc
+
+class ApplyCalibration(desc.AVCommandLineNode):
+    commandLine = 'aliceVision_applyCalibration {allParams}'
+    size = desc.DynamicNodeSize('input')
+
+    category = 'Utils'
+    documentation = '''
+Overwrite intrinsics with a calibrated intrinsic.
+'''
+
+    inputs = [
+        desc.File(
+            name='input',
+            label='Input SfMData',
+            description='SfMData file.',
+            value='',
+            uid=[0],
+        ),
+        desc.File(
+            name='calibration',
+            label='Calibration',
+            description='Calibration SfMData file.',
+            value='',
+            uid=[0],
+        ),
+    ]
+
+    outputs = [
+        desc.File(
+            name='output',
+            label='SfMData File',
+            description='Path to the output SfMData file.',
+            value=desc.Node.internalFolder + 'sfmData.sfm',
+            uid=[],
+        ),
+    ]
diff --git a/meshroom/nodes/aliceVision/CameraInit.py b/meshroom/nodes/aliceVision/CameraInit.py
@@ -89,9 +89,23 @@
             name="distortionParams",
             elementDesc=desc.FloatParam(name="p", label="", description="", value=0.0, uid=[0], range=(-0.1, 0.1, 0.01)),
             label="Distortion Params",
-            description="Distortion Parameters",
+            description="Distortion parameters.",
+        ),
+    desc.GroupAttribute(
+            name="undistortionOffset",
+            label="Undistortion Offset",
+            description="Undistortion offset.",
+            groupDesc=[
+                desc.FloatParam(name="x", label="x", description="", value=0.0, uid=[0], range=(0.0, 10000.0, 1.0)),
+                desc.FloatParam(name="y", label="y", description="", value=0.0, uid=[0], range=(0.0, 10000.0, 1.0)),
+            ]
+        ),
+    desc.ListAttribute(
+            name="undistortionParams",
+            elementDesc=desc.FloatParam(name="p", label="", description="", value=0.0, uid=[0], range=(-0.1, 0.1, 0.01)),
+            label="Undistortion Params",
+            description="Undistortion parameters."
         ),
-
     desc.BoolParam(name='locked', label='Locked',
                    description='If the camera has been calibrated, the internal camera parameters (intrinsics) can be locked. It should improve robustness and speedup the reconstruction.',
                    value=False, uid=[0]),
@@ -123,6 +137,14 @@ def readSfMData(sfmFile):
         if intrinsic['distortionParams'] == '':
             intrinsic['distortionParams'] = list()
 
+        offset = intrinsic['undistortionOffset']
+        intrinsic['undistortionOffset'] = {}
+        intrinsic['undistortionOffset']['x'] = offset[0]
+        intrinsic['undistortionOffset']['y'] = offset[1]
+
+        if intrinsic['undistortionParams'] == '':
+            intrinsic['undistortionParams'] = list()
+
     viewsKeys = [v.name for v in Viewpoint]
     views = [{k: v for k, v in item.items() if k in viewsKeys} for item in data.get("views", [])]
     for view in views:
@@ -411,6 +433,7 @@ def createViewpointsFile(self, node, additionalViews=()):
             intrinsics = node.intrinsics.getPrimitiveValue(exportDefault=True)
             for intrinsic in intrinsics:
                 intrinsic['principalPoint'] = [intrinsic['principalPoint']['x'], intrinsic['principalPoint']['y']]
+                intrinsic['undistortionOffset'] = [intrinsic['undistortionOffset']['x'], intrinsic['undistortionOffset']['y']]
             views = node.viewpoints.getPrimitiveValue(exportDefault=False)
 
             # convert the metadata string into a map

diff --git a/meshroom/nodes/aliceVision/DistortionCalibration.py b/meshroom/nodes/aliceVision/DistortionCalibration.py
@@ -1,4 +1,4 @@
-__version__ = '2.0'
+__version__ = '3.0'
 
 from meshroom.core import desc
 
@@ -7,46 +7,42 @@ class DistortionCalibration(desc.AVCommandLineNode):
     commandLine = 'aliceVision_distortionCalibration {allParams}'
     size = desc.DynamicNodeSize('input')
 
