diff --git a/src/aliceVision/camera/IntrinsicScaleOffset.cpp b/src/aliceVision/camera/IntrinsicScaleOffset.cpp index 7df72d616a..777bc2479e 100644 --- a/src/aliceVision/camera/IntrinsicScaleOffset.cpp +++ b/src/aliceVision/camera/IntrinsicScaleOffset.cpp @@ -156,17 +156,107 @@ bool IntrinsicScaleOffset::importFromParams(const std::vector& params, c return true; } -double IntrinsicScaleOffset::getFocalLengthMM() const +double IntrinsicScaleOffset::getFocalLength() const { - return _scale(0) * sensorWidth() / static_cast(std::max(w(), h())); + const double maxSize = static_cast(std::max(w(), h())); + const double fx = _scale(0); + const double fy = _scale(1); + + //The bigger the scale or focal (which have the same direction) + //The smaller the observed area + const double focalInMillimeters = fx * sensorWidth() / maxSize; + + //Pixel aspect ratio is the how the x dimension is stretched + //That means that it enlarge the observed area + //That means a larger pixel ratio leads to a smaller focal (in X). + const double pixelAspectRatio = getPixelAspectRatio(); + + //Assumming the focal length is *ignoring* the stretch + //Thus the returned focal is the bigger focal canceling the pixelAspectRatio + return focalInMillimeters * pixelAspectRatio; } -void IntrinsicScaleOffset::setFocalLength(double focalLengthMM, double pixelAspectRatio) +double IntrinsicScaleOffset::getInitialFocalLength() const { - const double focalRatio = 1.0 / pixelAspectRatio; - _scale(0) = (focalLengthMM / sensorWidth()) * double(w()); - _scale(1) = _scale(0) / focalRatio; + const double maxSize = static_cast(std::max(w(), h())); + const double fx = _initialScale(0); + const double fy = _initialScale(1); + + if (fx < 0) + { + return -1.0; + } + + //The bigger the scale or focal (which have the same direction) + //The smaller the observed area + const double focalInMillimeters = fx * sensorWidth() / maxSize; + + //Pixel aspect ratio is the how the x dimension is stretched + //That means that it enlarge the observed area + //That means a larger pixel ratio leads to a smaller focal (in X). + const double pixelAspectRatio = getPixelAspectRatio(); + + //Assumming the focal length is *ignoring* the stretch + //Thus the returned focal is the bigger focal canceling the pixelAspectRatio + return focalInMillimeters * pixelAspectRatio; +} + +double IntrinsicScaleOffset::getPixelAspectRatio() const +{ + const double fx = _scale(0); + const double fy = _scale(1); + + const double focalRatio = fx / fy; + const double pixelAspectRatio = 1.0 / focalRatio; + + return pixelAspectRatio; +} + +void IntrinsicScaleOffset::setFocalLength(double focalInMillimeters, double pixelAspectRatio, bool useCompatibility) +{ + if (useCompatibility) + { + const double focalInMillimetersY = focalInMillimeters * pixelAspectRatio; + const double millimetersToPixels = double(w()) / sensorWidth(); + _scale(0) = focalInMillimeters * millimetersToPixels; + _scale(1) = focalInMillimetersY * millimetersToPixels; + } + else + { + //We assume focalInMillimeters ignore the pixelAspectRatio in X + const double focalInMillimetersX = focalInMillimeters / pixelAspectRatio; + const double millimetersToPixels = double(w()) / sensorWidth(); + _scale(0) = focalInMillimetersX * millimetersToPixels; + _scale(1) = focalInMillimeters * millimetersToPixels; + } +} + +void IntrinsicScaleOffset::setInitialFocalLength(double initialFocalInMillimeters, double pixelAspectRatio, bool useCompatibility) +{ + if (initialFocalInMillimeters < 0.0) + { + _initialScale(0) = -1.0; + _initialScale(1) = -1.0; + } + + const double millimetersToPixels = double(w()) / sensorWidth(); + + if (useCompatibility) + { + //We assume focalInMillimeters ignore the pixelAspectRatio in X + const double initialFocalInMillimetersY = initialFocalInMillimeters * pixelAspectRatio; + _initialScale(0) = initialFocalInMillimeters * millimetersToPixels; + _initialScale(1) = initialFocalInMillimetersY * millimetersToPixels; + } + else + { + //We assume focalInMillimeters ignore the pixelAspectRatio in X + const double initialFocalInMillimetersX = initialFocalInMillimeters / pixelAspectRatio; + _initialScale(0) = initialFocalInMillimetersX * millimetersToPixels; + _initialScale(1) = initialFocalInMillimeters * millimetersToPixels; + } } + } // namespace camera } // namespace aliceVision diff --git a/src/aliceVision/camera/IntrinsicScaleOffset.hpp b/src/aliceVision/camera/IntrinsicScaleOffset.hpp index 416cc944f3..3108097d78 100644 --- a/src/aliceVision/camera/IntrinsicScaleOffset.hpp +++ b/src/aliceVision/camera/IntrinsicScaleOffset.hpp @@ -125,14 +125,35 @@ class IntrinsicScaleOffset : public IntrinsicBase * @brief get focal length in mm * @return focal length in mm */ - double getFocalLengthMM() const; + double getFocalLength() const; + + /** + * @brief get initial focal length in mm + * @return initial focal length in mm + */ + double getInitialFocalLength() const; + + /** + * @brief estimate the pixel aspect ratio + * @return the pixel aspect ratio + */ + double getPixelAspectRatio() const; /** * @Brief set scale given focal length and pixelaspectratio * @param focalLengthMM focal length in mm - * @param pixelAspectRatio pixel aspect ratio (image with = pixelAspectRatio * realwith) + * @param pixelAspectRatio pixel aspect ratio (image with = pixelAspectRatio * realwidth) + * @param usePixelRatioForX use pixel ratio + */ + void setFocalLength(double focalLengthMM, double pixelAspectRatio, bool useCompatibility = false); + + /** + * @Brief set initial scale given initial focal length and pixelaspectratio + * @param initialFocalLengthMM initial focal length in mm + * @param pixelAspectRatio pixel aspect ratio (image with = pixelAspectRatio * realwidth) + * @param useCompability make sure compatibility mode is used */ - void setFocalLength(double focalLengthMM, double pixelAspectRatio); + void setInitialFocalLength(double initialFocalLengthMM, double pixelAspectRatio, bool useCompatibility = false); protected: Vec2 _scale{1.0, 1.0}; diff --git a/src/aliceVision/sfmDataIO/AlembicExporter.cpp b/src/aliceVision/sfmDataIO/AlembicExporter.cpp index 2f45ee4f76..1cab329feb 100644 --- a/src/aliceVision/sfmDataIO/AlembicExporter.cpp +++ b/src/aliceVision/sfmDataIO/AlembicExporter.cpp @@ -218,8 +218,7 @@ void AlembicExporter::DataImpl::addCamera(const std::string& name, std::vector<::uint32_t> sensorSize_pix = {intrinsicCasted->w(), intrinsicCasted->h()}; std::vector sensorSize_mm = {sensorWidth, sensorHeight}; - double initialFocalLength = - (intrinsicCasted->getInitialScale().x() > 0) ? (intrinsicCasted->getInitialScale().x() * sensorWidth / double(intrinsicCasted->w())) : -1; + double initialFocalLength = intrinsicCasted->getInitialFocalLength(); OUInt32ArrayProperty(userProps, "mvg_sensorSizePix").set(sensorSize_pix); ODoubleArrayProperty(userProps, "mvg_sensorSizeMm").set(sensorSize_mm); diff --git a/src/aliceVision/sfmDataIO/AlembicImporter.cpp b/src/aliceVision/sfmDataIO/AlembicImporter.cpp index 511ea822cd..efb5de7c49 100644 --- a/src/aliceVision/sfmDataIO/AlembicImporter.cpp +++ b/src/aliceVision/sfmDataIO/AlembicImporter.cpp @@ -673,8 +673,12 @@ bool readCamera(const Version& abcVersion, if (intrinsicCasted) { // fy_pix = fx_pix * fy/fx - initialFocalLengthPix(1) = - (initialFocalLengthPix(0) > 0) ? initialFocalLengthPix(0) * mvg_intrinsicParams[1] / mvg_intrinsicParams[0] : -1; + initialFocalLengthPix(1) = initialFocalLengthPix(0); + if (initialFocalLengthPix(0) > 0.0) + { + initialFocalLengthPix(0) = initialFocalLengthPix(0) / intrinsicCasted->getPixelAspectRatio(); + } + intrinsicCasted->setInitialScale(initialFocalLengthPix); intrinsicCasted->setRatioLocked(lockRatio); intrinsicCasted->setOffsetLocked(lockOffset); diff --git a/src/aliceVision/sfmDataIO/compatibilityData/scene_v1.2.11.abc b/src/aliceVision/sfmDataIO/compatibilityData/scene_v1.2.11.abc new file mode 100644 index 0000000000..9f74f636a8 Binary files /dev/null and b/src/aliceVision/sfmDataIO/compatibilityData/scene_v1.2.11.abc differ diff --git a/src/aliceVision/sfmDataIO/compatibilityData/scene_v1.2.11.json b/src/aliceVision/sfmDataIO/compatibilityData/scene_v1.2.11.json new file mode 100644 index 0000000000..5d1511b247 --- /dev/null +++ b/src/aliceVision/sfmDataIO/compatibilityData/scene_v1.2.11.json @@ -0,0 +1,140129 @@ +{ + "version": [ + "1", + "2", + "11" + ], + "views": [ + { + "viewId": "0", + "poseId": "0", + "intrinsicId": "0", + "path": "", + "width": "4092", + "height": "2048", + "metadata": "" + }, + { + "viewId": "1", + "poseId": 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initialFocalLengthMM = - (intrinsicScaleOffset->getInitialScale().x() > 0) - ? intrinsicScaleOffset->sensorWidth() * intrinsicScaleOffset->getInitialScale().x() / double(intrinsic->w()) - : -1; - const double focalLengthMM = intrinsicScaleOffset->sensorWidth() * intrinsicScaleOffset->getScale().x() / double(intrinsic->w()); - const double focalRatio = intrinsicScaleOffset->getScale().x() / intrinsicScaleOffset->getScale().y(); - const double pixelRatio = 1.0 / focalRatio; - - intrinsicTree.put("initialFocalLength", initialFocalLengthMM); - intrinsicTree.put("focalLength", focalLengthMM); - - intrinsicTree.put("pixelRatio", pixelRatio); + { + intrinsicTree.put("initialFocalLength", intrinsicScaleOffset->getInitialFocalLength()); + intrinsicTree.put("focalLength", intrinsicScaleOffset->getFocalLength()); + intrinsicTree.put("pixelRatio", intrinsicScaleOffset->getPixelAspectRatio()); intrinsicTree.put("pixelRatioLocked", intrinsicScaleOffset->isRatioLocked()); intrinsicTree.put("offsetLocked", intrinsicScaleOffset->isOffsetLocked()); intrinsicTree.put("scaleLocked", intrinsicScaleOffset->isScaleLocked()); - - saveMatrix("principalPoint", intrinsicScaleOffset->getOffset(), intrinsicTree); } @@ -290,46 +279,10 @@ void loadIntrinsic(const Version& version, IndexT& intrinsicId, std::shared_ptr< principalPoint[1] -= (double(height) / 2.0); } - // Focal length - Vec2 pxFocalLength; - if (version < Version(1, 2, 0)) - { - pxFocalLength(0) = intrinsicTree.get("pxFocalLength", -1); - // Only one focal value for X and Y in previous versions - pxFocalLength(1) = pxFocalLength(0); - } - else if (version < Version(1, 2, 2)) // version >= 1.2 - { - loadMatrix("pxFocalLength", pxFocalLength, intrinsicTree); - } - else if (version < Version(1, 2, 5)) - { - const double fmm = intrinsicTree.get("focalLength", 1.0); - // pixelRatio field was actually storing the focalRatio before version 1.2.5 - const double focalRatio = intrinsicTree.get("pixelRatio", 1.0); - - const double fx = (fmm / sensorWidth) * double(width); - const double fy = fx / focalRatio; - - pxFocalLength(0) = fx; - pxFocalLength(1) = fy; - } - else - { - const double fmm = intrinsicTree.get("focalLength", 1.0); - const double pixelAspectRatio = intrinsicTree.get("pixelRatio", 