ENSEEIHT/projet-probleme-inverse-3D
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fix: la ca marche !

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gdamms 2023-01-13 09:00:44 +01:00
parent 4d270bbacb
commit c563fb2b60
1 changed files with 49 additions and 37 deletions
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86
get_proj.py
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@ -10,45 +10,59 @@ import numpy as np
# 3x4 P matrix from Blender camera # 3x4 P matrix from Blender camera
#--------------------------------------------------------------- #---------------------------------------------------------------
# BKE_camera_sensor_size
def get_sensor_size(sensor_fit, sensor_x, sensor_y):
if sensor_fit == 'VERTICAL':
return sensor_y
return sensor_x
# BKE_camera_sensor_fit
def get_sensor_fit(sensor_fit, size_x, size_y):
if sensor_fit == 'AUTO':
if size_x >= size_y:
return 'HORIZONTAL'
else:
return 'VERTICAL'
return sensor_fit
# Build intrinsic camera parameters from Blender camera data # Build intrinsic camera parameters from Blender camera data
# #
# See notes on this in # See notes on this in
# blender.stackexchange.com/questions/15102/what-is-blenders-camera-projection-matrix-model # blender.stackexchange.com/questions/15102/what-is-blenders-camera-projection-matrix-model
# as well as
# https://blender.stackexchange.com/a/120063/3581
def get_calibration_matrix_K_from_blender(camd): def get_calibration_matrix_K_from_blender(camd):
f_in_mm = camd.lens if camd.type != 'PERSP':
raise ValueError('Non-perspective cameras not supported')
scene = bpy.context.scene scene = bpy.context.scene
resolution_x_in_px = scene.render.resolution_x f_in_mm = camd.lens
resolution_y_in_px = scene.render.resolution_y
scale = scene.render.resolution_percentage / 100 scale = scene.render.resolution_percentage / 100
sensor_width_in_mm = camd.sensor_width resolution_x_in_px = scale * scene.render.resolution_x
sensor_height_in_mm = camd.sensor_height resolution_y_in_px = scale * scene.render.resolution_y
pixel_aspect_ratio = scene.render.pixel_aspect_x / scene.render.pixel_aspect_y sensor_size_in_mm = get_sensor_size(camd.sensor_fit, camd.sensor_width, camd.sensor_height)
if (camd.sensor_fit == 'VERTICAL'): sensor_fit = get_sensor_fit(
# the sensor height is fixed (sensor fit is horizontal), camd.sensor_fit,
# the sensor width is effectively changed with the pixel aspect ratio scene.render.pixel_aspect_x * resolution_x_in_px,
s_u = resolution_x_in_px * scale / sensor_width_in_mm / pixel_aspect_ratio scene.render.pixel_aspect_y * resolution_y_in_px
s_v = resolution_y_in_px * scale / sensor_height_in_mm )
else: # 'HORIZONTAL' and 'AUTO' pixel_aspect_ratio = scene.render.pixel_aspect_y / scene.render.pixel_aspect_x
# the sensor width is fixed (sensor fit is horizontal), if sensor_fit == 'HORIZONTAL':
# the sensor height is effectively changed with the pixel aspect ratio view_fac_in_px = resolution_x_in_px
pixel_aspect_ratio = scene.render.pixel_aspect_x / scene.render.pixel_aspect_y else:
s_u = resolution_x_in_px * scale / sensor_width_in_mm view_fac_in_px = pixel_aspect_ratio * resolution_y_in_px
s_v = resolution_y_in_px * scale * pixel_aspect_ratio / sensor_height_in_mm pixel_size_mm_per_px = sensor_size_in_mm / f_in_mm / view_fac_in_px
s_u = 1 / pixel_size_mm_per_px
s_v = 1 / pixel_size_mm_per_px / pixel_aspect_ratio
# Parameters of intrinsic calibration matrix K # Parameters of intrinsic calibration matrix K
alpha_u = f_in_mm * s_u u_0 = resolution_x_in_px / 2 - camd.shift_x * view_fac_in_px
alpha_v = f_in_mm * s_v v_0 = resolution_y_in_px / 2 + camd.shift_y * view_fac_in_px / pixel_aspect_ratio
u_0 = resolution_x_in_px * scale / 2
v_0 = resolution_y_in_px * scale / 2
skew = 0 # only use rectangular pixels skew = 0 # only use rectangular pixels
K = Matrix(( K = Matrix(
(alpha_u, skew, u_0), ((s_u, skew, u_0),
( 0, alpha_v, v_0), ( 0, s_v, v_0),
( 0, 0, 1) ( 0, 0, 1)))
))
return K return K
# Returns camera rotation and translation matrices from Blender. # Returns camera rotation and translation matrices from Blender.
