fix: la ca marche !

get_proj.py

@@ -10,45 +10,59 @@ import numpy as np
 # 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
 #
 # See notes on this in 
 # 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):
-    f_in_mm = camd.lens
+    if camd.type != 'PERSP':
+        raise ValueError('Non-perspective cameras not supported')
     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
-    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
-    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
 
-    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
 
 # Returns camera rotation and translation matrices from Blender.
@@ -66,29 +80,27 @@ def get_calibration_matrix_K_from_blender(camd):
 #         used in digital images)
 #       - right-handed: positive z look-at direction
 def get_3x4_RT_matrix_from_blender(cam):
-#    # bcam stands for blender camera
+    # bcam stands for blender camera
     R_bcam2cv = Matrix(
         ((1, 0,  0),
-         (0, -1, 0),
+        (0, -1, 0),
-         (0, 0, -1)))
+        (0, 0, -1)))
 
     # Transpose since the rotation is object rotation, 
     # and we want coordinate rotation
     # 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
     location, rotation = cam.matrix_world.decompose()[0:2]
     R_world2bcam = rotation.to_matrix().transposed()
 
     # 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:     
     T_world2bcam = -1*R_world2bcam @ location
 
     # 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
     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[1][:] + (T_world2cv[1],),
         R_world2cv[2][:] + (T_world2cv[2],)
-         ))
+        ))
     return RT
 
 def get_3x4_P_matrix_from_blender(cam):
@@ -129,4 +141,4 @@ bpy.app.handlers.frame_change_post.clear()
 
 # add handler
 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)