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Motion Tracking: Add anamorphic coefficients to Nuke lens distortion model

Browse source 
This patch extends the Nuke distortion model to support anamorphic lenses by
introducing new anamorphic coefficients.

- When the new coefficients are set to zero, the model behaves exactly
  as before.
- The "Tangential Distortion" refine option is used to solve for these
  new parameters.
- A test file is included, tracked from real anamorphic footage (footage
  itself cannot be shared unfortunately, I included a redistorted rendering
  of the markers, so that the file can be opened).
- The test should show that other distortion models have higher error and
  fail to properly straighten curved lines.

Pull Request: https://projects.blender.org/blender/blender/pulls/149035
This commit is contained in:
David Murmann 2025-11-03 11:08:32 +01:00 • committed by Sergey Sharybin
parent 2d43ab553c
commit 11e8f332b5
13 changed files with 107 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

17
intern/libmv/intern/camera_intrinsics.cc
View file

@ -138,9 +138,15 @@ void libmv_cameraIntrinsicsUpdate(
double k2 = libmv_camera_intrinsics_options->nuke_k2;
if (nuke_intrinsics->k1() != k1 || nuke_intrinsics->k2() != k2) {
nuke_intrinsics->SetDistortion(k1, k2);
nuke_intrinsics->SetRadialDistortion(k1, k2);
}
double p1 = libmv_camera_intrinsics_options->nuke_p1;
double p2 = libmv_camera_intrinsics_options->nuke_p2;
if (nuke_intrinsics->p1() != p1 || nuke_intrinsics->p2() != p2) {
nuke_intrinsics->SetTangentialDistortion(p1, p2);
}
break;
}
@ -220,6 +226,8 @@ void libmv_cameraIntrinsicsExtractOptions(
camera_intrinsics_options->distortion_model = LIBMV_DISTORTION_MODEL_NUKE;
camera_intrinsics_options->nuke_k1 = nuke_intrinsics->k1();
camera_intrinsics_options->nuke_k2 = nuke_intrinsics->k2();
camera_intrinsics_options->nuke_p1 = nuke_intrinsics->p1();
camera_intrinsics_options->nuke_p2 = nuke_intrinsics->p2();
break;
}
@ -353,8 +361,11 @@ static void libmv_cameraIntrinsicsFillFromOptions(
NukeCameraIntrinsics* nuke_intrinsics =
static_cast<NukeCameraIntrinsics*>(camera_intrinsics);
nuke_intrinsics->SetDistortion(camera_intrinsics_options->nuke_k1,
camera_intrinsics_options->nuke_k2);
nuke_intrinsics->SetRadialDistortion(camera_intrinsics_options->nuke_k1,
camera_intrinsics_options->nuke_k2);
nuke_intrinsics->SetTangentialDistortion(
camera_intrinsics_options->nuke_p1,
camera_intrinsics_options->nuke_p2);
break;
}

1
intern/libmv/intern/camera_intrinsics.h
View file

@ -34,6 +34,7 @@ typedef struct libmv_CameraIntrinsicsOptions {
// Nuke distortion model.
double nuke_k1, nuke_k2;
double nuke_p1, nuke_p2;
// Brown-Conrady distortion model.
double brown_k1, brown_k2, brown_k3, brown_k4;

4
intern/libmv/libmv/simple_pipeline/bundle.cc
View file

@ -192,6 +192,8 @@ void InvertDistortionModelUsingIntrinsicsBlock(
case DISTORTION_MODEL_NUKE: {
const T& k1 = intrinsics_block[PackedIntrinsics::OFFSET_K1];
const T& k2 = intrinsics_block[PackedIntrinsics::OFFSET_K2];
const T& p1 = intrinsics_block[PackedIntrinsics::OFFSET_P1];
const T& p2 = intrinsics_block[PackedIntrinsics::OFFSET_P2];
InvertNukeDistortionModel(focal_length,
focal_length,
@ -201,6 +203,8 @@ void InvertDistortionModelUsingIntrinsicsBlock(
invariant_intrinsics->image_height(),
k1,
k2,
p1,
p2,
image_x,
image_y,
normalized_x,

