Merge pull request #1652 from alicevision/dev/focalMM_valid

[camerainit] update parameters to use focal in mm

meshroom/core/desc.py

@@ -5,6 +5,8 @@
 import os
 import psutil
 import ast
+import distutils.util
+
 
 class Attribute(BaseObject):
     """
@@ -191,7 +193,10 @@ def __init__(self, name, label, description, value, uid, group='allParams', adva
 
     def validateValue(self, value):
         try:
-            return bool(int(value))  # int cast is useful to handle string values ('0', '1')
+            if isinstance(value, pyCompatibility.basestring):
+                # use distutils.util.strtobool to handle (1/0, true/false, on/off, y/n)
+                return bool(distutils.util.strtobool(value))
+            return bool(value)
         except:
             raise ValueError('BoolParam only supports bool value (param:{}, value:{}, type:{})'.format(self.name, value, type(value)))
 

meshroom/nodes/aliceVision/CameraInit.py

@@ -1,4 +1,4 @@
-__version__ = "6.0"
+__version__ = "7.0"
 
 import os
 import json
@@ -28,16 +28,17 @@
 
 Intrinsic = [
     desc.IntParam(name="intrinsicId", label="Id", description="Intrinsic UID", value=-1, uid=[0], range=None),
-    desc.FloatParam(name="pxInitialFocalLength", label="Initial Focal Length",
+    desc.FloatParam(name="initialFocalLength", label="Initial Focal Length",
                     description="Initial Guess on the Focal Length (in pixels). \n"
                     "When we have an initial value from EXIF, this value is not accurate but cannot be wrong. \n"
                     "So this value is used to limit the range of possible values in the optimization. \n"
                     "If you put -1, this value will not be used and the focal length will not be bounded.",
                     value=-1.0, uid=[0], range=None),
-    desc.GroupAttribute(name="pxFocalLength", label="Focal Length", description="Known/Calibrated Focal Length (in pixels)", groupDesc=[
-        desc.FloatParam(name="x", label="x", description="", value=-1, uid=[], range=(0, 10000, 1)),
-        desc.FloatParam(name="y", label="y", description="", value=-1, uid=[], range=(0, 10000, 1)),
-        ]),
+    desc.FloatParam(name="focalLength", label="Focal Length", description="Known/Calibrated Focal Length (in mm)", value=1000, uid=[], range=(0, 10000, 1)),
+    desc.FloatParam(name="pixelRatio", label="pixel Ratio", description="ratio between pixel width and pixel height", value=1, uid=[], range=(0, 10, 0.1)),
+    desc.BoolParam(name='pixelRatioLocked', label='Pixel ratio Locked',
+                   description='the pixelRatio value is locked for estimation',
+                   value=True, uid=[0]),
     desc.ChoiceParam(name="type", label="Camera Type",
                      description="Mathematical Model used to represent a camera:\n"
                      " * pinhole: Simplest projective camera model without optical distortion (focal and optical center).\n"
@@ -107,11 +108,6 @@ def readSfMData(sfmFile):
         intrinsic['principalPoint']['x'] = pp[0]
         intrinsic['principalPoint']['y'] = pp[1]
 
-        f = intrinsic['pxFocalLength']
-        intrinsic['pxFocalLength'] = {}
-        intrinsic['pxFocalLength']['x'] = f[0]
-        intrinsic['pxFocalLength']['y'] = f[1]
-
         # convert empty string distortionParams (i.e: Pinhole model) to empty list
         if intrinsic['distortionParams'] == '':
             intrinsic['distortionParams'] = list()
@@ -255,12 +251,6 @@ class CameraInit(desc.CommandLineNode):
     ]
 
     def upgradeAttributeValues(self, attrValues, fromVersion):
-        # Starting with version 5, the focal length is now split on x and y
-        if fromVersion < Version(5, 0):
-            for intrinsic in attrValues['intrinsics']:
-                pxFocalLength = intrinsic['pxFocalLength']
-                if not isinstance(pxFocalLength, dict):
-                    intrinsic['pxFocalLength'] = {"x": pxFocalLength, "y": pxFocalLength}
 
