ready to merge

Pose2Sim/calibration.py

@@ -545,14 +545,14 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
                 cv2.circle(img, (int(o[0]), int(o[1])), 8, (0,0,255), -1) 
             for i in imgp:
                 cv2.drawMarker(img, (int(i[0][0]), int(i[0][1])), (0,255,0), cv2.MARKER_CROSS, 15, 2)
-            cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .5, (255,255,255), 2, lineType = cv2.LINE_AA)
+            cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
-            cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1, lineType = cv2.LINE_AA) 
+            cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA) 
             cv2.drawMarker(img, (20,40), (0,255,0), cv2.MARKER_CROSS, 15, 2)
-            cv2.putText(img, '    Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .5, (255,255,255), 2, lineType = cv2.LINE_AA)
+            cv2.putText(img, '    Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
-            cv2.putText(img, '    Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1, lineType = cv2.LINE_AA)    
+            cv2.putText(img, '    Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
             cv2.circle(img, (20,60), 8, (0,0,255), -1)    
-            cv2.putText(img, '    Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .5, (255,255,255), 2, lineType = cv2.LINE_AA)
+            cv2.putText(img, '    Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
-            cv2.putText(img, '    Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1, lineType = cv2.LINE_AA)    
+            cv2.putText(img, '    Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
             im_pil = Image.fromarray(img)
             im_pil.show(title = os.path.basename(img_vid_files[0]))
 
@@ -617,8 +617,8 @@ def findCorners(img_path, corner_nb, objp=[], show=True):
             # Add corner index 
             for i, corner in enumerate(imgp):
                 x, y = corner.ravel()
-                cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .5, (255, 255, 255), 2) 
+                cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .8, (255, 255, 255), 7) 
-                cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1) 
+                cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .8, (0,0,0), 2) 
             
             # Visualizer and key press event handler
             for var_to_delete in ['imgp_confirmed', 'objp_confirmed']:
@@ -677,6 +677,7 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
         global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count
         
         if event.key == 'y':
+            # TODO: DETECT WHEN WINDOW IS CLOSED
             # If 'y', close all
             # If points have been clicked, imgp_confirmed is returned, else imgp
             # If objp is given, objp_confirmed is returned in addition
@@ -869,19 +870,19 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
         ax.set_zlim3d([z_middle - plot_radius, z_middle + plot_radius])
 
     # Write instructions
-    cv2.putText(img, 'Type "Y" to accept point detection.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, 'Type "Y" to accept point detection.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, 'Type "Y" to accept point detection.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
-    cv2.putText(img, 'If points are wrongfully (or not) detected:', (20, 43), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, 'If points are wrongfully (or not) detected:', (20, 43), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, 'If points are wrongfully (or not) detected:', (20, 43), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
-    cv2.putText(img, '- type "N" to dismiss this image,', (20, 66), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, '- type "N" to dismiss this image,', (20, 66), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, '- type "N" to dismiss this image,', (20, 66), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
-    cv2.putText(img, '- type "C" to click points by hand (beware of their order).', (20, 89), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, '- type "C" to click points by hand (beware of their order).', (20, 89), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, '- type "C" to click points by hand (beware of their order).', (20, 89), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
-    cv2.putText(img, '   left click to add a point, right click to remove it, "H" to indicate it is not visible. ', (20, 112), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, '   left click to add a point, right click to remove it, "H" to indicate it is not visible. ', (20, 112), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, '   left click to add a point, right click to remove it, "H" to indicate it is not visible. ', (20, 112), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
-    cv2.putText(img, '   Confirm with "Y", cancel with "N".', (20, 135), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, '   Confirm with "Y", cancel with "N".', (20, 135), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, '   Confirm with "Y", cancel with "N".', (20, 135), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
-    cv2.putText(img, 'Use mouse wheel to zoom in and out and to pan', (20, 158), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
+    cv2.putText(img, 'Use mouse wheel to zoom in and out and to pan', (20, 158), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
     cv2.putText(img, 'Use mouse wheel to zoom in and out and to pan', (20, 158), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)    
     
     # Put image in a matplotlib figure for more controls

README.md

@@ -250,13 +250,14 @@ If you already have a calibration file, set `calibration_type` type to `convert`
 - **From Vicon:**  
   - Not possible yet. [Want to contribute?](#how-to-contribute)
 
+
 ### Calculate from scratch
 
 > Calculate calibration parameters with a board, or with points (such as detected on a wand or a human body).
 
