Enable apply calibration on smaller images

alicevision · Nov 28, 2023 · a44af82 · a44af82
1 parent 38bc4db
commit a44af82
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Showing 6 changed files with 40 additions and 6 deletions.
diff --git a/src/aliceVision/camera/Undistortion.hpp b/src/aliceVision/camera/Undistortion.hpp
@@ -51,10 +51,20 @@ class Undistortion
         _center = {width / 2, height / 2};
     }
 
+    void setDiagonal(double diagonal)
+    {
+        //May be used for plates with a different size than lens grid
+        _diagonal = diagonal;
+    }
+
     inline Vec2 getOffset() const { return _offset; }
 
     Vec2 getSize() const { return _size; }
 
+    inline double getDiagonal() const { return _diagonal; }
+
+
+
     const std::vector<double>& getParameters() const { return _undistortionParams; }
 
     void setParameters(const std::vector<double>& params)

diff --git a/src/aliceVision/sfmDataIO/AlembicExporter.cpp b/src/aliceVision/sfmDataIO/AlembicExporter.cpp
@@ -244,6 +244,7 @@ void AlembicExporter::DataImpl::addCamera(const std::string& name,
             ODoubleArrayProperty(userProps, "mvg_undistortionParams").set(undistortion->getParameters());
             ODoubleProperty(userProps, "mvg_undistortionOffsetX").set(undistortion->getOffset().x());
             ODoubleProperty(userProps, "mvg_undistortionOffsetY").set(undistortion->getOffset().y());
+            ODoubleProperty(userProps, "mvg_undistortionDiagonal").set(undistortion->getDiagonal());
         }
 
         camObj.getSchema().set(camSample);

diff --git a/src/aliceVision/sfmDataIO/AlembicImporter.cpp b/src/aliceVision/sfmDataIO/AlembicImporter.cpp
@@ -421,6 +421,7 @@ bool readCamera(const Version& abcVersion,
     std::vector<double> distortionParams;
     std::vector<double> undistortionParams;
     Vec2 undistortionOffset = {0, 0};
+    double undistortionDiagonal = 0.0;
 
     if (userProps)
     {
@@ -581,6 +582,10 @@ bool readCamera(const Version& abcVersion,
                 {
                     undistortionOffset(1) = getAbcProp<Alembic::Abc::IDoubleProperty>(userProps, *propHeader, "mvg_undistortionOffsetY", sampleFrame);
                 }
+                if (const Alembic::Abc::PropertyHeader* propHeader = userProps.getPropertyHeader("mvg_undistortionDiagonal"))
+                {
+                    undistortionDiagonal = getAbcProp<Alembic::Abc::IDoubleProperty>(userProps, *propHeader, "mvg_undistortionDiagonal", sampleFrame);
+                }
             }
         }
     }
@@ -626,6 +631,11 @@ bool readCamera(const Version& abcVersion,
             {
                 undistortion->setParameters(undistortionParams);
                 undistortion->setOffset(undistortionOffset);
+
+                if (!(abcVersion < Version(1, 2, 7)))
+                {
+                    undistortion->setDiagonal(undistortionDiagonal);
+                }
             }
         }
 

diff --git a/src/aliceVision/sfmDataIO/jsonIO.cpp b/src/aliceVision/sfmDataIO/jsonIO.cpp
@@ -168,7 +168,7 @@ void saveIntrinsic(const std::string& name, IndexT intrinsicId, const std::share
         const double focalLengthMM = intrinsicScaleOffset->sensorWidth() * intrinsicScaleOffset->getScale().x() / double(intrinsic->w());
         const double focalRatio = intrinsicScaleOffset->getScale().x() / intrinsicScaleOffset->getScale().y();
         const double pixelAspectRatio = 1.0 / focalRatio;
-
+        
         intrinsicTree.put("initialFocalLength", initialFocalLengthMM);
         intrinsicTree.put("focalLength", focalLengthMM);
         intrinsicTree.put("pixelRatio", pixelAspectRatio);
@@ -182,7 +182,6 @@ void saveIntrinsic(const std::string& name, IndexT intrinsicId, const std::share
     if (intrinsicScaleOffsetDisto)
     {
         bpt::ptree distParamsTree;
-
         std::shared_ptr<camera::Distortion> distortionObject = intrinsicScaleOffsetDisto->getDistortion();
         if (distortionObject)
         {
@@ -202,8 +201,9 @@ void saveIntrinsic(const std::string& name, IndexT intrinsicId, const std::share
 
         std::shared_ptr<camera::Undistortion> undistortionObject = intrinsicScaleOffsetDisto->getUndistortion();
         if (undistortionObject)
-        {
+        {   
             saveMatrix("undistortionOffset", undistortionObject->getOffset(), intrinsicTree);
+            intrinsicTree.put("undistortionDiagonal", undistortionObject->getDiagonal());
 
             for (double param : undistortionObject->getParameters())
             {
@@ -374,6 +374,11 @@ void loadIntrinsic(const Version& version, IndexT& intrinsicId, std::shared_ptr<
                 Vec2 offset;
                 loadMatrix("undistortionOffset", offset, intrinsicTree);
                 undistortionObject->setOffset(offset);
+
+                if (!(version < Version(1, 2, 7)))
+                {
+                    undistortionObject->setDiagonal(intrinsicTree.get<double>("undistortionDiagonal"));
+                }
             }
         }
     }

diff --git a/src/aliceVision/sfmDataIO/sfmDataIO.hpp b/src/aliceVision/sfmDataIO/sfmDataIO.hpp
@@ -12,7 +12,7 @@
 
 #define ALICEVISION_SFMDATAIO_VERSION_MAJOR 1
 #define ALICEVISION_SFMDATAIO_VERSION_MINOR 2
-#define ALICEVISION_SFMDATAIO_VERSION_REVISION 6
+#define ALICEVISION_SFMDATAIO_VERSION_REVISION 7
 
 // AliceVision version as a string; for example "0.9.0".
 #define ALICEVISION_SFMDATAIO_VERSION_STRING                                                                                                         \

diff --git a/src/software/utils/main_applyCalibration.cpp b/src/software/utils/main_applyCalibration.cpp
@@ -199,8 +199,14 @@ int aliceVision_main(int argc, char **argv)
         // Check that aspect ratios are approximately equal
         if (std::abs(aspect - calibrationAspect) > 1e-2)
         {
-            ALICEVISION_LOG_ERROR("Intrinsic from input SfMData and calibrated SfMData are incompatible.");
-            return EXIT_FAILURE;
+            bool distortionOnly = (isDistortionCalibrated && !isIntrinsicCalibrated);
+            bool smaller = (width <= calibrationWidth && height <= calibrationHeight);
+
+            if (distortionOnly == false || smaller == false)
+            {
+                ALICEVISION_LOG_ERROR("Intrinsic from input SfMData and calibrated SfMData are incompatible.");
+                return EXIT_FAILURE;
+            }
         }
 
         // Copy original intrinsic
@@ -232,6 +238,8 @@ int aliceVision_main(int argc, char **argv)
                 calibratedUndistortion->getType());
             undistortion->setSize(width, height);
             undistortion->setParameters(calibratedUndistortion->getParameters());
+
+
             newIntrinsic->setUndistortionObject(undistortion);
             newIntrinsic->setDistortionInitializationMode(camera::EInitMode::CALIBRATED);
         }