Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Undistortion should not occur for already-undistorted images #2726

Merged
merged 11 commits into from
Jan 10, 2024
Merged

Undistortion should not occur for already-undistorted images #2726

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
b0d4d60
undistortion should not occur if pinhole (smoothes the images), and a…
Jan 3, 2024
566d670
rounding downscaling, more consistent with other resizing methods in …
Jan 4, 2024
5caeadc
reverting to cpu image caching
Jan 4, 2024
7fb3d2a
re-allow camera unimplemented
Jan 4, 2024
fd39a3a
compatibility with mask/depth
Jan 4, 2024
2ac5c33
reverted scale factor rounding, corrected mask undistort condition
Jan 7, 2024
3636b81
moved distortion_params update inside PERSPECTIVE type if-clause
Jan 8, 2024
a4f4f36
bumping opencv to 4.8, to deal with undistortion bug with distortion …
Jan 9, 2024
cebe370
Merge branch 'main' into main
kerrj Jan 9, 2024
fb512fe
Merge branch 'main' into main
liorfritz Jan 10, 2024
8819ea4
Merge branch 'main' into main
liorfritz Jan 10, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 16 additions & 10 deletions nerfstudio/data/datamanagers/full_images_datamanager.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,6 @@ def cache_images(self, cache_images_option):
continue
distortion_params = camera.distortion_params.numpy()
image = data["image"].numpy()

if camera.camera_type.item() == CameraType.PERSPECTIVE.value:
distortion_params = np.array(
[
Expand All @@ -147,13 +146,15 @@ def cache_images(self, cache_images_option):
0,
]
)
newK, roi = cv2.getOptimalNewCameraMatrix(K, distortion_params, (image.shape[1], image.shape[0]), 0)
image = cv2.undistort(image, K, distortion_params, None, newK) # type: ignore
if np.any(distortion_params):
newK, roi = cv2.getOptimalNewCameraMatrix(K, distortion_params, (image.shape[1], image.shape[0]), 0)
image = cv2.undistort(image, K, distortion_params, None, newK) # type: ignore
else:
newK = K
roi = 0, 0, image.shape[1], image.shape[0]
# crop the image and update the intrinsics accordingly
x, y, w, h = roi
image = image[y : y + h, x : x + w]
if "mask" in data:
data["mask"] = data["mask"][y : y + h, x : x + w]
if "depth_image" in data:
data["depth_image"] = data["depth_image"][y : y + h, x : x + w]
# update the width, height
Expand All @@ -162,7 +163,8 @@ def cache_images(self, cache_images_option):
if "mask" in data:
mask = data["mask"].numpy()
mask = mask.astype(np.uint8) * 255
mask = cv2.undistort(mask, K, distortion_params, None, newK) # type: ignore
if np.any(distortion_params):
mask = cv2.undistort(mask, K, distortion_params, None, newK) # type: ignore
mask = mask[y : y + h, x : x + w]
data["mask"] = torch.from_numpy(mask).bool()
K = newK
Expand Down Expand Up @@ -206,7 +208,6 @@ def cache_images(self, cache_images_option):
continue
distortion_params = camera.distortion_params.numpy()
image = data["image"].numpy()

if camera.camera_type.item() == CameraType.PERSPECTIVE.value:
distortion_params = np.array(
[
Expand All @@ -220,8 +221,12 @@ def cache_images(self, cache_images_option):
0,
]
)
newK, roi = cv2.getOptimalNewCameraMatrix(K, distortion_params, (image.shape[1], image.shape[0]), 0)
image = cv2.undistort(image, K, distortion_params, None, newK) # type: ignore
if np.any(distortion_params):
newK, roi = cv2.getOptimalNewCameraMatrix(K, distortion_params, (image.shape[1], image.shape[0]), 0)
image = cv2.undistort(image, K, distortion_params, None, newK) # type: ignore
else:
newK = K
roi = 0, 0, image.shape[1], image.shape[0]
# crop the image and update the intrinsics accordingly
x, y, w, h = roi
image = image[y : y + h, x : x + w]
Expand All @@ -231,7 +236,8 @@ def cache_images(self, cache_images_option):
if "mask" in data:
mask = data["mask"].numpy()
mask = mask.astype(np.uint8) * 255
mask = cv2.undistort(mask, K, distortion_params, None, newK) # type: ignore
if np.any(distortion_params):
mask = cv2.undistort(mask, K, distortion_params, None, newK) # type: ignore
mask = mask[y : y + h, x : x + w]
data["mask"] = torch.from_numpy(mask).bool()
K = newK
Expand Down
2 changes: 1 addition & 1 deletion pyproject.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ dependencies = [
"msgpack_numpy>=0.4.8",
"nerfacc==0.5.2",
"open3d>=0.16.0",
"opencv-python==4.6.0.66",
"opencv-python==4.8.0.76",
"Pillow>=9.3.0",
"plotly>=5.7.0",
"protobuf<=3.20.3,!=3.20.0",
Expand Down
Loading