diff options
| -rw-r--r-- | intern/libmv/intern/camera_intrinsics.cc | 53 | ||||
| -rw-r--r-- | intern/libmv/intern/camera_intrinsics.h | 4 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/bundle.cc | 181 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc | 63 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/camera_intrinsics.h | 58 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/distortion_models.cc | 92 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/distortion_models.h | 78 | ||||
| -rw-r--r-- | release/scripts/startup/bl_ui/space_clip.py | 4 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/movieclip.c | 5 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/tracking_util.c | 12 | ||||
| -rw-r--r-- | source/blender/makesdna/DNA_tracking_types.h | 4 | ||||
| -rw-r--r-- | source/blender/makesrna/intern/rna_tracking.c | 14 |
12 files changed, 555 insertions, 13 deletions
diff --git a/intern/libmv/intern/camera_intrinsics.cc b/intern/libmv/intern/camera_intrinsics.cc index 89e3d0d1178..554c4350b0a 100644 --- a/intern/libmv/intern/camera_intrinsics.cc +++ b/intern/libmv/intern/camera_intrinsics.cc @@ -24,6 +24,7 @@ using libmv::CameraIntrinsics; using libmv::DivisionCameraIntrinsics; using libmv::PolynomialCameraIntrinsics; +using libmv::NukeCameraIntrinsics; libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew( const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options) { @@ -55,6 +56,14 @@ libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy( *division_intrinsics); break; } + case libmv::DISTORTION_MODEL_NUKE: + { + const NukeCameraIntrinsics *nuke_intrinsics = + static_cast<const NukeCameraIntrinsics*>(orig_intrinsics); + new_intrinsics = LIBMV_OBJECT_NEW(NukeCameraIntrinsics, + *nuke_intrinsics); + break; + } default: assert(!"Unknown distortion model"); } @@ -136,6 +145,25 @@ void libmv_cameraIntrinsicsUpdate( break; } + case LIBMV_DISTORTION_MODEL_NUKE: + { + assert(camera_intrinsics->GetDistortionModelType() == + libmv::DISTORTION_MODEL_NUKE); + + NukeCameraIntrinsics *nuke_intrinsics = + (NukeCameraIntrinsics *) camera_intrinsics; + + double k1 = libmv_camera_intrinsics_options->nuke_k1; + double k2 = libmv_camera_intrinsics_options->nuke_k2; + + if (nuke_intrinsics->k1() != k1 || + nuke_intrinsics->k2() != k2) { + nuke_intrinsics->SetDistortion(k1, k2); + } + + break; + } + default: assert(!"Unknown distortion model"); } @@ -189,6 +217,17 @@ void libmv_cameraIntrinsicsExtractOptions( break; } + case libmv::DISTORTION_MODEL_NUKE: + { + const NukeCameraIntrinsics *nuke_intrinsics = + static_cast<const NukeCameraIntrinsics *>(camera_intrinsics); + camera_intrinsics_options->distortion_model = + LIBMV_DISTORTION_MODEL_NUKE; + camera_intrinsics_options->nuke_k1 = nuke_intrinsics->k1(); + camera_intrinsics_options->nuke_k2 = nuke_intrinsics->k2(); + break; + } + default: assert(!"Unknown distortion model"); } @@ -316,6 +355,17 @@ static void libmv_cameraIntrinsicsFillFromOptions( break; } + case LIBMV_DISTORTION_MODEL_NUKE: + { + NukeCameraIntrinsics *nuke_intrinsics = + static_cast<NukeCameraIntrinsics*>(camera_intrinsics); + + nuke_intrinsics->SetDistortion( + camera_intrinsics_options->nuke_k1, + camera_intrinsics_options->nuke_k2); + break; + } + default: assert(!"Unknown distortion model"); } @@ -331,6 +381,9 @@ CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions( case LIBMV_DISTORTION_MODEL_DIVISION: camera_intrinsics = LIBMV_OBJECT_NEW(DivisionCameraIntrinsics); break; + case LIBMV_DISTORTION_MODEL_NUKE: + camera_intrinsics = LIBMV_OBJECT_NEW(NukeCameraIntrinsics); + break; default: assert(!"Unknown