Merge branch 'draft-0.4' of https://github.com/perfanalytics/pose2sim into draft-0.4

This commit is contained in:
davidpagnon 2023-08-19 08:59:34 +02:00
commit b08bba12a0
111 changed files with 554 additions and 428 deletions

View File

@ -15,7 +15,7 @@ pose_folder_name = 'pose'
pose_json_folder_extension = 'json' pose_json_folder_extension = 'json'
pose_img_folder_extension = 'img' pose_img_folder_extension = 'img'
poseAssociated_folder_name = 'pose-associated' poseAssociated_folder_name = 'pose-associated'
pose3d_folder_name = 'triangulation' pose3d_folder_name = 'pose-3d'
opensim_folder_name = 'opensim' opensim_folder_name = 'opensim'
@ -26,53 +26,53 @@ pose_model = 'BODY_25B' #CUSTOM, BODY_25B, BODY_25, BODY_135, BLAZEPOSE, HALPE_2
[calibration] [calibration]
calibration_type = 'convert' # 'convert' or 'calculate' calibration_type = 'calculate' # 'convert' or 'calculate'
[calibration.convert] [calibration.convert]
convert_from = 'qualisys' # 'qualisys', 'optitrack', or 'vicon' convert_from = 'qualisys' # 'qualisys', 'optitrack', or 'vicon'
[calibration.convert.qualisys] [calibration.convert.qualisys]
binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2 binning_factor = 1 # Usually 1, except when filming in 540p where it usually is 2
[calibration.calculate] # coming later: 'points' [calibration.calculate]
calculate_method = 'board' # 'board' or 'points' calculate_method = 'board' # 'board' or 'points'
[calibration.calculate.board.intrinsics] # camera properties, only needs to be done once [calibration.calculate.board.intrinsics] # camera properties, only needs to be done once
intrinsics_board_type = 'checkerboard' # 'checkerboard' ('charucoboard' not supported yet) intrinsics_board_type = 'checkerboard' # 'checkerboard' ('charucoboard' not supported yet)
overwrite_intrinsics = false # overwrite (or not) if they have already been calculated?
show_detection_intrinsics = true # true or false (lowercase)
overwrite_intrinsics = false # overwrite (or not) if they have already been calculated? intrinsics_extension = 'jpg' # any video or image extension
intrinsics_extension = 'avi' # any video or image extension extract_every_N_sec = 1 # if video, extract frames every N seconds (can be <1 )
extract_every_N_sec = 1 # if video, extract frames every N seconds (can be <1 )
show_detection_intrinsics = true # true or false (lowercase). Close window to proceed to next detection
intrinsics_corners_nb = [6,9]
intrinsics_square_size = 80 # mm
intrinsics_marker_size = 60 # mm # only checked if charucoboard
intrinsics_aruco_dict = 'DICT_6X6_250' # only checked if charucoboard # see https://docs.opencv.org/3.4/dc/df7/dictionary_8hpp.html
[calibration.calculate.board.extrinsics] # camera placement, needs to be done every time intrinsics_corners_nb = [4,7]
extrinsics_board_type = 'checkerboard' # 'checkerboard', 'scene' ('charucoboard' not supported yet) intrinsics_square_size = 60 # mm
# 'board' should be large enough to be detected when laid on the floor. intrinsics_marker_size = 40 # mm # only checked if charucoboard
# 'scene' involves manually clicking any point of know coordinates on scene. Usually more accurate if points are spread out intrinsics_aruco_dict = 'DICT_6X6_250' # only checked if charucoboard # see https://docs.opencv.org/3.4/dc/df7/dictionary_8hpp.html
calculate_extrinsic = true # true or false (lowercase) [calibration.calculate.board.extrinsics] # camera placement, needs to be done every time