26
intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
View file

@ -286,20 +286,28 @@ void DivisionCameraIntrinsics::Unpack(
// Nuke model.
NukeCameraIntrinsics::NukeCameraIntrinsics() : CameraIntrinsics() {
SetDistortion(0.0, 0.0);
SetRadialDistortion(0.0, 0.0);
SetTangentialDistortion(0.0, 0.0);
}
NukeCameraIntrinsics::NukeCameraIntrinsics(const NukeCameraIntrinsics& from)
: CameraIntrinsics(from) {
SetDistortion(from.k1(), from.k2());
SetRadialDistortion(from.k1(), from.k2());
SetTangentialDistortion(from.p1(), from.p2());
}
void NukeCameraIntrinsics::SetDistortion(double k1, double k2) {
void NukeCameraIntrinsics::SetRadialDistortion(double k1, double k2) {
parameters_[OFFSET_K1] = k1;
parameters_[OFFSET_K2] = k2;
ResetLookupGrids();
}
void NukeCameraIntrinsics::SetTangentialDistortion(double p1, double p2) {
parameters_[OFFSET_P1] = p1;
parameters_[OFFSET_P2] = p2;
ResetLookupGrids();
}
void NukeCameraIntrinsics::ApplyIntrinsics(double normalized_x,
double normalized_y,
double* image_x,
@ -312,6 +320,8 @@ void NukeCameraIntrinsics::ApplyIntrinsics(double normalized_x,
image_height(),
k1(),
k2(),
p1(),
p2(),
normalized_x,
normalized_y,
image_x,
@ -330,6 +340,8 @@ void NukeCameraIntrinsics::InvertIntrinsics(double image_x,
image_height(),
k1(),
k2(),
p1(),
p2(),
image_x,
image_y,
normalized_x,
@ -341,12 +353,16 @@ void NukeCameraIntrinsics::Pack(PackedIntrinsics* packed_intrinsics) const {
packed_intrinsics->SetK1(k1());
packed_intrinsics->SetK2(k2());
packed_intrinsics->SetP1(p1());
packed_intrinsics->SetP2(p2());
}
void NukeCameraIntrinsics::Unpack(const PackedIntrinsics& packed_intrinsics) {
CameraIntrinsics::Unpack(packed_intrinsics);
SetDistortion(packed_intrinsics.GetK1(), packed_intrinsics.GetK2());
SetRadialDistortion(packed_intrinsics.GetK1(), packed_intrinsics.GetK2());
SetTangentialDistortion(packed_intrinsics.GetP1(), packed_intrinsics.GetP2());
}
// Brown model.
@ -484,6 +500,8 @@ std::ostream& operator<<(std::ostream& os, const CameraIntrinsics& intrinsics) {
static_cast<const NukeCameraIntrinsics*>(&intrinsics);
PRINT_NONZERO_COEFFICIENT(nuke_intrinsics, k1);
PRINT_NONZERO_COEFFICIENT(nuke_intrinsics, k2);
PRINT_NONZERO_COEFFICIENT(nuke_intrinsics, p1);
PRINT_NONZERO_COEFFICIENT(nuke_intrinsics, p2);
break;
}
case DISTORTION_MODEL_BROWN: {

9
intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
View file

@ -389,6 +389,8 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
enum {
OFFSET_K1,
OFFSET_K2,
OFFSET_P1,
OFFSET_P2,
// This defines the size of array which we need to have in order
// to store all the coefficients.
@ -404,9 +406,14 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
double k1() const { return parameters_[OFFSET_K1]; }
double k2() const { return parameters_[OFFSET_K2]; }
double p1() const { return parameters_[OFFSET_P1]; }
double p2() const { return parameters_[OFFSET_P2]; }
// Set radial distortion coeffcients.
void SetDistortion(double k1, double k2);
void SetRadialDistortion(double k1, double k2);
// Set tangential distortion coeffcients.
void SetTangentialDistortion(double p1, double p2);
// Apply camera intrinsics to the normalized point to get image coordinates.
//