distortion model"); } diff --git a/intern/libmv/intern/camera_intrinsics.h b/intern/libmv/intern/camera_intrinsics.h index 40a5826a9c4..b3d259893bd 100644 --- a/intern/libmv/intern/camera_intrinsics.h +++ b/intern/libmv/intern/camera_intrinsics.h @@ -29,6 +29,7 @@ typedef struct libmv_CameraIntrinsics libmv_CameraIntrinsics; enum { LIBMV_DISTORTION_MODEL_POLYNOMIAL = 0, LIBMV_DISTORTION_MODEL_DIVISION = 1, + LIBMV_DISTORTION_MODEL_NUKE = 2, }; typedef struct libmv_CameraIntrinsicsOptions { @@ -45,6 +46,9 @@ typedef struct libmv_CameraIntrinsicsOptions { // Division distortion model. double division_k1, division_k2; + + // Nuke distortion model. + double nuke_k1, nuke_k2; } libmv_CameraIntrinsicsOptions; libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew( diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc index 2976dd5053f..a70fdbc9888 100644 --- a/intern/libmv/libmv/simple_pipeline/bundle.cc +++ b/intern/libmv/libmv/simple_pipeline/bundle.cc @@ -66,6 +66,12 @@ enum { namespace { +bool NeedUseInvertIntrinsicsPipeline(const CameraIntrinsics *intrinsics) { + const DistortionModelType distortion_model = + intrinsics->GetDistortionModelType(); + return (distortion_model == DISTORTION_MODEL_NUKE); +} + // Apply distortion model (distort the input) on the input point in the // normalized space to get distorted coordinate in the image space. // @@ -89,8 +95,6 @@ void ApplyDistortionModelUsingIntrinsicsBlock( const T& principal_point_x = intrinsics_block[OFFSET_PRINCIPAL_POINT_X]; const T& principal_point_y = intrinsics_block[OFFSET_PRINCIPAL_POINT_Y]; - // Apply distortion to the normalized points to get (xd, yd). - // // TODO(keir): Do early bailouts for zero distortion; these are expensive // jet operations. switch (invariant_intrinsics->GetDistortionModelType()) { @@ -127,11 +131,82 @@ void ApplyDistortionModelUsingIntrinsicsBlock( distorted_x, distorted_y); return; } + + case DISTORTION_MODEL_NUKE: + { + LOG(FATAL) << "Unsupported distortion model."; + return; + } + } + + LOG(FATAL) << "Unknown distortion model."; +} + +// Invert distortion model (undistort the input) on the input point in the +// image space to get undistorted coordinate in the normalized space. +// +// Using intrinsics values from the parameter block, which makes this function +// suitable for use from a cost functor. +// +// Only use for distortion models which are analytically defined for their +// Invert() function. +// +// The invariant_intrinsics are used to access intrinsics which are never +// packed into parameter block: for example, distortion model type and image +// dimension. +template<typename T> +void InvertDistortionModelUsingIntrinsicsBlock( + const CameraIntrinsics *invariant_intrinsics, + const T* const intrinsics_block, + const T& image_x, const T& image_y, + T* normalized_x, T* normalized_y) { + // Unpack the intrinsics. + const T& focal_length = intrinsics_block[OFFSET_FOCAL_LENGTH]; + const T& principal_point_x = intrinsics_block[OFFSET_PRINCIPAL_POINT_X]; + const T& principal_point_y = intrinsics_block[OFFSET_PRINCIPAL_POINT_Y]; + + // TODO(keir): Do early bailouts for zero distortion; these are expensive + // jet operations. + switch (invariant_intrinsics->GetDistortionModelType()) { + case DISTORTION_MODEL_POLYNOMIAL: + case DISTORTION_MODEL_DIVISION: + LOG(FATAL) << "Unsupported distortion model."; + return; + + case DISTORTION_MODEL_NUKE: + { + const T& k1 = intrinsics_block[OFFSET_K1]; + const T& k2 = intrinsics_block[OFFSET_K2]; + + InvertNukeDistortionModel(focal_length, + focal_length, + principal_point_x, + principal_point_y, + invariant_intrinsics->image_width(), + invariant_intrinsics->image_height(), + k1, k2, + image_x, image_y, + normalized_x, normalized_y); + return; + } } LOG(FATAL) << "Unknown distortion model."; } +template<typename T> +void NormalizedToImageSpace(const T* const intrinsics_block, + const T& normalized_x, const T& normalized_y, + T* image_x, T* image_y) { + // Unpack the intrinsics. + const T& focal_length = intrinsics_block[OFFSET_FOCAL_LENGTH]; + const T& principal_point_x = intrinsics_block[OFFSET_PRINCIPAL_POINT_X]; + const T& principal_point_y = intrinsics_block[OFFSET_PRINCIPAL_POINT_Y]; + + *image_x = normalized_x * focal_length + principal_point_x; + *image_y = normalized_y * focal_length + principal_point_y; +} + // Cost functor which computes reprojection error of 3D point X on camera // defined by angle-axis rotation and it's translation (which are in the same // block due to optimization reasons). @@ -191,6 +266,81 @@ struct ReprojectionErrorApplyIntrinsics { const double weight_; }; +// Cost functor which computes reprojection error of 3D point X on camera +// defined by angle-axis rotation and it's translation (which are in the same +// block due to optimization reasons). +// +// This functor can only be used for distortion models which have analytically +// defined Invert() function. +struct ReprojectionErrorInvertIntrinsics { + ReprojectionErrorInvertIntrinsics( + const CameraIntrinsics *invariant_intrinsics, + const double observed_distorted_x, + const double observed_distorted_y, + const double weight) + : invariant_intrinsics_(invariant_intrinsics), + observed_distorted_x_(observed_distorted_x), + observed_distorted_y_(observed_distorted_y), + weight_(weight) {} + + template <typename T> + bool operator()(const T* const intrinsics, + const T* const R_t, // Rotation denoted by angle axis + // followed with translation + const T* const X, // Point coordinates 3x1. + T* residuals) const { + // Unpack the intrinsics. + const T& focal_length = intrinsics[OFFSET_FOCAL_LENGTH]; + const T& principal_point_x = intrinsics[OFFSET_PRINCIPAL_POINT_X]; + const T& principal_point_y = intrinsics[OFFSET_PRINCIPAL_POINT_Y]; + + // Compute projective coordinates: x = RX + t. + T x[3]; + + ceres::AngleAxisRotatePoint(R_t, X, x); + x[0] += R_t[3]; + x[1] += R_t[4]; + x[2] += R_t[5]; + + // Prevent points from going behind the camera. + if (x[2] < T(0)) { + return false; + } + + // Compute normalized coordinates: x /= x[2]. + T xn = x[0] / x[2]; + T yn = x[1] / x[2]; + + // Compute image space coordinate from normalized. + T predicted_x = focal_length * xn + principal_point_x; + T predicted_y = focal_length * yn + principal_point_y; + + T observed_undistorted_normalized_x, observed_undistorted_normalized_y; + InvertDistortionModelUsingIntrinsicsBlock( + invariant_intrinsics_, + intrinsics, + T(observed_distorted_x_), T(observed_distorted_y_), + &observed_undistorted_normalized_x, &observed_undistorted_normalized_y); + + T observed_undistorted_image_x, observed_undistorted_image_y; + NormalizedToImageSpace( + intrinsics, + observed_undistorted_normalized_x, observed_undistorted_normalized_y, + &observed_undistorted_image_x, &observed_undistorted_image_y); + + // The error is the difference between the predicted and observed position. + residuals[0] = (predicted_x - observed_undistorted_image_x) * weight_; + residuals[1] = (predicted_y - observed_undistorted_image_y) * weight_; + + return true; + } + + const CameraIntrinsics *invariant_intrinsics_; + const double observed_distorted_x_; + const double observed_distorted_y_; + const double weight_; +}; + // Print a message to the