extrinsics_extension = 'avi' # any video or image extension extrinsics_board_type = 'scene' # 'checkerboard', 'scene' ('charucoboard' not supported yet)
# 'board' should be large enough to be detected when laid on the floor.
# if extrinsics_board_type = 'checkerboard' or 'charucoboard' # 'scene' involves manually clicking any point of know coordinates on scene. Usually more accurate if points are spread out
extrinsics_corners_nb = [6,9] # [H,W] rather than [w,h] calculate_extrinsics = true # true or false (lowercase)
extrinsics_square_size = 80 # mm # [h,w] if square is actually a rectangle show_reprojection_error = true # true or false (lowercase)
extrinsics_marker_size = 60 # mm # only checked if 'charucoboard' (not supported yet)
extrinsics_aruco_dict = 'DICT_6X6_250' # only checked if 'charucoboard' # see https://docs.opencv.org/3.4/dc/df7/dictionary_8hpp.html extrinsics_extension = 'png' # any video or image extension
# if extrinsics_board_type = 'scene' # if extrinsics_board_type = 'checkerboard' or 'charucoboard'
# list of 3D coordinates to be manually labelled on images. Can also be 2 dimensional. extrinsics_corners_nb = [4,7] # [H,W] rather than [w,h]
object_coords_3d = [[0,0,0],[10,0,0],[10,0,0],[10,10,0],[5,5,5]] extrinsics_square_size = 60 # mm # [h,w] if square is actually a rectangle
extrinsics_marker_size = 40 # mm # only checked if 'charucoboard' (not supported yet)
extrinsics_aruco_dict = 'DICT_6X6_250' # only checked if 'charucoboard' # see https://docs.opencv.org/3.4/dc/df7/dictionary_8hpp.html
[calibration.calculate.points]
calibration_points = 'wand' # 'wand' or 'keypoints' # if extrinsics_board_type = 'scene'
# Not supported yet. # list of 3D coordinates to be manually labelled on images. Can also be a 2 dimensional plane. # in m
object_coords_3d = [[-2.0, 0.3, 0.0], [-2.0 , 0.0, 0.0], [-2.0, 0.0, 0.05], [-2.0, -0.3 , 0.0], [0.0, 0.3, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.05], [0.0, -0.3, 0.0]] # in meters -> Not in mm! <-
[calibration.calculate.points]
calibration_points = 'wand' # 'wand' or 'keypoints'
# Not supported yet.
[personAssociation] [personAssociation]
@ -91,15 +91,17 @@ show_interp_indices = false # true or false (lowercase). For each keypoint, retu
[filtering] [filtering]
type = 'butterworth' # butterworth, butterworth_on_speed, gaussian, LOESS, median type = 'butterworth' # butterworth, kalman, gaussian, LOESS, median, butterworth_on_speed
display_figures = true # true or false (lowercase) display_figures = true # true or false (lowercase)
[filtering.butterworth] [filtering.butterworth]
type = 'low'
order = 4 order = 4
cut_off_frequency = 6 # Hz cut_off_frequency = 6 # Hz
[filtering.kalman]
# How much more do you trust triangulation results (measurements), than previous data (process assuming constant acceleration)?
trust_ratio = 100 # = measurement_trust/process_trust ~= process_noise/measurement_noise
smooth = true # should be true, unless you need real-time filtering
[filtering.butterworth_on_speed] [filtering.butterworth_on_speed]
type = 'low'
order = 4 order = 4
cut_off_frequency = 10 # Hz cut_off_frequency = 10 # Hz
[filtering.gaussian] [filtering.gaussian]

