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Merge pull request #1522 from alicevision/mug/fixViewIO
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[sfmDataIO] getViewIntrinsics corrections
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@cbentejac
cbentejac authored Sep 4, 2023
2 parents 427d1a0 + 2b803e7 commit 7ed8ce5
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Showing 2 changed files with 41 additions and 187 deletions.
212 changes: 30 additions & 182 deletions src/aliceVision/sfmDataIO/viewIO.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -105,179 +105,16 @@ void updateIncompleteView(sfmData::View& view, EViewIdMethod viewIdMethod, const
}

std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(
const sfmData::View& view, double mmFocalLength, double sensorWidth,
double defaultFocalLength, double defaultFieldOfView,
double defaultFocalRatio, double defaultOffsetX, double defaultOffsetY,
camera::EINTRINSIC lcpIntrinsicType,
camera::EINTRINSIC defaultIntrinsicType,
camera::EINTRINSIC allowedEintrinsics)
{
// can't combine defaultFocalLengthPx and defaultFieldOfView
assert(defaultFocalLength < 0 || defaultFieldOfView < 0);

// get view informations
const std::string& cameraBrand = view.getMetadataMake();
const std::string& cameraModel = view.getMetadataModel();
const std::string& bodySerialNumber = view.getMetadataBodySerialNumber();
const std::string& lensSerialNumber = view.getMetadataLensSerialNumber();

double focalLength{-1.0};
bool hasFocalLengthInput = false;

if (sensorWidth < 0)
{
ALICEVISION_LOG_WARNING("Sensor size is unknown");
ALICEVISION_LOG_WARNING("Use default sensor size (36 mm)");
sensorWidth = 36.0;
}

if(defaultFocalLength > 0.0)
{
focalLength = defaultFocalLength;
}

if(defaultFieldOfView > 0.0)
{
const double focalRatio = 0.5 / std::tan(0.5 * degreeToRadian(defaultFieldOfView));
focalLength = focalRatio * sensorWidth;
}

camera::EINTRINSIC intrinsicType = defaultIntrinsicType;

bool isResized = false;

if(view.hasMetadata({"Exif:PixelXDimension", "PixelXDimension"}) && view.hasMetadata({"Exif:PixelYDimension", "PixelYDimension"})) // has dimension metadata
{
// check if the image is resized
int exifWidth = std::stoi(view.getMetadata({"Exif:PixelXDimension", "PixelXDimension"}));
int exifHeight = std::stoi(view.getMetadata({"Exif:PixelYDimension", "PixelXDimension"}));

// if metadata is rotated
if(exifWidth == view.getHeight() && exifHeight == view.getWidth())
std::swap(exifWidth, exifHeight);


if(exifWidth > 0 && exifHeight > 0 &&
(exifWidth != view.getWidth() || exifHeight != view.getHeight()))
{
ALICEVISION_LOG_WARNING("Resized image detected: " << fs::path(view.getImagePath()).filename().string() << std::endl
<< "\t- real image size: " << view.getWidth() << "x" << view.getHeight() << std::endl
<< "\t- image size from exif metadata is: " << exifWidth << "x" << exifHeight << std::endl);
isResized = true;
}
}

// handle case where focal length (mm) is unset or false
if(mmFocalLength <= 0.0)
{
ALICEVISION_LOG_WARNING("Image '" << fs::path(view.getImagePath()).filename().string() << "' focal length (in mm) metadata is missing." << std::endl
<< "Can't compute focal length, use default." << std::endl);
}
else
{
// Retrieve the focal from the metadata in mm and convert to pixel.
focalLength = mmFocalLength;
hasFocalLengthInput = true;
}

double focalLengthIn35mm = 36.0 * focalLength;
double pxFocalLength = (focalLength / sensorWidth) * std::max(view.getWidth(), view.getHeight());

// retrieve pixel aspect ratio
double pixelAspectRatio = 1.0 / defaultFocalRatio;
view.getDoubleMetadata({"PixelAspectRatio"}, pixelAspectRatio);
const double focalRatio = 1.0 / pixelAspectRatio;

bool hasFisheyeCompatibleParameters = ((focalLengthIn35mm > 0.0 && focalLengthIn35mm < 18.0) || (defaultFieldOfView > 100.0));
bool checkPossiblePinhole = (allowedEintrinsics & camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE) && hasFisheyeCompatibleParameters;