log which camera intrinsics are gonna to be optimized. void BundleIntrinsicsLogMessage(const int bundle_intrinsics) { if (bundle_intrinsics == BUNDLE_NO_INTRINSICS) { @@ -421,14 +571,25 @@ void AddResidualBlockToProblem(const CameraIntrinsics *invariant_intrinsics, double *camera_R_t, EuclideanPoint *point, ceres::Problem* problem) { - AddResidualBlockToProblemImpl<ReprojectionErrorApplyIntrinsics>( - invariant_intrinsics, - marker.x, marker.y, - marker_weight, - intrinsics_block, - camera_R_t, - point, - problem); + if (NeedUseInvertIntrinsicsPipeline(invariant_intrinsics)) { + AddResidualBlockToProblemImpl<ReprojectionErrorInvertIntrinsics>( + invariant_intrinsics, + marker.x, marker.y, + marker_weight, + intrinsics_block, + camera_R_t, + point, + problem); + } else { + AddResidualBlockToProblemImpl<ReprojectionErrorApplyIntrinsics>( + invariant_intrinsics, + marker.x, marker.y, + marker_weight, + intrinsics_block, + camera_R_t, + point, + problem); + } } // This is an utility function to only bundle 3D position of diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc index 5e4e07b3c4c..a95b394ad06 100644 --- a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc +++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc @@ -131,6 +131,8 @@ void CameraIntrinsics::ResetLookupGrids() { undistort_.Reset(); } +// Polynomial model. + PolynomialCameraIntrinsics::PolynomialCameraIntrinsics() : CameraIntrinsics() { SetRadialDistortion(0.0, 0.0, 0.0); @@ -193,6 +195,8 @@ void PolynomialCameraIntrinsics::InvertIntrinsics( normalized_y); } +// Division model. + DivisionCameraIntrinsics::DivisionCameraIntrinsics() : CameraIntrinsics() { SetDistortion(0.0, 0.0); @@ -241,6 +245,57 @@ void DivisionCameraIntrinsics::InvertIntrinsics(double image_x, normalized_y); } +// Nuke model. + +NukeCameraIntrinsics::NukeCameraIntrinsics() + : CameraIntrinsics() { + SetDistortion(0.0, 0.0); +} + +NukeCameraIntrinsics::NukeCameraIntrinsics( + const NukeCameraIntrinsics &from) + : CameraIntrinsics(from) { + SetDistortion(from.k1(), from.k1()); +} + +void NukeCameraIntrinsics::SetDistortion(double k1, double k2) { + parameters_[OFFSET_K1] = k1; + parameters_[OFFSET_K2] = k2; + ResetLookupGrids(); +} + +void NukeCameraIntrinsics::ApplyIntrinsics(double normalized_x, + double normalized_y, + double *image_x, + double *image_y) const { + ApplyNukeDistortionModel(focal_length_x(), + focal_length_y(), + principal_point_x(), + principal_point_y(), + image_width(), image_height(), + k1(), k2(), + normalized_x, + normalized_y, + image_x, + image_y); +} + +void NukeCameraIntrinsics::InvertIntrinsics(double image_x, + double image_y, + double *normalized_x, + double *normalized_y) const { + InvertNukeDistortionModel(focal_length_x(), + focal_length_y(), + principal_point_x(), + principal_point_y(), + image_width(), image_height(), + k1(), k2(), + image_x, + image_y, + normalized_x, + normalized_y); +} + std::ostream& operator <<(std::ostream &os, const CameraIntrinsics &intrinsics) { if (intrinsics.focal_length_x() == intrinsics.focal_length_x()) { @@ -281,6 +336,14 @@ std::ostream& operator <<(std::ostream &os, PRINT_NONZERO_COEFFICIENT(division_intrinsics, k2); break; } + case DISTORTION_MODEL_NUKE: + { + const NukeCameraIntrinsics *nuke_intrinsics = + static_cast<const NukeCameraIntrinsics *>(&intrinsics); + PRINT_NONZERO_COEFFICIENT(nuke_intrinsics, k1); + PRINT_NONZERO_COEFFICIENT(nuke_intrinsics, k2); + break; + } default: LOG(FATAL) << "Unknown distortion model."; } diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h index 6a3ade81089..782fd56c54c 100644 --- a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h +++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h @@ -276,7 +276,7 @@ class CameraIntrinsics { class PolynomialCameraIntrinsics : public CameraIntrinsics { public: // This constants defines an offset of corresponding coefficients - // in the arameters_ array. + // in the parameters_ array. enum { OFFSET_K1, OFFSET_K2, @@ -342,7 +342,7 @@ class PolynomialCameraIntrinsics : public CameraIntrinsics { class DivisionCameraIntrinsics : public CameraIntrinsics { public: // This constants defines an offset of corresponding coefficients - // in the arameters_ array. + // in the parameters_ array. enum { OFFSET_K1, OFFSET_K2, @@ -393,6 +393,60 @@ class DivisionCameraIntrinsics : public CameraIntrinsics { double parameters_[NUM_PARAMETERS]; }; +class NukeCameraIntrinsics : public CameraIntrinsics { + public: + // This constants defines an offset of corresponding coefficients + // in the parameters_ array. + enum { + OFFSET_K1, + OFFSET_K2, + + // This defines the size of array which we need to have in order + // to store all the coefficients. + NUM_PARAMETERS, + }; + + NukeCameraIntrinsics(); + NukeCameraIntrinsics(const NukeCameraIntrinsics &from); + + DistortionModelType GetDistortionModelType() const { + return DISTORTION_MODEL_NUKE; + } + + int num_distortion_parameters() const { return NUM_PARAMETERS; } + double *distortion_parameters() { return parameters_; }; + const double *distortion_parameters() const { return parameters_; }; + + double k1() const { return parameters_[OFFSET_K1]; } + double k2() const { return parameters_[OFFSET_K2]; } + + // Set radial distortion coeffcients. + void SetDistortion(double k1, double k2); + + // Apply camera intrinsics to the normalized point to get image coordinates. + // + // This applies the lens distortion to a point which is in normalized + // camera coordinates (i.e. the principal point is at (0, 0)) to get image + // coordinates in pixels. + void ApplyIntrinsics(double normalized_x, + double normalized_y, + double *image_x, + double *image_y) const; + + // Invert camera intrinsics on the image point to get normalized coordinates. + // + // This reverses the effect of lens distortion on a point which is in image + // coordinates to get normalized camera coordinates. + void InvertIntrinsics(double image_x, + double image_y, + double *normalized_x, + double *normalized_y) const; + + private: + // Double-parameter division distortion model. + double parameters_[NUM_PARAMETERS]; +}; + /// A human-readable representation of the camera intrinsic parameters. std::ostream& operator <<(std::ostream &os, const CameraIntrinsics &intrinsics); diff --git a/intern/libmv/libmv/simple_pipeline/distortion_models.cc b/intern/libmv/libmv/simple_pipeline/distortion_models.cc index 9b6dca2678a..c069fc6f623 100644 --- a/intern/libmv/libmv/simple_pipeline/distortion_models.cc +++ b/intern/libmv/libmv/simple_pipeline/distortion_models.cc @@ -194,4 +194,96 @@ void InvertDivisionDistortionModel(const double focal_length_x, *normalized_y = normalized(1); } +struct ApplyNukeIntrinsicsCostFunction { + public: + typedef Vec2 FMatrixType; + typedef Vec2 XMatrixType; + + ApplyNukeIntrinsicsCostFunction(const double focal_length_x, + const double focal_length_y, + const double principal_point_x, + const double principal_point_y, + const int image_width, + const int image_height, + const double k1, + const double k2, + const double expected_normalized_x, + const double