         # Starting with version 6, the principal point is now relative to the image center
         if fromVersion < Version(6, 0):
@@ -271,6 +261,20 @@ def upgradeAttributeValues(self, attrValues, fromVersion):
                     "y": int(principalPoint["y"] - 0.5 * intrinsic['height'])
                     }
 
+        # Starting with version 7, the focal length is now in mm
+        if fromVersion < Version(7, 0):
+            for intrinsic in attrValues['intrinsics']:
+                pxInitialFocalLength = intrinsic['pxInitialFocalLength']
+                pxFocalLength = intrinsic['pxFocalLength']
+                sensorWidth = intrinsic['sensorWidth']
+                width = intrinsic['width']
+                focalLength = (pxFocalLength / width) * sensorWidth
+                initialFocalLength = (pxInitialFocalLength / width) * sensorWidth
+                intrinsic['initialFocalLength'] = initialFocalLength
+                intrinsic['focalLength'] = focalLength
+                intrinsic['pixelRatio'] = 1.0
+                intrinsic['pixelRatioLocked'] = False
+
         return attrValues
 
     def readSfMData(self, sfmFile):
@@ -329,7 +333,6 @@ def createViewpointsFile(self, node, additionalViews=()):
             intrinsics = node.intrinsics.getPrimitiveValue(exportDefault=True)
             for intrinsic in intrinsics:
                 intrinsic['principalPoint'] = [intrinsic['principalPoint']['x'], intrinsic['principalPoint']['y']]
-                intrinsic['pxFocalLength'] = [intrinsic['pxFocalLength']['x'], intrinsic['pxFocalLength']['y']]
             views = node.viewpoints.getPrimitiveValue(exportDefault=False)
 
             # convert the metadata string into a map
@@ -338,7 +341,7 @@ def createViewpointsFile(self, node, additionalViews=()):
                     view['metadata'] = json.loads(view['metadata'])
 
             sfmData = {
-                "version": [1, 2, 1],
+                "version": [1, 2, 2],
                 "views": views + newViews,
                 "intrinsics": intrinsics,
                 "featureFolder": "",

meshroom/ui/qml/ImageGallery/ImageGallery.qml

@@ -474,9 +474,8 @@ Panel {
                 property var columnWidths: [105, 75, 75, 75, 125, 60, 60, 45, 45, 200, 60, 60]
                 property var columnNames: [
                     "intrinsicId",
-                    "pxInitialFocalLength",
-                    "pxFocalLength.x",
-                    "pxFocalLength.y",
+                    "initialFocalLength",
+                    "focalLength",
                     "type",
                     "width",
                     "height",
@@ -499,7 +498,6 @@ Panel {
                 TableModelColumn { display: function(modelIndex){return parsedIntrinsic[modelIndex.row][intrinsicModel.columnNames[9]]} }
                 TableModelColumn { display: function(modelIndex){return parsedIntrinsic[modelIndex.row][intrinsicModel.columnNames[10]]} }
                 TableModelColumn { display: function(modelIndex){return parsedIntrinsic[modelIndex.row][intrinsicModel.columnNames[11]]} }
-                TableModelColumn { display: function(modelIndex){return parsedIntrinsic[modelIndex.row][intrinsicModel.columnNames[12]]} }
                 //https://doc.qt.io/qt-5/qml-qt-labs-qmlmodels-tablemodel.html#appendRow-method
             }
 

meshroom/ui/reconstruction.py

@@ -358,8 +358,9 @@ def fieldOfView(self):
         """ Get camera vertical field of view in degrees. """
         if not self.solvedIntrinsics:
             return None
-        pxFocalLength = self.solvedIntrinsics["pxFocalLength"]
-        return 2.0 * math.atan(self.orientedImageSize.height() / (2.0 * float(pxFocalLength[0]))) * 180 / math.pi
+        focalLength = self.solvedIntrinsics["focalLength"]
+        sensorHeight = self.solvedIntrinsics["sensorHeight"]
+        return 2.0 * math.atan(sensorHeight / (2.0 * float(focalLength))) * 180 / math.pi
 
     @Property(type=QUrl, notify=denseSceneParamsChanged)
     def undistortedImageSource(self):