// choose intrinsic type
if(cameraBrand == "Custom")
{
intrinsicType = camera::EINTRINSIC_stringToEnum(cameraModel);
}
else if ((lcpIntrinsicType != camera::EINTRINSIC::UNKNOWN) && (allowedEintrinsics & lcpIntrinsicType))
{
intrinsicType = lcpIntrinsicType;
}
else if(checkPossiblePinhole)
{
// If the focal lens is short, the fisheye model should fit better.
intrinsicType = camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE;
}
else if(intrinsicType == camera::EINTRINSIC::UNKNOWN)
{
// Choose a default camera model if no default type
static const std::initializer_list<camera::EINTRINSIC> intrinsicsPriorities = {
camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL3,
camera::EINTRINSIC::PINHOLE_CAMERA_BROWN,
camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL1,
camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE,
camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE1,
camera::EINTRINSIC::PINHOLE_CAMERA
};

for(const auto& e : intrinsicsPriorities)
{
if(allowedEintrinsics & e)
{
intrinsicType = e;
break;
}
}

// If still unassigned
if (intrinsicType == camera::EINTRINSIC::UNKNOWN)
{
throw std::invalid_argument("No intrinsic type can be attributed.");
}
}

// create the desired intrinsic
std::shared_ptr<camera::IntrinsicBase> intrinsic =
camera::createIntrinsic(
/*camera*/ intrinsicType,
/*dimensions*/ view.getWidth(), view.getHeight(),
/*focal length*/ pxFocalLength, pxFocalLength / focalRatio,
/*offset*/ 0, 0);
if(hasFocalLengthInput)
{
std::shared_ptr<camera::IntrinsicScaleOffset> intrinsicScaleOffset = std::dynamic_pointer_cast<camera::IntrinsicScaleOffset>(intrinsic);

if (intrinsicScaleOffset)
{
intrinsicScaleOffset->setInitialScale({pxFocalLength, (pxFocalLength > 0) ? pxFocalLength / focalRatio : -1});
intrinsicScaleOffset->setOffset({defaultOffsetX, defaultOffsetY});
}
}

// initialize distortion parameters
switch(intrinsicType)
{
case camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE:
{
if(cameraBrand == "GoPro")
intrinsic->updateFromParams({pxFocalLength, pxFocalLength, 0, 0, 0.0524, 0.0094, -0.0037, -0.0004});
break;
}
case camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE1:
{
if(cameraBrand == "GoPro")
intrinsic->updateFromParams({pxFocalLength, pxFocalLength, 0, 0, 1.04});
break;
}
default: break;
}

// create serial number
intrinsic->setSerialNumber(bodySerialNumber + lensSerialNumber);

return intrinsic;
}

std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& view, double mmFocalLength, double sensorWidth, double defaultFocalLength, double defaultFieldOfView,
double defaultFocalRatio, double defaultOffsetX, double defaultOffsetY, LensParam* lensParam,
camera::EINTRINSIC defaultIntrinsicType, camera::EINTRINSIC allowedEintrinsics)
const sfmData::View& view,
double mmFocalLength,
double sensorWidth,
double defaultFocalLength,
double defaultFieldOfView,
double defaultFocalRatio,
double defaultOffsetX, double defaultOffsetY,
LensParam* lensParam,
camera::EINTRINSIC defaultIntrinsicType,
camera::EINTRINSIC allowedEintrinsics)
{
// can't combine defaultFocalLengthPx and defaultFieldOfView
assert(defaultFocalLength < 0 || defaultFieldOfView < 0);
Expand Down Expand Up @@ -353,8 +190,12 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie

// choose intrinsic type

camera::EINTRINSIC lcpIntrinsicType = (lensParam == nullptr || lensParam->isEmpty()) ? camera::EINTRINSIC::UNKNOWN :
(lensParam->isFisheye() ? camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE : camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL3);
camera::EINTRINSIC lcpIntrinsicType =
(lensParam == nullptr || lensParam->isEmpty()) ?
camera::EINTRINSIC::UNKNOWN :
(lensParam->isFisheye() ?
camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE :
camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL3);

