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@ -545,14 +545,14 @@ def calibrate_extrinsics(calib_dir, extrinsics_config_dict, C, S, K, D):
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cv2.circle(img, (int(o[0]), int(o[1])), 8, (0,0,255), -1)
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for i in imgp:
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cv2.drawMarker(img, (int(i[0][0]), int(i[0][1])), (0,255,0), cv2.MARKER_CROSS, 15, 2)
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cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .5, (255,255,255), 2, lineType = cv2.LINE_AA)
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cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1, lineType = cv2.LINE_AA)
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cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
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cv2.putText(img, 'Verify calibration results, then close window.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)
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cv2.drawMarker(img, (20,40), (0,255,0), cv2.MARKER_CROSS, 15, 2)
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cv2.putText(img, ' Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .5, (255,255,255), 2, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Clicked points', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)
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cv2.circle(img, (20,60), 8, (0,0,255), -1)
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cv2.putText(img, ' Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .5, (255,255,255), 2, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Reprojected object points', (20, 60), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)
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im_pil = Image.fromarray(img)
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im_pil.show(title = os.path.basename(img_vid_files[0]))
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@ -617,8 +617,8 @@ def findCorners(img_path, corner_nb, objp=[], show=True):
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# Add corner index
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for i, corner in enumerate(imgp):
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x, y = corner.ravel()
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cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .5, (255, 255, 255), 2)
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cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .5, (0,0,0), 1)
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cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .8, (255, 255, 255), 7)
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cv2.putText(img, str(i+1), (int(x)-5, int(y)-5), cv2.FONT_HERSHEY_SIMPLEX, .8, (0,0,0), 2)
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# Visualizer and key press event handler
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for var_to_delete in ['imgp_confirmed', 'objp_confirmed']:
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@ -677,6 +677,7 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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global imgp_confirmed, objp_confirmed, objp_confirmed_notok, scat, ax_3d, fig_3d, events, count
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if event.key == 'y':
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# TODO: DETECT WHEN WINDOW IS CLOSED
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# If 'y', close all
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# If points have been clicked, imgp_confirmed is returned, else imgp
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# If objp is given, objp_confirmed is returned in addition
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@ -869,19 +870,19 @@ def imgp_objp_visualizer_clicker(img, imgp=[], objp=[], img_path=''):
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ax.set_zlim3d([z_middle - plot_radius, z_middle + plot_radius])
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# Write instructions
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cv2.putText(img, 'Type "Y" to accept point detection.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
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cv2.putText(img, 'Type "Y" to accept point detection.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
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cv2.putText(img, 'Type "Y" to accept point detection.', (20, 20), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)
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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)
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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)
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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)
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cv2.putText(img, '- type "N" to dismiss this image,', (20, 66), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
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cv2.putText(img, '- type "N" to dismiss this image,', (20, 66), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
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cv2.putText(img, '- type "N" to dismiss this image,', (20, 66), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)
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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)
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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)
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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)
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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)
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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)
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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)
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cv2.putText(img, ' Confirm with "Y", cancel with "N".', (20, 135), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 3, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Confirm with "Y", cancel with "N".', (20, 135), cv2.FONT_HERSHEY_SIMPLEX, .7, (255,255,255), 7, lineType = cv2.LINE_AA)
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cv2.putText(img, ' Confirm with "Y", cancel with "N".', (20, 135), cv2.FONT_HERSHEY_SIMPLEX, .7, (0,0,0), 2, lineType = cv2.LINE_AA)
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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)
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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)
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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)
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# Put image in a matplotlib figure for more controls
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17
README.md
17
README.md
@ -250,13 +250,14 @@ If you already have a calibration file, set `calibration_type` type to `convert`
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- **From Vicon:**
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- Not possible yet. [Want to contribute?](#how-to-contribute)
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### Calculate from scratch
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> Calculate calibration parameters with a board, or with points (such as detected on a wand or a human body).
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- **With a board:**
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> *N.B.:* Try the calibration tool on the Demo by changing `calibration_type` to `calculate` instead of `convert` in `Config.toml`.\
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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).
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> *N.B.:* Try the calibration tool on the Demo by changing `calibration_type` to `calculate` in `Config.toml`.\
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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).
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- **Calculate intrinsic parameters:**
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@ -270,6 +271,8 @@ If you already have a calibration file, set `calibration_type` type to `convert`
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is filmed from different angles, covers a large part of the video frame, and is in focus.\
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is flat, without reflections, surrounded by a white border, and is not rotationally invariant (Nrows ≠ Ncols, and Nrows odd if Ncols even).
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<img src="Content/Calib_int.png" width="600">
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- **Calculate extrinsic parameters:**
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> *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.
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@ -285,6 +288,8 @@ If you already have a calibration file, set `calibration_type` type to `convert`
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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.\
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Then you will click on the corresponding image points for each view.
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<img src="Content/Calib_ext.png" width="920">
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- **With points:**
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- Points can be detected from a wand.\
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[Want to contribute?](#how-to-contribute)
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@ -302,7 +307,6 @@ Pose2Sim.calibration()
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Output:\
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<img src="Content/Calib2D.png" width="760">
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<img src="Content/CalibFile.png" width="760">
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@ -753,7 +757,12 @@ If you want to contribute to Pose2Sim, please follow [this guide](https://docs.g
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</br>
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*Here is a to-do list, for general guidance purposes only:*
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**Here is a to-do list, for general guidance purposes only:**\
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*The main projects are (see details below):*\
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*- Graphical User Interface*\
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*- Multiple person triangulation*\
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*- Synchronization*\
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*- Self-calibration based on keypoint detection*\
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> - [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.
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> - [x] **Pose:** Support [BlazePose](https://developers.google.com/mediapipe/solutions/vision/pose_landmarker) for faster inference (on mobile device).
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