View File

@ -2,7 +2,7 @@
<calibration created="sometimes ago" longArmEnd="none" longArmMiddle="none" maximumFrames="none" qtm-version="none" shortArmEnd="none" source="calibration_qca_rotated.qca.txt" type="regular" wandLength="none"> <calibration created="sometimes ago" longArmEnd="none" longArmMiddle="none" maximumFrames="none" qtm-version="none" shortArmEnd="none" source="calibration_qca_rotated.qca.txt" type="regular" wandLength="none">
<results min-max-diff="0." std-dev="0."/> <results min-max-diff="0." std-dev="0."/>
<cameras> <cameras>
<camera active="1" avg-residual="0.402000" model="none" point-count="999999999" serial="cam01" viewrotation="0"> <camera active="1" avg-residual="0.402000" model="none" point-count="999999999" serial="cam_01" viewrotation="0">
<fov_marker bottom="1919" left="0" right="1087" top="0"/> <fov_marker bottom="1919" left="0" right="1087" top="0"/>
<fov_marker_max bottom="1919" left="0" right="1087" top="0"/> <fov_marker_max bottom="1919" left="0" right="1087" top="0"/>
<fov_video bottom="1919" left="0" right="1087" top="0"/> <fov_video bottom="1919" left="0" right="1087" top="0"/>
@ -10,7 +10,7 @@
<transform r11="0.5536380477336265" r12="0.8046719867383512" r13="0.2144479094331626" r21="-0.4345300743838753" r22="0.05946489349975602" r23="0.8986921279821063" r31="0.7104002579937896" r32="-0.5907342212870501" r33="0.3825762057979294" x="1460.2323709212087" y="-1909.1590482454608" z="1896.5058524092062"/> <transform r11="0.5536380477336265" r12="0.8046719867383512" r13="0.2144479094331626" r21="-0.4345300743838753" r22="0.05946489349975602" r23="0.8986921279821063" r31="0.7104002579937896" r32="-0.5907342212870501" r33="0.3825762057979294" x="1460.2323709212087" y="-1909.1590482454608" z="1896.5058524092062"/>
<intrinsic centerPointU="34110.316406" centerPointV="60680.792969" focalLengthU="107599.671875" focalLengthV="107588.828125" focallength="9.314096596679686" radialDistortion1="-0.046183" radialDistortion2="0.139983" radialDistortion3="0.000000" sensorMaxU="69568" sensorMaxV="122816" sensorMinU="0.000000" sensorMinV="0.000000" skew="0.000000" tangentalDistortion1="0.000608" tangentalDistortion2="0.00069"/> <intrinsic centerPointU="34110.316406" centerPointV="60680.792969" focalLengthU="107599.671875" focalLengthV="107588.828125" focallength="9.314096596679686" radialDistortion1="-0.046183" radialDistortion2="0.139983" radialDistortion3="0.000000" sensorMaxU="69568" sensorMaxV="122816" sensorMinU="0.000000" sensorMinV="0.000000" skew="0.000000" tangentalDistortion1="0.000608" tangentalDistortion2="0.00069"/>
</camera> </camera>
<camera active="1" avg-residual="0.444749" model="none" point-count="999999999" serial="cam02" viewrotation="0"> <camera active="1" avg-residual="0.444749" model="none" point-count="999999999" serial="cam_02" viewrotation="0">
<fov_marker bottom="1919" left="0" right="1087" top="0"/> <fov_marker bottom="1919" left="0" right="1087" top="0"/>
<fov_marker_max bottom="1919" left="0" right="1087" top="0"/> <fov_marker_max bottom="1919" left="0" right="1087" top="0"/>
<fov_video bottom="1919" left="0" right="1087" top="0"/> <fov_video bottom="1919" left="0" right="1087" top="0"/>
@ -18,7 +18,7 @@
<transform r11="-0.1966832217091926" r12="0.979523227309506" r13="-0.043011131806342306" r21="-0.31478107085300017" r22="-0.02153908797812718" r23="0.9489198834051846" r31="0.9285626460991909" r32="0.20017570994064315" r33="0.3125717476340885" x="2582.0136248568124" y="706.5662881637625" z="1690.9818366061595"/> <transform r11="-0.1966832217091926" r12="0.979523227309506" r13="-0.043011131806342306" r21="-0.31478107085300017" r22="-0.02153908797812718" r23="0.9489198834051846" r31="0.9285626460991909" r32="0.20017570994064315" r33="0.3125717476340885" x="2582.0136248568124" y="706.5662881637625" z="1690.9818366061595"/>
