tink/nerfstudio
4
0
Fork 0
mirror of https://github.com/nerfstudio-project/nerfstudio.git synced 2026-11-11 18:44:21 +08:00
Code

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

Browse Source
This commit is contained in:
Jonáš Kulhánek 2023-11-29 20:48:41 +01:00 committed by GitHub
parent c896ee4e0a
commit 38726da219
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
nerfstudio/cameras/cameras.py
View File

@ -615,9 +615,9 @@ class Cameras(TensorDataclass):
# 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,)
@ -648,6 +648,9 @@ class Cameras(TensorDataclass):
distortion_params[mask, :],
).reshape(-1, 2)
# Switch from OpenCV to OpenGL
coord_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,)