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Fix tangential camera distortion (p1,p2 in opencv camera) #2627

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merged 3 commits into from
Nov 29, 2023
Merged

Fix tangential camera distortion (p1,p2 in opencv camera) #2627

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fde73f9
Fix tangential camera distortion (p1,p2 in opencv camera)
jkulhanek Nov 22, 2023
e4d360c
Fix typo
jkulhanek Nov 22, 2023
9ad274e
Merge branch 'main' into jkulhanek/fix-tangential-camera-distortion
kerrj Nov 29, 2023
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9 changes: 6 additions & 3 deletions nerfstudio/cameras/cameras.py
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Original file line number Diff line number Diff line change
Expand Up @@ -615,9 +615,9 @@ def _generate_rays_from_coords(

# Get our image coordinates and image coordinates offset by 1 (offsets used for dx, dy calculations)
# Also make sure the shapes are correct
coord = torch.stack([(x - cx) / fx, -(y - cy) / fy], -1) # (num_rays, 2)
coord_x_offset = torch.stack([(x - cx + 1) / fx, -(y - cy) / fy], -1) # (num_rays, 2)
coord_y_offset = torch.stack([(x - cx) / fx, -(y - cy + 1) / fy], -1) # (num_rays, 2)
coord = torch.stack([(x - cx) / fx, (y - cy) / fy], -1) # (num_rays, 2)
coord_x_offset = torch.stack([(x - cx + 1) / fx, (y - cy) / fy], -1) # (num_rays, 2)
coord_y_offset = torch.stack([(x - cx) / fx, (y - cy + 1) / fy], -1) # (num_rays, 2)
assert (
coord.shape == num_rays_shape + (2,)
and coord_x_offset.shape == num_rays_shape + (2,)
Expand Down Expand Up @@ -648,6 +648,9 @@ def _generate_rays_from_coords(
distortion_params[mask, :],
).reshape(-1, 2)

# Switch from OpenCV to OpenGL
coords_stack[..., 1] *= -1

# Make sure after we have undistorted our images, the shapes are still correct
assert coord_stack.shape == (3,) + num_rays_shape + (2,)

Expand Down