<intrinsic centerPointU="34207.652344" centerPointV="61646.457031" focalLengthU="107118.695313" focalLengthV="107123.023438" focallength="9.272462063031563" radialDistortion1="-0.047847" radialDistortion2="0.136786" radialDistortion3="0.000000" sensorMaxU="69568" sensorMaxV="122816" sensorMinU="0.000000" sensorMinV="0.000000" skew="0.000000" tangentalDistortion1="0.000972" tangentalDistortion2="0.000291"/> <intrinsic centerPointU="34207.652344" centerPointV="61646.457031" focalLengthU="107118.695313" focalLengthV="107123.023438" focallength="9.272462063031563" radialDistortion1="-0.047847" radialDistortion2="0.136786" radialDistortion3="0.000000" sensorMaxU="69568" sensorMaxV="122816" sensorMinU="0.000000" sensorMinV="0.000000" skew="0.000000" tangentalDistortion1="0.000972" tangentalDistortion2="0.000291"/>
</camera> </camera>
<camera active="1" avg-residual="0.450323" model="none" point-count="999999999" serial="cam03" viewrotation="0"> <camera active="1" avg-residual="0.450323" model="none" point-count="999999999" serial="cam_03" viewrotation="0">
<fov_marker bottom="1919" left="0" right="1087" top="0"/> <fov_marker bottom="1919" left="0" right="1087" top="0"/>
<fov_marker_max bottom="1919" left="0" right="1087" top="0"/> <fov_marker_max bottom="1919" left="0" right="1087" top="0"/>
<fov_video bottom="1919" left="0" right="1087" top="0"/> <fov_video bottom="1919" left="0" right="1087" top="0"/>
@ -26,7 +26,7 @@
<transform r11="-0.740641130147863" r12="-0.6704153360235378" r13="-0.044654154988568895" r21="0.25251118212268814" r22="-0.3393170985114385" r23="0.9061467925015139" r31="-0.6226466246887545" r32="0.6598539110153292" r33="0.4205995683324882" x="-3216.86586729648" y="2231.1786368869416" z="2088.19103027083"/> <transform r11="-0.740641130147863" r12="-0.6704153360235378" r13="-0.044654154988568895" r21="0.25251118212268814" r22="-0.3393170985114385" r23="0.9061467925015139" r31="-0.6226466246887545" r32="0.6598539110153292" r33="0.4205995683324882" x="-3216.86586729648" y="2231.1786368869416" z="2088.19103027083"/>
<intrinsic centerPointU="32845.335938" centerPointV="61120.328125" focalLengthU="107622.296875" focalLengthV="107616.632813" focallength="9.316055073242188" radialDistortion1="-0.046705" radialDistortion2="0.137622" radialDistortion3="0.000000" sensorMaxU="69568" sensorMaxV="122816" sensorMinU="0.000000" sensorMinV="0.000000" skew="0.000000" tangentalDistortion1="-0.000542" tangentalDistortion2="-0.000517"/> <intrinsic centerPointU="32845.335938" centerPointV="61120.328125" focalLengthU="107622.296875" focalLengthV="107616.632813" focallength="9.316055073242188" radialDistortion1="-0.046705" radialDistortion2="0.137622" radialDistortion3="0.000000" sensorMaxU="69568" sensorMaxV="122816" sensorMinU="0.000000" sensorMinV="0.000000" skew="0.000000" tangentalDistortion1="-0.000542" tangentalDistortion2="-0.000517"/>
</camera> </camera>
<camera active="1" avg-residual="0.504772" model="none" point-count="999999999" serial="cam04" viewrotation="0"> <camera active="1" avg-residual="0.504772" model="none" point-count="999999999" serial="cam_04" viewrotation="0">
<fov_marker bottom="1919" left="0" right="1087" top="0"/> <fov_marker bottom="1919" left="0" right="1087" top="0"/>
<fov_marker_max bottom="1919" left="0" right="1087" top="0"/> <fov_marker_max bottom="1919" left="0" right="1087" top="0"/>
<fov_video bottom="1919" left="0" right="1087" top="0"/> <fov_video bottom="1919" left="0" right="1087" top="0"/>