if (cameraBrand == "Custom")
{
Expand All @@ -372,9 +213,13 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
else if (intrinsicType == camera::EINTRINSIC::UNKNOWN)
{
// Choose a default camera model if no default type
static const std::initializer_list<camera::EINTRINSIC> intrinsicsPriorities = {camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL3, camera::EINTRINSIC::PINHOLE_CAMERA_BROWN,
camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL1, camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE,
camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE1, camera::EINTRINSIC::PINHOLE_CAMERA};
static const std::initializer_list<camera::EINTRINSIC> intrinsicsPriorities =
{camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL3,
camera::EINTRINSIC::PINHOLE_CAMERA_BROWN,
camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL1,
camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE,
camera::EINTRINSIC::PINHOLE_CAMERA_FISHEYE1,
camera::EINTRINSIC::PINHOLE_CAMERA};

for (const auto& e : intrinsicsPriorities)
{
Expand All @@ -393,10 +238,13 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
}

// create the desired intrinsic
std::shared_ptr<camera::IntrinsicBase> intrinsic = camera::createIntrinsic(intrinsicType, view.getWidth(), view.getHeight(), pxFocalLength, pxFocalLength, 0, 0);
std::shared_ptr<camera::IntrinsicBase> intrinsic =
camera::createIntrinsic(intrinsicType, view.getWidth(), view.getHeight(), pxFocalLength, pxFocalLength, 0, 0);

if (hasFocalLengthInput)
{
std::shared_ptr<camera::IntrinsicScaleOffset> intrinsicScaleOffset = std::dynamic_pointer_cast<camera::IntrinsicScaleOffset>(intrinsic);
std::shared_ptr<camera::IntrinsicScaleOffset> intrinsicScaleOffset =
std::dynamic_pointer_cast<camera::IntrinsicScaleOffset>(intrinsic);

if (intrinsicScaleOffset)
{
Expand All @@ -414,7 +262,7 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
{
intrinsic->updateFromParams({pxFocalLength, pxFocalLength, 0, 0, 0.0524, 0.0094, -0.0037, -0.0004});
}
else if ((!lensParam->isEmpty()) && (cameraBrand != "Custom"))
else if (lensParam && (!lensParam->isEmpty()) && (cameraBrand != "Custom"))
{
std::vector<double> p = {pxFocalLength, pxFocalLength, 0, 0};
p.push_back(lensParam->fisheyeParams.RadialDistortParam1);
Expand All @@ -435,7 +283,7 @@ std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& vie
}
case camera::EINTRINSIC::PINHOLE_CAMERA_RADIAL3:
{
if ((!lensParam->isEmpty()) && (cameraBrand != "Custom"))
if (lensParam && (!lensParam->isEmpty()) && (cameraBrand != "Custom"))
{
std::vector<double> p = {pxFocalLength, pxFocalLength, 0, 0};
p.push_back(lensParam->perspParams.RadialDistortParam1);
Expand Down
16 changes: 11 additions & 5 deletions src/aliceVision/sfmDataIO/viewIO.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -78,11 +78,17 @@ void updateIncompleteView(sfmData::View& view, EViewIdMethod viewIdMethod = EVie
* @param[in] allowedEintrinsics The intrinsics values that can be attributed
* @return shared_ptr IntrinsicBase
*/
std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(const sfmData::View& view, double mmFocalLength = -1.0, double sensorWidth = -1, double defaultFocalLength = -1,
double defaultFieldOfView = -1, double defaultFocalRatio = 1.0, double defaultOffsetX = 0.0, double defaultOffsetY = 0.0,
LensParam *lensParam = nullptr,
camera::EINTRINSIC defaultIntrinsicType = camera::EINTRINSIC::UNKNOWN,
camera::EINTRINSIC allowedEintrinsics = camera::EINTRINSIC::VALID_CAMERA_MODEL);
std::shared_ptr<camera::IntrinsicBase> getViewIntrinsic(
const sfmData::View& view,
double mmFocalLength = -1.0,
double sensorWidth = -1,
double defaultFocalLength = -1,
double defaultFieldOfView = -1,
double defaultFocalRatio = 1.0,
double defaultOffsetX = 0.0, double defaultOffsetY = 0.0,
LensParam *lensParam = nullptr,
camera::EINTRINSIC defaultIntrinsicType = camera::EINTRINSIC::UNKNOWN,
camera::EINTRINSIC allowedEintrinsics = camera::EINTRINSIC::VALID_CAMERA_MODEL);

/**
* @brief Allows you to retrieve the files paths corresponding to a view by searching through a list of folders.
Expand Down

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