diff options
Diffstat (limited to 'intern/libmv/libmv/simple_pipeline/distortion_models.h')
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/distortion_models.h | 78 |
1 files changed, 77 insertions, 1 deletions
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_ |