View File

@ -1,30 +0,0 @@
[cam_1]
name = "cam_01"
size = [ 1920.0, 1080.0]
matrix = [ [ 1203.246243533484, 0.0, 959.5], [ 0.0, 1198.3711959207449, 539.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.044787602246347216, -0.5273833010005556, 0.009327766682582903, 0.00034371130233083687]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_2]
name = "cam_02"
size = [ 1920.0, 1080.0]
matrix = [ [ 1201.3535871331092, 0.0, 959.5], [ 0.0, 1296.9584035037935, 539.5], [ 0.0, 0.0, 1.0]]
distortions = [ 0.016997873879159856, 0.15076005731825853, -0.07849748162325841, 0.0031187917923049886]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_3]
name = "cam_03"
size = [ 1920.0, 1080.0]
matrix = [ [ 1375.7450722547337, 0.0, 959.5], [ 0.0, 1367.6433832166495, 539.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.008547555195961013, -0.1321001559843561, 0.002017158533123475, 0.0033830082027901435]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[metadata]
adjusted = false
error = 0.0

View File

@ -1,30 +0,0 @@
[cam_1]
name = "cam_01"
size = [ 1920.0, 1080.0]
matrix = [ [ 1206.3039773711387, 0.0, 959.5], [ 0.0, 1201.3900241712472, 539.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.048195523248209984, -0.49433115008284967, 0.009146097668361275, 0.00023449575614186346]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_2]
name = "cam_02"
size = [ 1920.0, 1080.0]
matrix = [ [ 1201.3535871331092, 0.0, 959.5], [ 0.0, 1296.9584035037935, 539.5], [ 0.0, 0.0, 1.0]]
distortions = [ 0.016997873879159856, 0.15076005731825853, -0.07849748162325841, 0.0031187917923049886]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_3]
name = "cam_03"
size = [ 1920.0, 1080.0]
matrix = [ [ 1334.9930217175306, 0.0, 959.5], [ 0.0, 1527.484911404606, 539.5], [ 0.0, 0.0, 1.0]]
distortions = [ 0.03903616767043438, -0.21066010320288212, -0.024219751825038247, 0.004221082947531837]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[metadata]
adjusted = false
error = 0.0

View File

@ -0,0 +1,39 @@
[cam_01]
name = "cam_01"
size = [ 1088.0, 1920.0]
matrix = [ [ 1681.244873046875, 0.0, 532.97369384375], [ 0.0, 1681.075439453125, 948.137390140625], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000721609375, 0.002187234375, 9.5e-06, 1.078125e-05]
rotation = [ [1.70179346], [1.04839803], [-0.40602443]]
translation = [ [0.31962238], [0.93995713], [2.97508412]]
fisheye = false
[cam_02]
name = "cam_02"
size = [ 1088.0, 1920.0]
matrix = [ [ 1673.729614265625, 0.0, 534.494567875], [ 0.0, 1673.79724121875, 963.225891109375], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000747609375, 0.00213728125, 1.51875e-05, 4.546875e-06]
rotation = [ [1.35902244], [1.60141928], [-1.18177902]]
translation = [ [-0.12599186], [0.74502948], [3.17221429]]
fisheye = false
[cam_03]
name = "cam_03"
size = [ 1088.0, 1920.0]
matrix = [ [ 1681.598388671875, 0.0, 513.20837403125], [ 0.0, 1681.509887703125, 955.005126953125], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000729765625, 0.00215034375, -8.46875e-06, -8.078125e-06]
rotation = [ [0.81816165], [-2.22184308], [1.4608978]]
translation = [ [-0.76301979], [0.34503189], [4.43845847]]
fisheye = false
[cam_04]
name = "cam_04"
size = [ 1088.0, 1920.0]
matrix = [ [ 1675.234985359375, 0.0, 540.106201171875], [ 0.0, 1675.204223640625, 964.0302734375], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000744265625, 0.002104171875, 4.328125e-06, 3.109375e-06]
rotation = [ [1.4245729], [-1.39512301], [0.45721172]]
translation = [ [0.48659282], [0.02675454], [4.33496911]]
fisheye = false
[metadata]
adjusted = false
error = 0.0

