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convert easymocap calibration files

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This commit is contained in:
davidpagnon 2023-09-22 11:41:36 +02:00
parent 450079033a
commit 4bd5106acb
7 changed files with 131 additions and 46 deletions
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3
Pose2Sim/Demo/User/Config.toml
View File

@ -35,12 +35,13 @@ openpose_path = '' # only checked if OpenPose is used
calibration_type = 'convert' # 'convert' or 'calculate'
[calibration.convert]
convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', or 'biocv'
convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', or 'biocv'
[calibration.convert.qualisys]
binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
[calibration.convert.optitrack] # See readme for instructions
[calibration.convert.vicon] # No parameters needed
[calibration.convert.opencap] # No parameters needed
[calibration.convert.easymocap] # No parameters needed
[calibration.convert.biocv] # No parameters needed

7
Pose2Sim/Demo/User/test.toml
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@ -35,9 +35,14 @@ openpose_path = '' # only checked if OpenPose is used
calibration_type = 'convert' # 'convert' or 'calculate'
[calibration.convert]
convert_from = 'qualisys' # 'qualisys', 'optitrack', or 'vicon'
convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', or 'biocv'
[calibration.convert.qualisys]
binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
[calibration.convert.optitrack] # See readme for instructions
[calibration.convert.vicon] # No parameters needed
[calibration.convert.opencap] # No parameters needed
[calibration.convert.easymocap] # No parameters needed
[calibration.convert.biocv] # No parameters needed
[calibration.calculate]

7
Pose2Sim/Empty_project/User/Config.toml
View File

@ -35,9 +35,14 @@ openpose_path = '' # only checked if OpenPose is used
calibration_type = 'convert' # 'convert' or 'calculate'
[calibration.convert]
convert_from = 'qualisys' # 'qualisys', 'optitrack', or 'vicon'
convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', or 'biocv'
[calibration.convert.qualisys]
binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
[calibration.convert.optitrack] # See readme for instructions
[calibration.convert.vicon] # No parameters needed
[calibration.convert.opencap] # No parameters needed
[calibration.convert.easymocap] # No parameters needed
[calibration.convert.biocv] # No parameters needed
[calibration.calculate]

16
Pose2Sim/Utilities/calib_yml_to_toml.py → Pose2Sim/Utilities/calib_easymocap_to_toml.py
View File

@ -4,7 +4,7 @@
'''
##################################################
## YML CALIBRATION TO TOML CALIBRATION ##
## EASYMOCAP CALIBRATION TO TOML CALIBRATION ##
##################################################
Converts OpenCV intrinsic and extrinsic .yml calibration files
@ -14,9 +14,9 @@
Please correct in the resulting .toml file if needed. Take your image size as a reference.
Usage:
import calib_yml_to_toml; calib_yml_to_toml.calib_yml_to_toml_func(r'<intrinsic_yml_file>', r'<extrinsic_yml_file>')
OR python -m calib_yml_to_toml -i intrinsic_yml_file -e extrinsic_yml_file
OR python -m calib_yml_to_toml -i intrinsic_yml_file -e extrinsic_yml_file -o output_toml_file
import calib_easymocap_to_toml; calib_yml_to_toml.calib_easymocap_to_toml_func(r'<intrinsic_yml_file>', r'<extrinsic_yml_file>')
OR python -m calib_easymocap_to_toml -i intrinsic_yml_file -e extrinsic_yml_file
OR python -m calib_easymocap_to_toml -i intrinsic_yml_file -e extrinsic_yml_file -o output_toml_file
'''
@ -113,7 +113,7 @@ def toml_write(toml_path, C, S, D, K, R, T):
cal_f.write(meta)
def calib_yml_to_toml_func(*args):
def calib_easymocap_to_toml_func(*args):
'''
Converts OpenCV intrinsic and extrinsic .yml calibration files
to an OpenCV .toml calibration file
@ -146,10 +146,10 @@ def calib_yml_to_toml_func(*args):
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-i', '--intrinsic_file', required = True, help='OpenCV intrinsic .yml calibration file')
parser.add_argument('-e', '--extrinsic_file', required = True, help='OpenCV extrinsic .yml calibration file')
parser.add_argument('-i', '--intrinsic_file', required = True, help='EasyMocap intrinsic .yml calibration file')
parser.add_argument('-e', '--extrinsic_file', required = True, help='EasyMocap extrinsic .yml calibration file')
parser.add_argument('-t', '--toml_file', required=False, help='OpenCV .toml output calibration file')
args = vars(parser.parse_args())
calib_yml_to_toml_func(args)
calib_easymocap_to_toml_func(args)

28
Pose2Sim/Utilities/calib_toml_to_yml.py → Pose2Sim/Utilities/calib_toml_to_easymocap.py
View File

@ -4,16 +4,16 @@
'''
##################################################
## YML CALIBRATION TO TOML CALIBRATION ##
## EASYMOCAP CALIBRATION TO TOML CALIBRATION ##
##################################################
Convert an OpenCV .toml calibration file
to OpenCV intrinsic and extrinsic .yml calibration files
Convert a Pose2Sim .toml calibration file
to EasyMocap intrinsic and extrinsic .yml calibration files
Usage:
from Pose2Sim.Utilities import calib_toml_to_yml; calib_toml_to_yml.calib_toml_to_yml_func(r'<input_toml_file>')
OR python -m calib_yml_to_toml -t input_toml_file
OR python -m calib_yml_to_toml -t input_toml_file -i intrinsic_yml_file -e extrinsic_yml_file
from Pose2Sim.Utilities import calib_toml_to_easymocap; calib_toml_to_easymocap.calib_toml_to_easymocap_func(r'<input_toml_file>')
OR python -m calib_easymocap_to_toml -t input_toml_file
OR python -m calib_easymocap_to_toml -t input_toml_file -i intrinsic_yml_file -e extrinsic_yml_file
'''
## INIT
@ -61,6 +61,7 @@ def read_toml(toml_path):
return C, S, D, K, R, T
def write_intrinsic_yml(intrinsic_yml_path, C, D, K):
'''
Writes an OpenCV .yml intrinsic calibration file
@ -109,15 +110,16 @@ def write_extrinsic_yml(extrinsic_yml_path, C, R, T):
extrinsic_file.release()
def calib_toml_to_yml_func(*args):
def calib_toml_to_easymocap_func(*args):
'''
Convert an OpenCV .toml calibration file
to OpenCV intrinsic and extrinsic .yml calibration files
Convert a Pose2Sim .toml calibration file
to EasyMocap intrinsic and extrinsic .yml calibration files
Usage:
import calib_toml_to_yml; calib_toml_to_yml.calib_toml_to_yml_func(r'<input_toml_file>')
OR python -m calib_toml_to_yml -t input_toml_file
OR python -m calib_toml_to_yml -t input_toml_file -i intrinsic_yml_file -e extrinsic_yml_file
from Pose2Sim.Utilities import calib_toml_to_easymocap; calib_toml_to_easymocap.calib_toml_to_easymocap_func(r'<input_toml_file>')
OR python -m calib_easymocap_to_toml -t input_toml_file
OR python -m calib_easymocap_to_toml -t input_toml_file -i intrinsic_yml_file -e extrinsic_yml_file
'''
try:
@ -147,5 +149,5 @@ if __name__ == '__main__':
parser.add_argument('-e', '--extrinsic_yml_file', required = False, help='OpenCV extrinsic .yml calibration file')
args = vars(parser.parse_args())
calib_toml_to_yml_func(args)
calib_toml_to_easymocap_func(args)

89
Pose2Sim/calibration.py
View File

@ -321,12 +321,77 @@ def read_vicon(vicon_path):
return ret, C, S, D, K, R, T
def calib_biocv_fun(file_to_convert_paths, binning_factor=1):
def read_intrinsic_yml(intrinsic_path):
'''
Reads an intrinsic .yml calibration file
Returns 3 lists of size N (N=number of cameras):
- S (image size)
- K (intrinsic parameters)
- D (distorsion)
N.B. : Size is calculated as twice the position of the optical center. Please correct in the .toml file if needed.
'''
intrinsic_yml = cv2.FileStorage(intrinsic_path, cv2.FILE_STORAGE_READ)
N = intrinsic_yml.getNode('names').size()
S, D, K = [], [], []
for i in range(N):
name = intrinsic_yml.getNode('names').at(i).string()
K.append(intrinsic_yml.getNode(f'K_{name}').mat())
D.append(intrinsic_yml.getNode(f'dist_{name}').mat().flatten()[:-1])
S.append([K[i][0,2]*2, K[i][1,2]*2])
return S, K, D
def read_extrinsic_yml(extrinsic_path):
'''
Reads an intrinsic .yml calibration file
Returns 3 lists of size N (N=number of cameras):
- R (extrinsic rotation, Rodrigues vector)
- T (extrinsic translation)
'''
extrinsic_yml = cv2.FileStorage(extrinsic_path, cv2.FILE_STORAGE_READ)
N = extrinsic_yml.getNode('names').size()
R, T = [], []
for i in range(N):
name = extrinsic_yml.getNode('names').at(i).string()
R.append(extrinsic_yml.getNode(f'R_{name}').mat().flatten()) # R_1 pour Rodrigues, Rot_1 pour matrice
T.append(extrinsic_yml.getNode(f'T_{name}').mat().flatten())
return R, T
def calib_easymocap_fun(files_to_convert_paths, binning_factor=1):
'''
Reads EasyMocap .yml calibration files
INPUTS:
- files_to_convert_paths: paths of the intri.yml and extri.yml calibration files to convert
- binning_factor: always 1 with easymocap calibration
OUTPUTS:
- ret: residual reprojection error in _mm_: list of floats
- C: camera name: list of strings
- S: image size: list of list of floats
- D: distorsion: list of arrays of floats
- K: intrinsic parameters: list of 3x3 arrays of floats
- R: extrinsic rotation: list of arrays of floats
- T: extrinsic translation: list of arrays of floats
'''
extrinsic_path, intrinsic_path = files_to_convert_paths
S, K, D = read_intrinsic_yml(intrinsic_path)
R, T = read_extrinsic_yml(extrinsic_path)
C = np.array(range(len(S)))+1
ret = [np.nan]*len(C)
return ret, C, S, D, K, R, T
def calib_biocv_fun(files_to_convert_paths, binning_factor=1):
'''
Convert bioCV calibration files.
INPUTS:
- file_to_convert_path: path of the calibration files to convert (no extension)
- files_to_convert_paths: paths of the calibration files to convert (no extension)
- binning_factor: always 1 with biocv calibration
OUTPUTS:
@ -339,10 +404,10 @@ def calib_biocv_fun(file_to_convert_paths, binning_factor=1):
- T: extrinsic translation: list of arrays of floats
'''
logging.info(f'Converting {[os.path.basename(f) for f in file_to_convert_paths]} to .toml calibration file...')
logging.info(f'Converting {[os.path.basename(f) for f in files_to_convert_paths]} to .toml calibration file...')
ret, C, S, D, K, R, T = [], [], [], [], [], [], []
for i, f_path in enumerate(file_to_convert_paths):
for i, f_path in enumerate(files_to_convert_paths):
with open(f_path) as f:
calib_data = f.read().split('\n')
ret += [np.nan]
@ -357,7 +422,7 @@ def calib_biocv_fun(file_to_convert_paths, binning_factor=1):
return ret, C, S, D, K, R, T
def calib_opencap_fun(file_to_convert_paths, binning_factor=1):
def calib_opencap_fun(files_to_convert_paths, binning_factor=1):
'''
Convert OpenCap calibration files.
@ -366,8 +431,8 @@ def calib_opencap_fun(file_to_convert_paths, binning_factor=1):
T is good the way it is.
INPUTS:
- file_to_convert_path: path of the .pickle calibration files to convert
- binning_factor: always 1 with biocv calibration
- files_to_convert_paths: paths of the .pickle calibration files to convert
- binning_factor: always 1 with opencap calibration
OUTPUTS:
- ret: residual reprojection error in _mm_: list of floats
@ -379,10 +444,10 @@ def calib_opencap_fun(file_to_convert_paths, binning_factor=1):
- T: extrinsic translation: list of arrays of floats
'''
logging.info(f'Converting {[os.path.basename(f) for f in file_to_convert_paths]} to .toml calibration file...')
logging.info(f'Converting {[os.path.basename(f) for f in files_to_convert_paths]} to .toml calibration file...')
ret, C, S, D, K, R, T = [], [], [], [], [], [], []
for i, f_path in enumerate(file_to_convert_paths):
for i, f_path in enumerate(files_to_convert_paths):
with open(f_path, 'rb') as f_pickle:
calib_data = pickle.load(f_pickle)
ret += [np.nan]
@ -393,7 +458,7 @@ def calib_opencap_fun(file_to_convert_paths, binning_factor=1):
R_cam = calib_data['rotation']
T_cam = calib_data['translation'].squeeze()
# Rotate cameras by Pi/2 around x in world frame
# Rotate cameras by Pi/2 around x in world frame -> could have just switched some columns in matrix
# camera frame to world frame
R_w, T_w = RT_qca2cv(R_cam, T_cam)
# x_rotate -Pi/2 and z_rotate Pi
@ -1161,6 +1226,9 @@ def calibrate_cams_all(config):
elif convert_filetype=='opencap': # all files with .pickle extension
file_to_convert_path = glob.glob(os.path.join(calib_dir, '*.pickle'))
binning_factor = 1
elif convert_filetype=='easymocap': #intri.yml and intri.yml
file_to_convert_path = glob.glob(os.path.join(calib_dir, '*.yml'))
binning_factor = 1
elif convert_filetype=='biocv': # all files without extension
list_dir = os.listdir(calib_dir)
list_dir_noext = [os.path.splitext(f)[0] for f in list_dir if os.path.splitext(f)[1]=='']
@ -1198,6 +1266,7 @@ def calibrate_cams_all(config):
'convert_optitrack': calib_optitrack_fun,
'convert_vicon': calib_vicon_fun,
'convert_opencap': calib_opencap_fun,
'convert_easymocap': calib_easymocap_fun,
'convert_biocv': calib_biocv_fun,
'calculate_board': calib_board_fun,
'calculate_points': calib_points_fun

27
README.md
View File

@ -41,7 +41,7 @@ If you can only use one single camera and don't mind losing some accuracy, pleas
3. [With DeepLabCut](#with-deeplabcut)
4. [With AlphaPose](#with-alphapose)
3. [Camera calibration](#camera-calibration)
1. [Convert from Qualisys, Optitrack, Vicon, OpenCap, or bioCV](#convert-from-qualisys-optitrack-vicon-opencap-or-biocv)
1. [Convert from Qualisys, Optitrack, Vicon, OpenCap, EasyMocap, or bioCV](#convert-from-qualisys-optitrack-vicon-opencap-easymocap--or-biocv)
2. [Calculate from scratch](#calculate-from-scratch)
4. [Camera synchronization](#camera-synchronization)
5. [Tracking, Triangulating, Filtering](#tracking-triangulating-filtering)
@ -241,23 +241,26 @@ N.B.: Markers are not needed in Pose2Sim and were used here for validation
> _**Convert a preexisting calibration file, or calculate intrinsic and extrinsic parameters from scratch.**_ \
> _**N.B.:**_ You can visualize camera calibration in 3D with my (experimental) [Maya-Mocap tool](https://github.com/davidpagnon/Maya-Mocap).
### Convert from Qualisys, Optitrack, Vicon, OpenCap, or bioCV
### Convert from Qualisys, Optitrack, Vicon, OpenCap, EasyMocap, or bioCV
If you already have a calibration file, set `calibration_type` type to `convert` in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file.
- **From Qualisys:**
- **From [Qualisys](https://www.qualisys.com):**
- Export calibration to `.qca.txt` within QTM.
- Copy it in the `calibration` Pose2Sim folder.
- set `convert_from` to 'qualisys' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. Change `binning_factor` to 2 if you film in 540p.
- **From Optitrack:** Exporting calibration will be available in Motive 3.2. In the meantime:
- **From [Optitrack](https://optitrack.com/):** Exporting calibration will be available in Motive 3.2. In the meantime:
- Calculate intrinsics with a board (see next section).
- Use their C++ API [to retrieve extrinsic properties](https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference#tt_cameraxlocation). Translation can be copied as is in your `Calib.toml` file, but TT_CameraOrientationMatrix first needs to be [converted to a Rodrigues vector](https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac) with OpenCV. See instructions [here](https://github.com/perfanalytics/pose2sim/issues/28).
- **From Vicon:**
- **From [Vicon](http://www.vicon.com/Software/Nexus):**
- Copy your `.xcp` Vicon calibration file to the Pose2Sim `calibration` folder.
- set `convert_from` to 'vicon' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
- **From OpenCap:**
- **From [OpenCap](https://www.opencap.ai/):**
- Copy your `.pickle` OpenCap calibration files to the Pose2Sim `calibration` folder.
- set `convert_from` to 'opencap' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
- **From bioCV:**
- **From [EasyMocap](https://github.com/zju3dv/EasyMocap/):**
- Copy your `intri.yml` and `extri.yml` files to the Pose2Sim `calibration` folder.
- set `convert_from` to 'easymocap' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
- **From [bioCV](https://github.com/camera-mc-dev/.github/blob/main/profile/mocapPipe.md):**
- Copy your bioCV calibration files (no extension) to the Pose2Sim `calibration` folder.
- set `convert_from` to 'biocv' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
@ -728,11 +731,11 @@ Converts a Qualisys .qca.txt calibration file to the Pose2Sim .toml calibration
[calib_toml_to_qca.py](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Utilities/calib_toml_to_qca.py)
Converts a Pose2Sim .toml calibration file (e.g., from a checkerboard) to a Qualisys .qca.txt calibration file.
[calib_yml_to_toml.py](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Utilities/calib_yml_to_toml.py)
Converts OpenCV intrinsic and extrinsic .yml calibration files to an OpenCV .toml calibration file.
[calib_easymocap_to_toml.py](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Utilities/calib_easymocap_to_toml.py)
Converts EasyMocap intrinsic and extrinsic .yml calibration files to an OpenCV .toml calibration file.
[calib_toml_to_yml.py](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Utilities/calib_toml_to_yml.py)
Converts an OpenCV .toml calibration file to OpenCV intrinsic and extrinsic .yml calibration files.
[calib_easymocap_to_yml.py](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Utilities/calib_toml_to_easymocap.py)
Converts an OpenCV .toml calibration file to EasyMocap intrinsic and extrinsic .yml calibration files.
</pre>
</details>
@ -840,13 +843,13 @@ If you want to contribute to Pose2Sim, please follow [this guide](https://docs.g
> - [x] **Calibration:** Convert [Optitrack](https://optitrack.com/) extrinsic calibration file.
> - [x] **Calibration:** Convert [Vicon](http://www.vicon.com/Software/Nexus) .xcp calibration file.
> - [x] **Calibration:** Convert [OpenCap](https://www.opencap.ai/) .pickle calibration files.
> - [x] **Calibration:** Convert [EasyMocap](https://github.com/zju3dv/EasyMocap/) .yml calibration files.
> - [x] **Calibration:** Convert [bioCV](https://github.com/camera-mc-dev/.github/blob/main/profile/mocapPipe.md) calibration files.
> - [x] **Calibration:** Easier and clearer calibration procedure: separate intrinsic and extrinsic parameter calculation, edit corner detection if some are wrongly detected (or not visible).
> - [x] **Calibration:** Possibility to evaluate extrinsic parameters from cues on scene.
> - [ ] **Calibration:** Once object points have been detected or clicked once, track them for live calibration of moving cameras. Propose to click again when they are lost.
> - [ ] **Calibration:** Fine-tune calibration with bundle adjustment.
> - [ ] **Calibration:** Support ChArUco board detection (see [there](https://mecaruco2.readthedocs.io/en/latest/notebooks_rst/Aruco/sandbox/ludovic/aruco_calibration_rotation.html)).
> - [ ] **Calibration:** Convert bioCV (University of Bath) and OpenCap calibrations.
> - [ ] **Calibration:** Calculate calibration with points rather than board. (1) SBA calibration with wand (cf [Argus](https://argus.web.unc.edu), see converter [here](https://github.com/backyardbiomech/DLCconverterDLT/blob/master/DLTcameraPosition.py)). Set world reference frame in the end.
> - [ ] **Calibration:** Alternatively, self-calibrate with [OpenPose keypoints](https://ietresearch.onlinelibrary.wiley.com/doi/full/10.1049/cvi2.12130). Set world reference frame in the end.