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new goal: live calibration of moving cameras

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davidpagnon 2023-09-10 00:44:11 +02:00
parent aacd2eef92
commit 88d51be864
2 changed files with 2 additions and 1 deletions
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1
Pose2Sim/Demo/User/Config.toml
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@ -53,6 +53,7 @@ calibration_type = 'convert' # 'convert' or 'calculate'
extrinsics_board_type = 'scene' # 'checkerboard', 'scene' ('charucoboard' not supported yet) extrinsics_board_type = 'scene' # 'checkerboard', 'scene' ('charucoboard' not supported yet)
# 'board' should be large enough to be detected when laid on the floor. # 'board' should be large enough to be detected when laid on the floor.
# 'scene' involves manually clicking any point of know coordinates on scene. Usually more accurate if points are spread out # 'scene' involves manually clicking any point of know coordinates on scene. Usually more accurate if points are spread out
moving_camera = false # Not implemented yet
calculate_extrinsics = true # true or false (lowercase) calculate_extrinsics = true # true or false (lowercase)
show_reprojection_error = true # true or false (lowercase) show_reprojection_error = true # true or false (lowercase)
extrinsics_extension = 'png' # any video or image extension extrinsics_extension = 'png' # any video or image extension

2
README.md
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@ -800,7 +800,7 @@ If you want to contribute to Pose2Sim, please follow [this guide](https://docs.g
> - [x] **Calibration:** Convert Vicon [.xcp calibration file](https://montrealrobotics.ca/diffcvgp/assets/papers/7.pdf). > - [x] **Calibration:** Convert Vicon [.xcp calibration file](https://montrealrobotics.ca/diffcvgp/assets/papers/7.pdf).
> - [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:** 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. > - [x] **Calibration:** Possibility to evaluate extrinsic parameters from cues on scene.
> - [ ] **Calibration:** Track extrinsics reference points frame by frame for calibration of moving cameras. > - [ ] **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:** 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:** Support ChArUco board detection (see [there](https://mecaruco2.readthedocs.io/en/latest/notebooks_rst/Aruco/sandbox/ludovic/aruco_calibration_rotation.html)).
> - [ ] **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:** 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.