View File

@ -0,0 +1,39 @@
[cam_1]
name = "cam_01"
size = [ 1088.0, 1920.0]
matrix = [ [ 1687.6396622414502, 0.0, 543.5], [ 0.0, 1686.6625452424132, 959.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.05054882348909584, 0.1576374662929963, 0.002210439026715273, -0.002164250840100675]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_2]
name = "cam_02"
size = [ 1088.0, 1920.0]
matrix = [ [ 1687.859605173682, 0.0, 543.5], [ 0.0, 1685.4371774565182, 959.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.03518095956993663, 0.037170387967130306, 0.0017983248726869015, -0.0018747264134721386]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_3]
name = "cam_03"
size = [ 1088.0, 1920.0]
matrix = [ [ 1680.286039024573, 0.0, 543.5], [ 0.0, 1681.1761700950424, 959.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.030304789365317657, 0.04613237843981006, 0.004618104732402956, -0.001684974310757026]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[cam_4]
name = "cam_04"
size = [ 1088.0, 1920.0]
matrix = [ [ 1689.483288223434, 0.0, 543.5], [ 0.0, 1688.5630322142706, 959.5], [ 0.0, 0.0, 1.0]]
distortions = [ -0.04369424846208241, 0.12212413289800295, 0.0017367557051414114, -0.0018985222378279064]
rotation = [ 0, 0, 0]
translation = [ 0, 0, 0]
fisheye = false
[metadata]
adjusted = false
error = 0.0

View File

@ -1,5 +1,5 @@
[cam_1] [cam_01]
name = "cam01" name = "cam_01"
size = [ 1088.0, 1920.0] size = [ 1088.0, 1920.0]
matrix = [ [ 1681.244873046875, 0.0, 532.97369384375], [ 0.0, 1681.075439453125, 948.137390140625], [ 0.0, 0.0, 1.0]] matrix = [ [ 1681.244873046875, 0.0, 532.97369384375], [ 0.0, 1681.075439453125, 948.137390140625], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000721609375, 0.002187234375, 9.5e-06, 1.078125e-05] distortions = [ -0.000721609375, 0.002187234375, 9.5e-06, 1.078125e-05]
@ -7,31 +7,31 @@ rotation = [ 1.6882754799999993, 1.0483220499999997, -0.41955852000000016]
translation = [ 0.3211048899999996, 0.9563320600000009, 2.8907130499999996] translation = [ 0.3211048899999996, 0.9563320600000009, 2.8907130499999996]
fisheye = false fisheye = false
[cam_2] [cam_02]
name = "cam02" name = "cam_02"
size = [ 1088.0, 1920.0] size = [ 1088.0, 1920.0]
matrix = [ [ 1673.729614265625, 0.0, 534.494567875], [ 0.0, 1673.79724121875, 963.225891109375], [ 0.0, 0.0, 1.0]] matrix = [ [ 1673.729614265625, 0.0, 534.494567875], [ 0.0, 1673.79724121875, 963.225891109375], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000747609375, 0.00213728125, 1.51875e-05, 4.546875e-06] distortions = [ -0.000747609375, 0.00213728125, 1.51875e-05, 4.546875e-06]
rotation = [ 1.34975875, 1.5963809099999993, -1.1983285799999999] rotation = [ 1.34975875, 1.5963809099999993, -1.1983285799999999]
translation = [ -0.1115282900000002, 0.7766184800000001, 3.0675519599999994] translation = [ -0.11152829000000017, 0.7766184800000001, 3.0675519599999994]
fisheye = false fisheye = false
[cam_3] [cam_03]
name = "cam03" name = "cam_03"
size = [ 1088.0, 1920.0] size = [ 1088.0, 1920.0]
matrix = [ [ 1681.598388671875, 0.0, 513.20837403125], [ 0.0, 1681.509887703125, 955.005126953125], [ 0.0, 0.0, 1.0]] matrix = [ [ 1681.598388671875, 0.0, 513.20837403125], [ 0.0, 1681.509887703125, 955.005126953125], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000729765625, 0.00215034375, -8.46875e-06, -8.078125e-06] distortions = [ -0.000729765625, 0.00215034375, -8.46875e-06, -8.078125e-06]
rotation = [ 0.8109654899999995, -2.1972129299999996, 1.3760277799999996] rotation = [ 0.8109654899999995, -2.1972129299999996, 1.3760277799999996]
translation = [ -0.7934803899999995, 0.32283594000000126, 4.353514870000001] translation = [ -0.7934803899999996, 0.32283594000000126, 4.353514870000001]
fisheye = false fisheye = false
[cam_4] [cam_04]
name = "cam04" name = "cam_04"
size = [ 1088.0, 1920.0] size = [ 1088.0, 1920.0]
matrix = [ [ 1675.234985359375, 0.0, 540.106201171875], [ 0.0, 1675.204223640625, 964.0302734375], [ 0.0, 0.0, 1.0]] matrix = [ [ 1675.234985359375, 0.0, 540.106201171875], [ 0.0, 1675.204223640625, 964.0302734375], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000744265625, 0.002104171875, 4.328125e-06, 3.109375e-06] distortions = [ -0.000744265625, 0.002104171875, 4.328125e-06, 3.109375e-06]
rotation = [ 1.4045571699999995, -1.3887412699999993, 0.42535743000000026] rotation = [ 1.4045571699999995, -1.3887412699999993, 0.42535743000000026]
translation = [ 0.5030217200000006, 0.04894934000000085, 4.406564460000002] translation = [ 0.5030217200000007, 0.04894934000000083, 4.406564460000002]
fisheye = false fisheye = false
[metadata] [metadata]

