fix: la ca marche !

This commit is contained in:
gdamms 2023-01-13 09:00:44 +01:00
parent 4d270bbacb
commit c563fb2b60

View file

@ -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
resolution_y_in_px = scene.render.resolution_y
f_in_mm = camd.lens
scale = scene.render.resolution_percentage / 100
sensor_width_in_mm = camd.sensor_width
sensor_height_in_mm = camd.sensor_height
pixel_aspect_ratio = scene.render.pixel_aspect_x / scene.render.pixel_aspect_y
if (camd.sensor_fit == 'VERTICAL'):
# the sensor height is fixed (sensor fit is horizontal),
# the sensor width is effectively changed with the pixel aspect ratio
s_u = resolution_x_in_px * scale / sensor_width_in_mm / pixel_aspect_ratio
s_v = resolution_y_in_px * scale / sensor_height_in_mm
else: # 'HORIZONTAL' and 'AUTO'
# the sensor width is fixed (sensor fit is horizontal),
# the sensor height is effectively changed with the pixel aspect ratio
pixel_aspect_ratio = scene.render.pixel_aspect_x / scene.render.pixel_aspect_y
s_u = resolution_x_in_px * scale / sensor_width_in_mm
s_v = resolution_y_in_px * scale * pixel_aspect_ratio / sensor_height_in_mm
resolution_x_in_px = scale * scene.render.resolution_x
resolution_y_in_px = scale * scene.render.resolution_y
sensor_size_in_mm = get_sensor_size(camd.sensor_fit, camd.sensor_width, camd.sensor_height)
sensor_fit = get_sensor_fit(
camd.sensor_fit,
scene.render.pixel_aspect_x * resolution_x_in_px,
scene.render.pixel_aspect_y * resolution_y_in_px
)
pixel_aspect_ratio = scene.render.pixel_aspect_y / scene.render.pixel_aspect_x
if sensor_fit == 'HORIZONTAL':
view_fac_in_px = resolution_x_in_px
else:
view_fac_in_px = pixel_aspect_ratio * resolution_y_in_px
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
alpha_v = f_in_mm * s_v
u_0 = resolution_x_in_px * scale / 2
v_0 = resolution_y_in_px * scale / 2
u_0 = resolution_x_in_px / 2 - camd.shift_x * view_fac_in_px
v_0 = resolution_y_in_px / 2 + camd.shift_y * view_fac_in_px / pixel_aspect_ratio
skew = 0 # only use rectangular pixels
K = Matrix((
(alpha_u, skew, u_0),
( 0, alpha_v, v_0),
( 0, 0, 1)
))
K = Matrix(
((s_u, skew, u_0),
( 0, s_v, v_0),
( 0, 0, 1)))
return K
# Returns camera rotation and translation matrices from Blender.
@ -66,7 +80,7 @@ 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),
@ -75,20 +89,18 @@ def get_3x4_RT_matrix_from_blender(cam):
# 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
@ -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)