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Draft for undistortion

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David PAGNON 2023-12-15 15:11:26 +01:00 committed by GitHub
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commit 2222a99fa6
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Pose2Sim/triangulation.py
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@ -465,6 +465,14 @@ def triangulate_all(config):
json_tracked_files_f = [json_tracked_files[c][f] for c in range(n_cams)] json_tracked_files_f = [json_tracked_files[c][f] for c in range(n_cams)]
x_files, y_files, likelihood_files = extract_files_frame_f(json_tracked_files_f, keypoints_ids) x_files, y_files, likelihood_files = extract_files_frame_f(json_tracked_files_f, keypoints_ids)
# # undistort points draft: start with
# points = [np.array(tuple(zip(x_files[i],y_files[i]))).reshape(-1, 1, 2) for i in range(n_cams)]
# # calculate optimal matrix optimal_mat cf https://stackoverflow.com/a/76635257/12196632
# undistorted_points = [cv2.undistortPoints(points[i], K[i], distortions[i], None, optimal_mat[i]) for i in range(n_cams)]
# # then put back into original shape of x_files, y_files
# # Points are undistorted and better triangulated, however reprojection error is not accurate if points are not distorted again prior to reprojection
# # This is good for slight distortion. For fishey camera, the model does not work anymore. See there for an example https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L301
# Replace likelihood by 0 if under likelihood_threshold # Replace likelihood by 0 if under likelihood_threshold
with np.errstate(invalid='ignore'): with np.errstate(invalid='ignore'):
likelihood_files[likelihood_files<likelihood_threshold] = 0. likelihood_files[likelihood_files<likelihood_threshold] = 0.