 - **With a board:**
-  > *N.B.:* Try the calibration tool on the Demo by changing `calibration_type` to `calculate` instead of `convert` in `Config.toml`.\
+  > *N.B.:* Try the calibration tool on the Demo by changing `calibration_type` to `calculate` in `Config.toml`.\
-  For the sake of practicality, there are voluntarily few images for intrinsics, and few clicked points for extrinsics. *You should use more of them.* In spite of this, your reprojection error should be under 1-2 cm, which [does not hinder the quality of kinematic results in practice](https://www.mdpi.com/1424-8220/21/19/6530/htm).
+  For the sake of practicality, there are voluntarily few board images for intrinsics, and few points to click for extrinsics. *You should use more of them.* In spite of this, your reprojection error should be under 1-2 cm, which [does not hinder the quality of kinematic results in practice](https://www.mdpi.com/1424-8220/21/19/6530/htm).
   
   - **Calculate intrinsic parameters:**
 
@@ -270,6 +271,8 @@ If you already have a calibration file, set `calibration_type` type to `convert`
       is filmed from different angles, covers a large part of the video frame, and is in focus.\
       is flat, without reflections, surrounded by a white border, and is not rotationally invariant (Nrows ≠ Ncols, and Nrows odd if Ncols even).
     
+    <img src="Content/Calib_int.png" width="600">
+        
   - **Calculate extrinsic parameters:** 
 
     > *N.B.:* _Extrinsic parameters:_ camera placement in space (position and orientation), need to be calculated every time a camera is moved. Can be calculated from a board, or from points in the scene with known coordinates.
@@ -285,6 +288,8 @@ If you already have a calibration file, set `calibration_type` type to `convert`
       Manually measure the 3D coordinates of 10 or more points in the scene (tiles, lines on wall, boxes, treadmill dimensions, etc). These points should be as spread out as possible.\
       Then you will click on the corresponding image points for each view.
     
+    <img src="Content/Calib_ext.png" width="920">
+
 - **With points:**
   - Points can be detected from a wand.\
   [Want to contribute?](#how-to-contribute)
@@ -302,7 +307,6 @@ Pose2Sim.calibration()
 
 Output:\
 <img src="Content/Calib2D.png" width="760">
-
 <img src="Content/CalibFile.png" width="760">
 
 
@@ -753,7 +757,12 @@ If you want to contribute to Pose2Sim, please follow [this guide](https://docs.g
 
 </br>
 
-*Here is a to-do list, for general guidance purposes only:*
+**Here is a to-do list, for general guidance purposes only:**\
+*The main projects are (see details below):*\
+*- Graphical User Interface*\
+*- Multiple person triangulation*\
+*- Synchronization*\
+*- Self-calibration based on keypoint detection*\
 
 > - [x] **Pose:** Support OpenPose [body_25b](https://github.com/CMU-Perceptual-Computing-Lab/openpose_train/tree/master/experimental_models#body_25b-model---option-2-recommended) for more accuracy, [body_135](https://github.com/CMU-Perceptual-Computing-Lab/openpose_train/tree/master/experimental_models#single-network-whole-body-pose-estimation-model) for pronation/supination.
 > - [x] **Pose:** Support [BlazePose](https://developers.google.com/mediapipe/solutions/vision/pose_landmarker) for faster inference (on mobile device).