+    category = 'Other'
     documentation = '''
-    Calibration of a camera/lens couple distortion using a full screen checkerboard
+Calibration of a camera/lens couple distortion using a full screen checkerboard.
 '''
 
     inputs = [
         desc.File(
             name='input',
-            label='SfmData',
-            description='SfmData File',
+            label='Input 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.File(
+            name='checkerboards',
+            label='Checkerboards Folder',
+            description='Folder containing checkerboard JSON files.',
+            value='',
+            uid=[0],
         ),
         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'],
+            name='cameraModel',
+            label='Camera Model',
+            description='Camera model used to estimate distortion.',
+            value='3deanamorphic4',
+            values=['3deanamorphic4'],
             exclusive=True,
-            uid=[],
+            uid=[0],
         ),
     ]
 
     outputs = [
         desc.File(
-            name='outSfMData',
-            label='SfmData File',
-            description='Path to the output sfmData file',
+            name='output',
+            label='SfMData File',
+            description='Path to the output SfMData file.',
             value=desc.Node.internalFolder + 'sfmData.sfm',
             uid=[],
         )

diff --git a/meshroom/nodes/aliceVision/ExportDistortion.py b/meshroom/nodes/aliceVision/ExportDistortion.py
@@ -0,0 +1,49 @@
+__version__ = "1.0"
+
+from meshroom.core import desc
+
+class ExportDistortion(desc.AVCommandLineNode):
+    commandLine = 'aliceVision_exportDistortion {allParams}'
+
+    category = 'Export'
+    documentation = '''
+Export the distortion model and parameters of cameras in a SfM scene.
+'''
+
+    inputs = [
+        desc.File(
+            name='input',
+            label='Input SfMData',
+            description='SfMData file.',
+            value='',
+            uid=[0],
+        ),
+    ]
+
+    outputs = [
+        desc.File(
+            name='output',
+            label='Folder',
+            description='Output folder.',
+            value=desc.Node.internalFolder,
+            uid=[],
+        ),
+        desc.File(
+            name='distoStMap',
+            label='Distortion ST Map',
+            description='Calibrated distortion ST map.',
+            semantic='image',
+            value=desc.Node.internalFolder + '<INTRINSIC_ID>_distort.exr',
+            group='',  # do not export on the command line
+            uid=[],
+        ),
+        desc.File(
+            name='undistoStMap',
+            label='Undistortion ST Map',
+            description='Calibrated undistortion ST map.',
+            semantic='image',
+            value=desc.Node.internalFolder + '<INTRINSIC_ID>_undistort.exr',
+            group='',  # do not export on the command line
+            uid=[],
+        ),
+    ]
diff --git a/meshroom/pipelines/cameraTracking.mg b/meshroom/pipelines/cameraTracking.mg
@@ -1,105 +1,94 @@
 {
     "header": {
-        "pipelineVersion": "2.2", 
-        "releaseVersion": "2023.1.0",
-        "fileVersion": "1.1", 
-        "template": true, 
+        "pipelineVersion": "2.2",
+        "releaseVersion": "2023.2.0-develop",
+        "fileVersion": "1.1",
+        "template": true,
         "nodesVersions": {
-            "ExportAnimatedCamera": "2.0", 
-            "FeatureMatching": "2.0", 
-            "DistortionCalibration": "2.0", 
-            "CameraInit": "9.0", 
-            "ImageMatching": "2.0", 
-            "FeatureExtraction": "1.1", 
+            "ExportAnimatedCamera": "2.0",
+            "Publish": "1.2",
             "StructureFromMotion": "3.0",
-            "Publish": "1.2"
+            "FeatureExtraction": "1.1",
+            "FeatureMatching": "2.0",
+            "CameraInit": "9.0",
+            "ImageMatching": "2.0"
         }
-    }, 
+    },
     "graph": {
-        "DistortionCalibration_1": {
-            "inputs": {
-                "input": "{CameraInit_1.output}"
-            }, 
-            "nodeType": "DistortionCalibration", 
-            "position": [
-                200, 