12
intern/libmv/libmv/simple_pipeline/distortion_models.cc
View file

@ -333,6 +333,8 @@ struct ApplyNukeIntrinsicsCostFunction {
const int image_height,
const double k1,
const double k2,
const double p1,
const double p2,
const double expected_normalized_x,
const double expected_normalized_y)
: focal_length_x_(focal_length_x),
@ -343,6 +345,8 @@ struct ApplyNukeIntrinsicsCostFunction {
image_height_(image_height),
k1_(k1),
k2_(k2),
p1_(p1),
p2_(p2),
expected_normalized_x_(expected_normalized_x),
expected_normalized_y_(expected_normalized_y) {}
@ -357,6 +361,8 @@ struct ApplyNukeIntrinsicsCostFunction {
image_height_,
k1_,
k2_,
p1_,
p2_,
image_coordinate(0),
image_coordinate(1),
&actual_normalized_x,
@ -373,7 +379,7 @@ struct ApplyNukeIntrinsicsCostFunction {
double principal_point_y_;
int image_width_;
int image_height_;
double k1_, k2_;
double k1_, k2_, p1_, p2_;
double expected_normalized_x_, expected_normalized_y_;
};
@ -385,6 +391,8 @@ void ApplyNukeDistortionModel(const double focal_length_x,
const int image_height,
const double k1,
const double k2,
const double p1,
const double p2,
const double normalized_x,
const double normalized_y,
double* image_x,
@ -406,6 +414,8 @@ void ApplyNukeDistortionModel(const double focal_length_x,
image_height,
k1,
k2,
p1,
p2,
normalized_x,
normalized_y);
Solver::SolverParameters params;

21
intern/libmv/libmv/simple_pipeline/distortion_models.h
View file

@ -143,14 +143,16 @@ void InvertNukeDistortionModel(const T& focal_length_x,
const int image_height,
const T& k1,
const T& k2,
const T& p1,
const T& p2,
const T& image_x,
const T& image_y,
T* normalized_x,
T* normalized_y) {
// According to the documentation:
// According to the documentation for the anamorphic model:
//
// xu = xd / (1 + k0 * rd^2 + k1 * rd^4)
// yu = yd / (1 + k0 * rd^2 + k1 * rd^4)
// xu = xd / (1 + k0 * rd^2 + k1 * rd^4 + k2 * yd^2)
// yu = yd / (1 + k0 * rd^2 + k1 * rd^4 + k3 * xd^2)
//
// Legend:
// (xd, yd) are the distorted cartesian coordinates,
@ -160,6 +162,8 @@ void InvertNukeDistortionModel(const T& focal_length_x,
// the k-values are the distortion coefficients.
//
// The coordinate systems are relative to the distortion centre.
// Nukes k0, k1, k2, k3 correspond to Blenders k1, k2, p1, p2.
// The spherical model is identical except p1 and p2 are both zero.
const int max_image_size = std::max(image_width, image_height);
const double max_half_image_size = max_image_size * 0.5;
@ -173,11 +177,12 @@ void InvertNukeDistortionModel(const T& focal_length_x,
const T xd = (image_x - principal_point_x) / max_half_image_size;
const T yd = (image_y - principal_point_y) / max_half_image_size;
T rd2 = xd * xd + yd * yd;
T xd2 = xd * xd;
T yd2 = yd * yd;
T rd2 = xd2 + yd2;
T rd4 = rd2 * rd2;
T r_coeff = T(1) / (T(1) + k1 * rd2 + k2 * rd4);
T xu = xd * r_coeff;
T yu = yd * r_coeff;
T xu = xd / (T(1) + k1 * rd2 + k2 * rd4 + p1 * yd2);
T yu = yd / (T(1) + k1 * rd2 + k2 * rd4 + p2 * xd2);
*normalized_x = xu * max_half_image_size / focal_length_x;
*normalized_y = yu * max_half_image_size / focal_length_y;
@ -197,6 +202,8 @@ void ApplyNukeDistortionModel(const double focal_length_x,
const int image_height,
const double k1,
const double k2,
const double p1,
const double p2,
const double normalized_x,
const double normalized_y,
double* image_x,