@ -66,29 +80,27 @@ def get_calibration_matrix_K_from_blender(camd):
# used in digital images) # used in digital images)
# - right-handed: positive z look-at direction # - right-handed: positive z look-at direction
def get_3x4_RT_matrix_from_blender(cam): def get_3x4_RT_matrix_from_blender(cam):
# # bcam stands for blender camera # bcam stands for blender camera
R_bcam2cv = Matrix( R_bcam2cv = Matrix(
((1, 0, 0), ((1, 0, 0),
(0, -1, 0), (0, -1, 0),
(0, 0, -1))) (0, 0, -1)))
# Transpose since the rotation is object rotation, # Transpose since the rotation is object rotation,
# and we want coordinate rotation # and we want coordinate rotation
# R_world2bcam = cam.rotation_euler.to_matrix().transposed() # R_world2bcam = cam.rotation_euler.to_matrix().transposed()
# T_world2bcam = -1*R_world2bcam * location # T_world2bcam = -1*R_world2bcam @ location
# #
# Use matrix_world instead to account for all constraints # Use matrix_world instead to account for all constraints
location, rotation = cam.matrix_world.decompose()[0:2] location, rotation = cam.matrix_world.decompose()[0:2]
R_world2bcam = rotation.to_matrix().transposed() R_world2bcam = rotation.to_matrix().transposed()
# Convert camera location to translation vector used in coordinate changes # Convert camera location to translation vector used in coordinate changes
# T_world2bcam = -1*R_world2bcam*cam.location # T_world2bcam = -1*R_world2bcam @ cam.location
# Use location from matrix_world to account for constraints: # Use location from matrix_world to account for constraints:
T_world2bcam = -1*R_world2bcam @ location T_world2bcam = -1*R_world2bcam @ location
# Build the coordinate transform matrix from world to computer vision camera # Build the coordinate transform matrix from world to computer vision camera
# NOTE: Use * instead of @ here for older versions of Blender
# TODO: detect Blender version
R_world2cv = R_bcam2cv@R_world2bcam R_world2cv = R_bcam2cv@R_world2bcam
T_world2cv = R_bcam2cv@T_world2bcam T_world2cv = R_bcam2cv@T_world2bcam
@ -97,7 +109,7 @@ def get_3x4_RT_matrix_from_blender(cam):
R_world2cv[0][:] + (T_world2cv[0],), R_world2cv[0][:] + (T_world2cv[0],),
R_world2cv[1][:] + (T_world2cv[1],), R_world2cv[1][:] + (T_world2cv[1],),
R_world2cv[2][:] + (T_world2cv[2],) R_world2cv[2][:] + (T_world2cv[2],)
)) ))
return RT return RT
def get_3x4_P_matrix_from_blender(cam): def get_3x4_P_matrix_from_blender(cam):
@ -129,4 +141,4 @@ bpy.app.handlers.frame_change_post.clear()
# add handler # add handler
bpy.app.handlers.render_init.append(setup_script) bpy.app.handlers.render_init.append(setup_script)
bpy.app.handlers.frame_change_pre.append(run_script) bpy.app.handlers.frame_change_post.append(run_script)