-                160
-            ]
-        }, 
         "ImageMatching_1": {
+            "nodeType": "ImageMatching",
+            "position": [
+                400,
+                0
+            ],
             "inputs": {
-                "nbNeighbors": 10, 
-                "nbMatches": 5, 
-                "input": "{FeatureExtraction_1.input}", 
+                "input": "{FeatureExtraction_1.input}",
                 "featuresFolders": [
                     "{FeatureExtraction_1.output}"
-                ]
-            }, 
-            "nodeType": "ImageMatching", 
+                ],
+                "nbMatches": 5,
+                "nbNeighbors": 10
+            }
+        },
+        "FeatureExtraction_1": {
+            "nodeType": "FeatureExtraction",
             "position": [
-                400, 
+                200,
                 0
-            ]
-        }, 
-        "FeatureExtraction_1": {
+            ],
             "inputs": {
                 "input": "{CameraInit_1.output}"
-            }, 
-            "nodeType": "FeatureExtraction", 
+            }
+        },
+        "StructureFromMotion_1": {
+            "nodeType": "StructureFromMotion",
             "position": [
-                200, 
+                800,
                 0
-            ]
-        }, 
-        "StructureFromMotion_1": {
+            ],
             "inputs": {
-                "minAngleForLandmark": 0.5, 
-                "minNumberOfObservationsForTriangulation": 3, 
-                "describerTypes": "{FeatureMatching_1.describerTypes}", 
-                "input": "{FeatureMatching_1.input}", 
-                "featuresFolders": "{FeatureMatching_1.featuresFolders}", 
+                "input": "{FeatureMatching_1.input}",
+                "featuresFolders": "{FeatureMatching_1.featuresFolders}",
                 "matchesFolders": [
                     "{FeatureMatching_1.output}"
-                ], 
-                "minInputTrackLength": 5, 
-                "minAngleForTriangulation": 1.0
-            }, 
-            "nodeType": "StructureFromMotion", 
+                ],
+                "describerTypes": "{FeatureMatching_1.describerTypes}",
+                "minInputTrackLength": 5,
+                "minNumberOfObservationsForTriangulation": 3,
+                "minAngleForTriangulation": 1.0,
+                "minAngleForLandmark": 0.5
+            }
+        },
+        "ExportAnimatedCamera_1": {
+            "nodeType": "ExportAnimatedCamera",
             "position": [
-                800, 
+                1000,
                 0
-            ]
-        }, 
-        "ExportAnimatedCamera_1": {
+            ],
             "inputs": {
                 "input": "{StructureFromMotion_1.output}"
-            }, 
-            "nodeType": "ExportAnimatedCamera", 
-            "position": [
-                1000, 
-                0
-            ]
-        }, 
+            }
+        },
         "CameraInit_1": {
-            "inputs": {}, 
-            "nodeType": "CameraInit", 
+            "nodeType": "CameraInit",
             "position": [
-                0, 
+                0,
                 0
-            ]
-        }, 
+            ],
+            "inputs": {}
+        },
         "FeatureMatching_1": {
-            "inputs": {
-                "describerTypes": "{FeatureExtraction_1.describerTypes}", 
-                "imagePairsList": "{ImageMatching_1.output}", 
-                "input": "{DistortionCalibration_1.outSfMData}", 
-                "featuresFolders": "{ImageMatching_1.featuresFolders}"
-            }, 
-            "nodeType": "FeatureMatching", 
+            "nodeType": "FeatureMatching",
             "position": [
-                600, 
+                600,
                 0
-            ]
+            ],
+            "inputs": {
+                "input": "{ImageMatching_1.input}",
+                "featuresFolders": "{ImageMatching_1.featuresFolders}",
+                "imagePairsList": "{ImageMatching_1.output}",
+                "describerTypes": "{FeatureExtraction_1.describerTypes}"
+            }
         },
         "Publish_1": {
             "nodeType": "Publish",