View File

@ -0,0 +1,39 @@
[cam_1]
name = "cam01"
size = [ 1088.0, 1920.0]
matrix = [ [ 1681.244873046875, 0.0, 532.97369384375], [ 0.0, 1681.075439453125, 948.137390140625], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000721609375, 0.002187234375, 9.5e-06, 1.078125e-05]
rotation = [ 1.6882754799999993, 1.0483220499999997, -0.41955852000000016]
translation = [ 0.3211048899999996, 0.9563320600000009, 2.8907130499999996]
fisheye = false
[cam_2]
name = "cam02"
size = [ 1088.0, 1920.0]
matrix = [ [ 1673.729614265625, 0.0, 534.494567875], [ 0.0, 1673.79724121875, 963.225891109375], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000747609375, 0.00213728125, 1.51875e-05, 4.546875e-06]
rotation = [ 1.34975875, 1.5963809099999993, -1.1983285799999999]
translation = [ -0.11152829000000017, 0.7766184800000001, 3.0675519599999994]
fisheye = false
[cam_3]
name = "cam03"
size = [ 1088.0, 1920.0]
matrix = [ [ 1681.598388671875, 0.0, 513.20837403125], [ 0.0, 1681.509887703125, 955.005126953125], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000729765625, 0.00215034375, -8.46875e-06, -8.078125e-06]
rotation = [ 0.8109654899999995, -2.1972129299999996, 1.3760277799999996]
translation = [ -0.7934803899999996, 0.32283594000000126, 4.353514870000001]
fisheye = false
[cam_4]
name = "cam04"
size = [ 1088.0, 1920.0]
matrix = [ [ 1675.234985359375, 0.0, 540.106201171875], [ 0.0, 1675.204223640625, 964.0302734375], [ 0.0, 0.0, 1.0]]
distortions = [ -0.000744265625, 0.002104171875, 4.328125e-06, 3.109375e-06]
rotation = [ 1.4045571699999995, -1.3887412699999993, 0.42535743000000026]
translation = [ 0.5030217200000007, 0.04894934000000083, 4.406564460000002]
fisheye = false
[metadata]
adjusted = false
error = 0.0

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