expected_normalized_y) + : focal_length_x_(focal_length_x), + focal_length_y_(focal_length_y), + principal_point_x_(principal_point_x), + principal_point_y_(principal_point_y), + image_width_(image_width), + image_height_(image_height), + k1_(k1), k2_(k2), + expected_normalized_x_(expected_normalized_x), + expected_normalized_y_(expected_normalized_y) {} + + Vec2 operator()(const Vec2 &image_coordinate) const { + double actual_normalized_x, actual_normalized_y; + + InvertNukeDistortionModel(focal_length_x_, + focal_length_y_, + principal_point_x_, + principal_point_y_, + image_width_, image_height_, + k1_, k2_, + image_coordinate(0), image_coordinate(1), + &actual_normalized_x, &actual_normalized_y); + + Vec2 fx; + fx << (actual_normalized_x - expected_normalized_x_), + (actual_normalized_y - expected_normalized_y_); + return fx; + } + double focal_length_x_; + double focal_length_y_; + double principal_point_x_; + double principal_point_y_; + int image_width_; + int image_height_; + double k1_, k2_; + double expected_normalized_x_, expected_normalized_y_; +}; + +void ApplyNukeDistortionModel(const double focal_length_x, + const double focal_length_y, + const double principal_point_x, + const double principal_point_y, + const int image_width, + const int image_height, + const double k1, + const double k2, + const double normalized_x, + const double normalized_y, + double *image_x, + double *image_y) { + // Compute the initial guess. For a camera with no distortion, this will also + // be the final answer; the LM iteration will terminate immediately. + Vec2 image; + image(0) = normalized_x * focal_length_x + principal_point_x; + image(1) = normalized_y * focal_length_y + principal_point_y; + + // TODO(sergey): Use Ceres minimizer instead. + typedef LevenbergMarquardt<ApplyNukeIntrinsicsCostFunction> Solver; + + ApplyNukeIntrinsicsCostFunction intrinsics_cost(focal_length_x, + focal_length_y, + principal_point_x, + principal_point_y, + image_width, + image_height, + k1, k2, + normalized_x, normalized_y); + Solver::SolverParameters params; + Solver solver(intrinsics_cost); + + /*Solver::Results results =*/ solver.minimize(params, &image); + + // TODO(keir): Better error handling. + + *image_x = image(0); + *image_y = image(1); +} + } // namespace libmv diff --git a/intern/libmv/libmv/simple_pipeline/distortion_models.h b/intern/libmv/libmv/simple_pipeline/distortion_models.h index 4f8e2295a0e..6ba351d729d 100644 --- a/intern/libmv/libmv/simple_pipeline/distortion_models.h +++ b/intern/libmv/libmv/simple_pipeline/distortion_models.h @@ -21,11 +21,14 @@ #ifndef LIBMV_SIMPLE_PIPELINE_DISTORTION_MODELS_H_ #define LIBMV_SIMPLE_PIPELINE_DISTORTION_MODELS_H_ +#include <algorithm> + namespace libmv { enum DistortionModelType { DISTORTION_MODEL_POLYNOMIAL, - DISTORTION_MODEL_DIVISION + DISTORTION_MODEL_DIVISION, + DISTORTION_MODEL_NUKE, }; // Invert camera intrinsics on the image point to get normalized coordinates. @@ -126,6 +129,79 @@ inline void ApplyDivisionDistortionModel(const T &focal_length_x, *image_y = focal_length_y * yd + principal_point_y; } +// Invert camera intrinsics on the image point to get normalized coordinates. +// This inverts the radial lens distortion to a point which is in image pixel +// coordinates to get normalized coordinates. +// +// Uses Nuke distortion model. +template <typename T> +void InvertNukeDistortionModel(const T &focal_length_x, + const T &focal_length_y, + const T &principal_point_x, + const T &principal_point_y, + const int image_width, + const int image_height, + const T &k1, + const T &k2, + const T &image_x, + const T &image_y, + T *normalized_x, + T *normalized_y) { + // According to the documentation: + // + // xu = xd / (1 + k0 * rd^2 + k1 * rd^4) + // yu = yd / (1 + k0 * rd^2 + k1 * rd^4) + // + // Legend: + // (xd, yd) are the distorted cartesian coordinates, + // (rd, phid) are the distorted polar coordinates, + // (xu, yu) are the undistorted cartesian coordinates, + // (ru, phiu) are the undistorted polar coordinates, + // the k-values are the distortion coefficients. + // + // The coordinate systems are relative to the distortion centre. + + const int max_image_size = std::max(image_width, image_height); + const double max_half_image_size = max_image_size * 0.5; + + if (max_half_image_size == 0.0) { + *normalized_x = image_x * max_half_image_size / focal_length_x; + *normalized_y = image_y * max_half_image_size / focal_length_y; + return; + } + + const T xd = (image_x - principal_point_x) / max_half_image_size; + const T yd = (image_y - principal_point_y) / max_half_image_size; + + T rd2 = xd*xd + yd*yd; + T rd4 = rd2 * rd2; + T r_coeff = T(1) / (T(1) + k1*rd2 + k2*rd4); + T xu = xd * r_coeff; + T yu = yd * r_coeff; + + *normalized_x = xu * max_half_image_size / focal_length_x; + *normalized_y = yu * max_half_image_size / focal_length_y; +} + +// Apply camera intrinsics to the normalized point to get image coordinates. +// This applies the radial lens distortion to a point which is in normalized +// camera coordinates (i.e. the principal point is at (0, 0)) to get image +// coordinates in pixels. Templated for use with autodifferentiation. +// +// Uses Nuke distortion model. +void ApplyNukeDistortionModel(const double focal_length_x, + const double focal_length_y, + const double principal_point_x, + const double principal_point_y, + const int image_width, + const int image_height, + const double k1, + const double k2, + const double normalized_x, + const double normalized_y, + double *image_x, + double *image_y); + } // namespace libmv #endif // LIBMV_SIMPLE_PIPELINE_DISTORTION_MODELS_H_ diff --git a/release/scripts/startup/bl_ui/space_clip.py b/release/scripts/startup/bl_ui/space_clip.py index f93629a4f03..5b6cc6609e0 100644 --- a/release/scripts/startup/bl_ui/space_clip.py +++ b/release/scripts/startup/bl_ui/space_clip.py @@ -918,6 +918,10 @@ class CLIP_PT_tracking_lens(Panel): col = layout.column(align=True) col.prop(camera, "division_k1") col.prop(camera, "division_k2") + elif camera.distortion_model == 'NUKE': + col = layout.column(align=True) + col.prop(camera, "nuke_k1") + col.prop(camera, "nuke_k2") class CLIP_PT_marker(CLIP_PT_tracking_panel, Panel): diff --git a/source/blender/blenkernel/intern/movieclip.c b/source/blender/blenkernel/intern/movieclip.c index 7991559d1ce..4c7b791f103 100644 --- a/source/blender/blenkernel/intern/movieclip.c +++ b/source/blender/blenkernel/intern/movieclip.c @@ -460,6 +460,7 @@ typedef struct MovieClipCache { float principal[2]; float polynomial_k[3]; float division_k[2]; + float nuke_k[2]; short distortion_model; bool undistortion_used; @@ -908,6 +909,9 @@ static bool check_undistortion_cache_flags(const MovieClip *clip) if (!equals_v2v2(&camera->division_k1, cache->postprocessed.division_k)) { return false; } + if (!equals_v2v2(&camera->nuke_k1, cache->postprocessed.nuke_k)) { + return false; + } return true; } @@ -1010,6 +1014,7 @@ static void put_postprocessed_frame_to_cache( copy_v2_v2(cache->postprocessed.principal, camera->principal); copy_v3_v3(cache->postprocessed.polynomial_k, &camera->k1); copy_v2_v2(cache->postprocessed.division_k, &camera->division_k1); + copy_v2_v2(cache->postprocessed.nuke_k, &camera->nuke_k1); cache->postprocessed.undistortion_used = true; } else { diff --git a/source/blender/blenkernel/intern/tracking_util.c b/source/blender/blenkernel/intern/tracking_util.c