5
scripts/startup/bl_ui/space_clip.py
View file

@ -550,7 +550,7 @@ class CLIP_PT_tools_solve(CLIP_PT_tracking_panel, Panel):
col.prop(settings, "refine_intrinsics_radial_distortion", text="Radial Distortion")
row = col.row()
row.active = (camera.distortion_model == 'BROWN')
row.active = (camera.distortion_model in ('BROWN', 'NUKE'))
row.prop(settings, "refine_intrinsics_tangential_distortion", text="Tangential Distortion")
col = layout.column(align=True)
@ -940,6 +940,9 @@ class CLIP_PT_tracking_lens(Panel):
col = layout.column(align=True)
col.prop(camera, "nuke_k1")
col.prop(camera, "nuke_k2")
col.separator()
col.prop(camera, "nuke_p1")
col.prop(camera, "nuke_p2")
elif camera.distortion_model == 'BROWN':
col = layout.column(align=True)
col.prop(camera, "brown_k1")

5
source/blender/blenkernel/intern/movieclip.cc
View file

@ -682,6 +682,7 @@ struct MovieClipCache {
float polynomial_k[3];
float division_k[2];
float nuke_k[2];
float nuke_p[2];
float brown_k[4];
float brown_p[2];
short distortion_model;
@ -1114,6 +1115,9 @@ static bool check_undistortion_cache_flags(const MovieClip *clip)
if (!equals_v2v2(&camera->nuke_k1, cache->postprocessed.nuke_k)) {
return false;
}
if (!equals_v2v2(&camera->nuke_p1, cache->postprocessed.nuke_p)) {
return false;
}
if (!equals_v4v4(&camera->brown_k1, cache->postprocessed.brown_k)) {
return false;
@ -1224,6 +1228,7 @@ static void put_postprocessed_frame_to_cache(
copy_v3_v3(cache->postprocessed.polynomial_k, &camera->k1);
copy_v2_v2(cache->postprocessed.division_k, &camera->division_k1);
copy_v2_v2(cache->postprocessed.nuke_k, &camera->nuke_k1);
copy_v2_v2(cache->postprocessed.nuke_p, &camera->nuke_p1);
copy_v4_v4(cache->postprocessed.brown_k, &camera->brown_k1);
copy_v2_v2(cache->postprocessed.brown_p, &camera->brown_p1);
cache->postprocessed.undistortion_used = true;

12
source/blender/blenkernel/intern/tracking.cc
View file

@ -2214,7 +2214,8 @@ bool BKE_tracking_camera_distortion_equal(const MovieTrackingCamera *a,
case TRACKING_DISTORTION_MODEL_DIVISION:
return a->division_k1 == b->division_k1 && a->division_k2 == b->division_k2;
case TRACKING_DISTORTION_MODEL_NUKE:
return a->nuke_k1 == b->nuke_k1 && a->nuke_k2 == b->nuke_k2;
return a->nuke_k1 == b->nuke_k1 && a->nuke_k2 == b->nuke_k2 && a->nuke_p1 == b->nuke_p1 &&
a->nuke_p2 == b->nuke_p2;
case TRACKING_DISTORTION_MODEL_BROWN:
return a->brown_k1 == b->brown_k1 && a->brown_k2 == b->brown_k2 &&
a->brown_k3 == b->brown_k3 && a->brown_k4 == b->brown_k4 &&
@ -2240,10 +2241,11 @@ uint64_t BKE_tracking_camera_distortion_hash(const MovieTrackingCamera *camera)
float2(camera->principal_point),
float2(camera->division_k1, camera->division_k2));
case TRACKING_DISTORTION_MODEL_NUKE:
return get_default_hash(camera->distortion_model,
float2(camera->pixel_aspect, camera->focal),
float2(camera->principal_point),
float2(camera->nuke_k1, camera->nuke_k2));
return get_default_hash(
camera->distortion_model,
float2(camera->pixel_aspect, camera->focal),
float2(camera->principal_point),
float4(camera->nuke_k1, camera->nuke_k2, camera->nuke_p1, camera->nuke_p2));
case TRACKING_DISTORTION_MODEL_BROWN:
return get_default_hash(
float2(camera->pixel_aspect, camera->focal),