1.0); - - const double focalRatio = 1.0 / pixelAspectRatio; - const double fx = (fmm / sensorWidth) * double(width); - const double fy = fx / focalRatio; - - pxFocalLength(0) = fx; - pxFocalLength(1) = fy; - } // pinhole parameters - intrinsic = camera::createIntrinsic(intrinsicType, distortionType, undistortionType, width, height, pxFocalLength(0), pxFocalLength(1), principalPoint(0), principalPoint(1)); - + intrinsic = camera::createIntrinsic(intrinsicType, distortionType, undistortionType, width, height, 1.0, 1.0, principalPoint(0), principalPoint(1)); + intrinsic->setSerialNumber(intrinsicTree.get("serialNumber")); intrinsic->setInitializationMode(initializationMode); intrinsic->setSensorWidth(sensorWidth); @@ -345,25 +298,72 @@ void loadIntrinsic(const Version& version, IndexT& intrinsicId, std::shared_ptr< intrinsic->unlock(); } + std::shared_ptr intrinsicWithScale = std::dynamic_pointer_cast(intrinsic); if (intrinsicWithScale != nullptr) { + // Focal length + if (version < Version(1, 2, 0)) + { + Vec2 pxFocalLength; + pxFocalLength(0) = intrinsicTree.get("pxFocalLength", -1); + // Only one focal value for X and Y in previous versions + pxFocalLength(1) = pxFocalLength(0); + intrinsicWithScale->setScale(pxFocalLength); + } + else if (version < Version(1, 2, 2)) // version >= 1.2 + { + Vec2 pxFocalLength; + loadMatrix("pxFocalLength", pxFocalLength, intrinsicTree); + intrinsicWithScale->setScale(pxFocalLength); + } + else if (version < Version(1, 2, 5)) + { + // pixelRatio field was actually storing the focalRatio before version 1.2.5 + const double fmm = intrinsicTree.get("focalLength", 1.0); + const double focalRatio = intrinsicTree.get("pixelRatio", 1.0); + const double fx = (fmm / sensorWidth) * double(width); + const double fy = fx / focalRatio; + + Vec2 pxFocalLength; + pxFocalLength(0) = fx; + pxFocalLength(1) = fy; + intrinsicWithScale->setScale(pxFocalLength); + } + else if (version < Version(1, 2, 11)) + { + const double fmm = intrinsicTree.get("focalLength", 1.0); + const double pixelAspectRatio = intrinsicTree.get("pixelRatio", 1.0); + intrinsicWithScale->setFocalLength(fmm, pixelAspectRatio, true); + } + else + { + const double fmm = intrinsicTree.get("focalLength", 1.0); + const double pixelAspectRatio = intrinsicTree.get("pixelRatio", 1.0); + intrinsicWithScale->setFocalLength(fmm, pixelAspectRatio); + } + + if (version < Version(1, 2, 2)) { Vec2 initialFocalLengthPx; + const Vec2 pxFocalLength = intrinsicWithScale->getScale(); initialFocalLengthPx(0) = intrinsicTree.get("pxInitialFocalLength"); initialFocalLengthPx(1) = (initialFocalLengthPx(0) > 0) ? initialFocalLengthPx(0) * pxFocalLength(1) / pxFocalLength(0) : -1; intrinsicWithScale->setInitialScale(initialFocalLengthPx); } + else if (version < Version(1, 2, 11)) + { + const double initialFocalLengthMM = intrinsicTree.get("initialFocalLength"); + const double pixelAspectRatio = intrinsicTree.get("pixelRatio", 1.0); + intrinsicWithScale->setInitialFocalLength(initialFocalLengthMM, pixelAspectRatio, true); + intrinsicWithScale->setRatioLocked(intrinsicTree.get("pixelRatioLocked")); + } else { - double initialFocalLengthMM = intrinsicTree.get("initialFocalLength"); - - Vec2 initialFocalLengthPx; - initialFocalLengthPx(0) = (initialFocalLengthMM / sensorWidth) * double(width); - initialFocalLengthPx(1) = (initialFocalLengthPx(0) > 0) ? initialFocalLengthPx(0) * pxFocalLength(1) / pxFocalLength(0) : -1; - - intrinsicWithScale->setInitialScale(initialFocalLengthPx); + const double initialFocalLengthMM = intrinsicTree.get("initialFocalLength"); + const double pixelAspectRatio = intrinsicTree.get("pixelRatio", 1.0); + intrinsicWithScale->setInitialFocalLength(initialFocalLengthMM, pixelAspectRatio); intrinsicWithScale->setRatioLocked(intrinsicTree.get("pixelRatioLocked")); } diff --git a/src/aliceVision/sfmDataIO/sfmDataIO.hpp b/src/aliceVision/sfmDataIO/sfmDataIO.hpp index 51fafe7f38..27cd19fec0 100644 --- 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 10 +#define ALICEVISION_SFMDATAIO_VERSION_REVISION 11 // AliceVision version as a string; for example "0.9.0". #define ALICEVISION_SFMDATAIO_VERSION_STRING \ diff --git a/src/aliceVision/sfmDataIO/sfmDataIOCompatibility_test.cpp b/src/aliceVision/sfmDataIO/sfmDataIOCompatibility_test.cpp index 1e53ee2605..4d1af94949 100644 --- a/src/aliceVision/sfmDataIO/sfmDataIOCompatibility_test.cpp +++ b/src/aliceVision/sfmDataIO/sfmDataIOCompatibility_test.cpp @@ -274,3 +274,33 @@ BOOST_AUTO_TEST_CASE(Compatibility_json_1_2_8) BOOST_CHECK(sfmData == sfmDataLoad); } + +BOOST_AUTO_TEST_CASE(Compatibility_abc_1_2_11) +{ + sfmData::SfMData sfmData; + generateSampleScene(sfmData); + + fs::path pathSource(__FILE__); + fs::path toLoad = pathSource.parent_path() / "compatibilityData" / "scene_v1.2.11.abc"; + + // TODO when we will have files to compare + sfmData::SfMData sfmDataLoad; + BOOST_CHECK(sfmDataIO::load(sfmDataLoad, toLoad.string(), ESfMData::ALL)); + + BOOST_CHECK(sfmData == sfmDataLoad); +} + +BOOST_AUTO_TEST_CASE(Compatibility_json_1_2_11) +{ + sfmData::SfMData sfmData; + generateSampleScene(sfmData); + + fs::path pathSource(__FILE__); + fs::path toLoad = pathSource.parent_path() / "compatibilityData" / "scene_v1.2.11.json"; + + // TODO when we will have files to compare + sfmData::SfMData sfmDataLoad; + BOOST_CHECK(sfmDataIO::load(sfmDataLoad, toLoad.string(), ESfMData::ALL)); + + BOOST_CHECK(sfmData == sfmDataLoad); +} \ No newline at end of file diff --git a/src/software/export/main_exportDistortion.cpp b/src/software/export/main_exportDistortion.cpp index 33d920cb19..f99b780e5e 100644 --- a/src/software/export/main_exportDistortion.cpp +++ b/src/software/export/main_exportDistortion.cpp @@ -33,7 +33,7 @@ std::string toNuke(std::shared_ptr intrinsic) { std::stringstream ss; - const double focal = intrinsic->getFocalLengthMM(); + const double focal = intrinsic->getFocalLength(); const double sensorWidth = intrinsic->sensorWidth(); const double sensorHeight = intrinsic->sensorHeight(); diff --git a/src/software/utils/main_applyCalibration.cpp b/src/software/utils/main_applyCalibration.cpp index bb70ca14f9..70c2c5750a 100644 --- a/src/software/utils/main_applyCalibration.cpp +++ b/src/software/utils/main_applyCalibration.cpp @@ -273,9 +273,9 @@ bool applyJson(sfmData::SfMData & sfmData, boost::json::value & input) double w = intrinsic->w(); double h = intrinsic->h(); - double nh = h / pixelAspect; + double nw = w * pixelAspect; double ratio = w / h; - double ratioDesqueezed = w / nh; + double ratioDesqueezed = nw / h; double filmratio = filmbackWidth / filmbackHeight; bool hasSpecialPixelAspect = (std::abs(pixelAspect - 1.0) > 1e-4); @@ -293,10 +293,11 @@ bool applyJson(sfmData::SfMData & sfmData, boost::json::value & input) return false; } - intrinsic->setSensorWidth(filmbackWidth); - intrinsic->setSensorHeight((isDesqueezed)?filmbackHeight:filmbackHeight*pixelAspect); + intrinsic->setSensorWidth((isDesqueezed)?filmbackWidth:filmbackWidth/pixelAspect); + intrinsic->setSensorHeight(filmbackHeight); intrinsic->setDistortionObject(nullptr); intrinsic->setFocalLength(focalLength, pixelAspect); + intrinsic->setInitialFocalLength(focalLength, pixelAspect); if (model == "anamorphic4") {