Lens distortion

crates/resolved-cli/src/main.rs

@@ -57,7 +57,7 @@ struct RenderArgs {
     #[arg(long, default_value = "L0")]
     lighting: LightingTier,
     /// Camera fidelity tier: C0, or C1 (adds pixels that collect light over their area,
-    /// for graded edges and continuous thin parts, and lens blur).
+    /// for graded edges and continuous thin parts, lens distortion and lens blur).
     #[arg(long, default_value = "C0")]
     camera: CameraTier,
     /// From camera C1: render each pixel as N x N finer ones (1 to 4; default 2), which

crates/resolved-cli/src/scene_file.rs

@@ -10,8 +10,8 @@ use std::path::{Path, PathBuf};
 use resolved::bodies::Appearance;
 use resolved::nalgebra::{Quaternion, UnitQuaternion, Vector2, Vector3};
 use resolved::{
-    CameraConfig, LoadOptions, Material, Mesh, ModelId, Pose, Psf, Renderer, Scene, Spectrum,
-    Target,
+    BrownConrady, CameraConfig, LoadOptions, Material, Mesh, ModelId, Pose, Psf, Renderer, Scene,
+    Spectrum, Target,
 };
 use serde::Deserialize;
 
@@ -64,6 +64,8 @@ pub struct CameraFile {
     /// The Gaussian blur's sigma in pixels, from camera C1: one for every channel, one
     /// per channel, or 0 for none.
     pub psf_sigma: Option<Sigma>,
+    /// Lens distortion from camera C1, in OpenCV's order: [k1, k2, p1, p2, k3].
+    pub distortion: Option<[f64; 5]>,
 }
 
 /// One sigma, or one per channel.
@@ -157,6 +159,9 @@ impl SceneFile {
         if let Some(t) = c.transmission {
             camera.transmission = Spectrum::constant(t);
         }
+        if let Some([k1, k2, p1, p2, k3]) = c.distortion {
+            camera.distortion = Some(BrownConrady { k1, k2, k3, p1, p2 });
+        }
         camera.psf = match &c.psf_sigma {
             None => camera.psf,
             Some(Sigma::All(s)) if *s == 0.0 => Psf::None,
@@ -410,6 +415,21 @@ mod tests {
                 toml::from_str(&format!("{MINIMAL}\n[camera]\n{line}\n")).unwrap();
             assert_eq!(file.camera().psf, psf, "{line}");
         }
+
+        let file: SceneFile = toml::from_str(&format!(
+            "{MINIMAL}\n[camera]\ndistortion = [-0.1, 0.02, 1e-3, -2e-3, 0.005]\n"
+        ))
+        .unwrap();
+        assert_eq!(
+            file.camera().distortion,
+            Some(BrownConrady {
+                k1: -0.1,
+                k2: 0.02,
+                k3: 0.005,
+                p1: 1e-3,
+                p2: -2e-3,
+            })
+        );
     }
 
     #[test]