4
source/blender/blenkernel/intern/tracking_util.cc
View file

@ -420,6 +420,8 @@ static void distortion_model_parameters_from_tracking(
camera_intrinsics_options->distortion_model = LIBMV_DISTORTION_MODEL_NUKE;
camera_intrinsics_options->nuke_k1 = camera->nuke_k1;
camera_intrinsics_options->nuke_k2 = camera->nuke_k2;
camera_intrinsics_options->nuke_p1 = camera->nuke_p1;
camera_intrinsics_options->nuke_p2 = camera->nuke_p2;
return;
case TRACKING_DISTORTION_MODEL_BROWN:
camera_intrinsics_options->distortion_model = LIBMV_DISTORTION_MODEL_BROWN;
@ -463,6 +465,8 @@ static void distortion_model_parameters_from_options(
camera->distortion_model = TRACKING_DISTORTION_MODEL_NUKE;
camera->nuke_k1 = camera_intrinsics_options->nuke_k1;
camera->nuke_k2 = camera_intrinsics_options->nuke_k2;
camera->nuke_p1 = camera_intrinsics_options->nuke_p1;
camera->nuke_p2 = camera_intrinsics_options->nuke_p2;
return;
case LIBMV_DISTORTION_MODEL_BROWN:
camera->distortion_model = TRACKING_DISTORTION_MODEL_BROWN;

1
source/blender/makesdna/DNA_tracking_types.h
View file

@ -68,6 +68,7 @@ typedef struct MovieTrackingCamera {
/* Nuke distortion model coefficients */
float nuke_k1, nuke_k2;
float nuke_p1, nuke_p2;
/* Brown-Conrady distortion model coefficients */
/** Brown-Conrady radial distortion. */

12
source/blender/makesrna/intern/rna_tracking.cc
View file

@ -1293,6 +1293,18 @@ static void rna_def_trackingCamera(BlenderRNA *brna)
RNA_def_property_ui_text(prop, "K2", "Second coefficient of second order Nuke distortion");
RNA_def_property_update(prop, NC_MOVIECLIP | NA_EDITED, "rna_tracking_flushUpdate");
prop = RNA_def_property(srna, "nuke_p1", PROP_FLOAT, PROP_NONE);
RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
RNA_def_property_ui_range(prop, -10, 10, 0.1, 3);
RNA_def_property_ui_text(prop, "P1", "First coefficient of tangential Nuke distortion");
RNA_def_property_update(prop, NC_MOVIECLIP | NA_EDITED, "rna_tracking_flushUpdate");
prop = RNA_def_property(srna, "nuke_p2", PROP_FLOAT, PROP_NONE);
RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
RNA_def_property_ui_range(prop, -10, 10, 0.1, 3);
RNA_def_property_ui_text(prop, "P2", "Second coefficient of tangential Nuke distortion");
RNA_def_property_update(prop, NC_MOVIECLIP | NA_EDITED, "rna_tracking_flushUpdate");
/* Brown-Conrady distortion parameters */
prop = RNA_def_property(srna, "brown_k1", PROP_FLOAT, PROP_NONE);
RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);