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Updating camera intrinsics (principal points) when the undistorted image is cropped (#3382)

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* added notes and a possible bugfix when region of interest crops image during undistortion to update intrinsics

* fixing index error, principal points are on the 3rd column of 3x3 matrix K

---------

Co-authored-by: Brent Yi <yibrenth@gmail.com>
Co-authored-by: J.Y. <132313008+jb-ye@users.noreply.github.com>
This commit is contained in:
Anthony Zhang 2024-08-26 17:26:51 -07:00 committed by GitHub
parent 1f2344a731
commit 69ae4abbfd
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nerfstudio/data/datamanagers/full_images_datamanager.py
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@ -395,6 +395,8 @@ def _undistort_image(
"We doesn't support the 4th Brown parameter for image undistortion, "
"Only k1, k2, k3, p1, p2 can be non-zero."
)
# because OpenCV expects the order of distortion parameters to be (k1, k2, p1, p2, k3), we need to reorder them
# see https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
distortion_params = np.array(
[
distortion_params[0],
@ -420,6 +422,9 @@ def _undistort_image(
# crop the image and update the intrinsics accordingly
x, y, w, h = roi
image = image[y : y + h, x : x + w]
# update the principal point based on our cropped region of interest (ROI)
newK[0, 2] -= x
newK[1, 2] -= y
if "depth_image" in data:
data["depth_image"] = data["depth_image"][y : y + h, x : x + w]
if "mask" in data: