Support caliscope calibration + fixed multi-person tracking
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davidpagnon
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@ -67,7 +67,8 @@ filter_order = 4
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calibration_type = 'convert' # 'convert' or 'calculate'
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[calibration.convert]
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convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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convert_from = 'caliscope' # 'caliscope', 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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[calibration.convert.caliscope] # No parameter needed
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[calibration.convert.qualisys]
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binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
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[calibration.convert.optitrack] # See readme for instructions
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@ -67,7 +67,8 @@
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# calibration_type = 'convert' # 'convert' or 'calculate'
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# [calibration.convert]
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# convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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# convert_from = 'caliscope' # 'caliscope', 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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# [calibration.convert.caliscope] # No parameter needed
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# [calibration.convert.qualisys]
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# binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
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# [calibration.convert.optitrack] # See readme for instructions
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@ -67,7 +67,8 @@ keypoints_to_consider = 'all' # 'all' if all points should be considered, for ex
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# calibration_type = 'convert' # 'convert' or 'calculate'
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# [calibration.convert]
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# convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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# convert_from = 'caliscope' # 'caliscope', 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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# [calibration.convert.caliscope] # No parameter needed
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# [calibration.convert.qualisys]
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# binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
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# [calibration.convert.optitrack] # See readme for instructions
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@ -67,7 +67,8 @@ filter_order = 4
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calibration_type = 'convert' # 'convert' or 'calculate'
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[calibration.convert]
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convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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convert_from = 'caliscope' # 'caliscope', 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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[calibration.convert.caliscope] # No parameter needed
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[calibration.convert.qualisys]
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binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
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[calibration.convert.optitrack] # See readme for instructions
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@ -67,8 +67,8 @@ filter_order = 4
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calibration_type = 'convert' # 'convert' or 'calculate'
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[calibration.convert]
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convert_from = 'qualisys' # 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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[calibration.convert.qualisys]
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convert_from = 'caliscope' # 'caliscope', 'qualisys', 'optitrack', vicon', 'opencap', 'easymocap', 'biocv', 'anipose', or 'freemocap'
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[calibration.convert.caliscope] # No parameter needed
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binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
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[calibration.convert.optitrack] # See readme for instructions
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[calibration.convert.vicon] # No parameter needed
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@ -112,17 +112,19 @@ def retrieve_calib_params(calib_file):
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calib = toml.load(calib_file)
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cal_keys = [c for c in calib.keys()
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if c not in ['metadata', 'capture_volume', 'charuco', 'checkerboard']
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and isinstance(calib[c],dict)]
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S, K, dist, optim_K, inv_K, R, R_mat, T = [], [], [], [], [], [], [], []
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for c, cam in enumerate(calib.keys()):
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if cam != 'metadata':
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S.append(np.array(calib[cam]['size']))
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K.append(np.array(calib[cam]['matrix']))
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dist.append(np.array(calib[cam]['distortions']))
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optim_K.append(cv2.getOptimalNewCameraMatrix(K[c], dist[c], [int(s) for s in S[c]], 1, [int(s) for s in S[c]])[0])
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inv_K.append(np.linalg.inv(K[c]))
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R.append(np.array(calib[cam]['rotation']))
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R_mat.append(cv2.Rodrigues(R[c])[0])
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T.append(np.array(calib[cam]['translation']))
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for c, cam in enumerate(cal_keys):
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S.append(np.array(calib[cam]['size']))
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K.append(np.array(calib[cam]['matrix']))
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dist.append(np.array(calib[cam]['distortions']))
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optim_K.append(cv2.getOptimalNewCameraMatrix(K[c], dist[c], [int(s) for s in S[c]], 1, [int(s) for s in S[c]])[0])
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inv_K.append(np.linalg.inv(K[c]))
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R.append(np.array(calib[cam]['rotation']))
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R_mat.append(cv2.Rodrigues(R[c])[0])
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T.append(np.array(calib[cam]['translation']))
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calib_params = {'S': S, 'K': K, 'dist': dist, 'inv_K': inv_K, 'optim_K': optim_K, 'R': R, 'R_mat': R_mat, 'T': T}
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return calib_params
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@ -142,22 +144,24 @@ def computeP(calib_file, undistort=False):
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calib = toml.load(calib_file)
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cal_keys = [c for c in calib.keys()
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if c not in ['metadata', 'capture_volume', 'charuco', 'checkerboard']
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and isinstance(calib[c],dict)]
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P = []
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for cam in list(calib.keys()):
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if cam != 'metadata':
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K = np.array(calib[cam]['matrix'])
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if undistort:
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S = np.array(calib[cam]['size'])
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dist = np.array(calib[cam]['distortions'])
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optim_K = cv2.getOptimalNewCameraMatrix(K, dist, [int(s) for s in S], 1, [int(s) for s in S])[0]
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Kh = np.block([optim_K, np.zeros(3).reshape(3,1)])
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else:
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Kh = np.block([K, np.zeros(3).reshape(3,1)])
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R, _ = cv2.Rodrigues(np.array(calib[cam]['rotation']))
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T = np.array(calib[cam]['translation'])
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H = np.block([[R,T.reshape(3,1)], [np.zeros(3), 1 ]])
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P.append(Kh @ H)
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for cam in list(cal_keys):
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K = np.array(calib[cam]['matrix'])
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if undistort:
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S = np.array(calib[cam]['size'])
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dist = np.array(calib[cam]['distortions'])
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optim_K = cv2.getOptimalNewCameraMatrix(K, dist, [int(s) for s in S], 1, [int(s) for s in S])[0]
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Kh = np.block([optim_K, np.zeros(3).reshape(3,1)])
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else:
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Kh = np.block([K, np.zeros(3).reshape(3,1)])
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R, _ = cv2.Rodrigues(np.array(calib[cam]['rotation']))
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T = np.array(calib[cam]['translation'])
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H = np.block([[R,T.reshape(3,1)], [np.zeros(3), 1 ]])
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P.append(Kh @ H)
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return P
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@ -133,6 +133,7 @@ def sort_people_sports2d(keyptpre, keypt, scores):
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frame_by_frame_dist = []
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for comb in personsIDs_comb:
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frame_by_frame_dist += [euclidean_distance(keyptpre[comb[0]],keypt[comb[1]])]
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frame_by_frame_dist = np.mean(frame_by_frame_dist, axis=1)
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# Sort correspondences by distance
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_, _, associated_tuples = min_with_single_indices(frame_by_frame_dist, personsIDs_comb)
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@ -449,6 +449,9 @@ Output file:
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### Convert from Qualisys, Optitrack, Vicon, OpenCap, EasyMocap, or bioCV
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If you already have a calibration file, set `calibration_type` type to `convert` in your [Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file.
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- **From [Caliscope](https://mprib.github.io/caliscope/):**
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- Copy your Caliscope `.toml` calibration file to the Pose2Sim `Calibration` folder.
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- Calibration can be skipped since Pose2Sim can natively read the Caliscope format.
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- **From [Qualisys](https://www.qualisys.com):**
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- Export calibration to `.qca.txt` within QTM.
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- Copy it in the `Calibration` Pose2Sim folder.
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