index 5f7452e4775..629c01ec298 100644 --- a/source/blender/blenkernel/intern/tracking_util.c +++ b/source/blender/blenkernel/intern/tracking_util.c @@ -451,6 +451,12 @@ static void distortion_model_parameters_from_tracking( camera_intrinsics_options->division_k1 = camera->division_k1; camera_intrinsics_options->division_k2 = camera->division_k2; return; + + case TRACKING_DISTORTION_MODEL_NUKE: + camera_intrinsics_options->distortion_model = LIBMV_DISTORTION_MODEL_NUKE; + camera_intrinsics_options->nuke_k1 = camera->nuke_k1; + camera_intrinsics_options->nuke_k2 = camera->nuke_k2; + return; } /* Unknown distortion model, which might be due to opening newer file in older Blender. @@ -479,6 +485,12 @@ static void distortion_model_parameters_from_options( camera->division_k1 = camera_intrinsics_options->division_k1; camera->division_k2 = camera_intrinsics_options->division_k2; return; + + case LIBMV_DISTORTION_MODEL_NUKE: + camera->distortion_model = TRACKING_DISTORTION_MODEL_NUKE; + camera->nuke_k1 = camera_intrinsics_options->nuke_k1; + camera->nuke_k2 = camera_intrinsics_options->nuke_k2; + return; } /* Libmv returned distortion model which is not known to Blender. This is a logical error in code diff --git a/source/blender/makesdna/DNA_tracking_types.h b/source/blender/makesdna/DNA_tracking_types.h index ab9f3d07849..32a00cc25d1 100644 --- a/source/blender/makesdna/DNA_tracking_types.h +++ b/source/blender/makesdna/DNA_tracking_types.h @@ -70,6 +70,9 @@ typedef struct MovieTrackingCamera { /* Division distortion model coefficients */ float division_k1, division_k2; + + /* Nuke distortion model coefficients */ + float nuke_k1, nuke_k2; } MovieTrackingCamera; typedef struct MovieTrackingMarker { @@ -455,6 +458,7 @@ typedef struct MovieTracking { enum { TRACKING_DISTORTION_MODEL_POLYNOMIAL = 0, TRACKING_DISTORTION_MODEL_DIVISION = 1, + TRACKING_DISTORTION_MODEL_NUKE = 2, }; /* MovieTrackingCamera->units */ diff --git a/source/blender/makesrna/intern/rna_tracking.c b/source/blender/makesrna/intern/rna_tracking.c index 131c13c4d90..507d06482df 100644 --- a/source/blender/makesrna/intern/rna_tracking.c +++ b/source/blender/makesrna/intern/rna_tracking.c @@ -1149,6 +1149,7 @@ static void rna_def_trackingCamera(BlenderRNA *brna) "Divisions", "Division distortion model which " "better represents wide-angle cameras"}, + {TRACKING_DISTORTION_MODEL_NUKE, "NUKE", 0, "Nuke", "Nuke distortion model"}, {0, NULL, 0, NULL, NULL}, }; @@ -1252,6 +1253,19 @@ static void rna_def_trackingCamera(BlenderRNA *brna) RNA_def_property_ui_text(prop, "K2", "First coefficient of second order division distortion"); RNA_def_property_update(prop, NC_MOVIECLIP | NA_EDITED, "rna_tracking_flushUpdate"); + /* Nuke distortion parameters */ + prop = RNA_def_property(srna, "nuke_k1", PROP_FLOAT, PROP_NONE); + RNA_def_property_clear_flag(prop, PROP_ANIMATABLE); + RNA_def_property_ui_range(prop, -10, 10, 0.1, 3); + RNA_def_property_ui_text(prop, "K1", "First coefficient of second order Nuke distortion"); + RNA_def_property_update(prop, NC_MOVIECLIP | NA_EDITED, "rna_tracking_flushUpdate"); + + prop = RNA_def_property(srna, "nuke_k2", PROP_FLOAT, PROP_NONE); + RNA_def_property_clear_flag(prop, PROP_ANIMATABLE); + RNA_def_property_ui_range(prop, -10, 10, 0.1, 3); + RNA_def_property_ui_text(prop, "K2", "Second coefficient of second order Nuke distortion"); + RNA_def_property_update(prop, NC_MOVIECLIP | NA_EDITED, "rna_tracking_flushUpdate"); + /* pixel aspect */ prop = RNA_def_property(srna, "pixel_aspect", PROP_FLOAT, PROP_XYZ); RNA_def_property_float_sdna(prop, NULL, "pixel_aspect"); |