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support opencap and biocv calibration

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davidpagnon 2023-09-21 15:03:49 +02:00
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README.md
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@ -41,7 +41,7 @@ If you can only use one single camera and don't mind losing some accuracy, pleas
3. [With DeepLabCut](#with-deeplabcut)
4. [With AlphaPose](#with-alphapose)
3. [Camera calibration](#camera-calibration)
1. [Convert from Qualisys, Optitrack, or Vicon](#convert-from-qualisys-optitrack-or-vicon)
1. [Convert from Qualisys, Optitrack, Vicon, OpenCap, or bioCV](#convert-from-qualisys-optitrack-vicon-opencap-or-biocv)
2. [Calculate from scratch](#calculate-from-scratch)
4. [Camera synchronization](#camera-synchronization)
5. [Tracking, Triangulating, Filtering](#tracking-triangulating-filtering)
@ -241,19 +241,25 @@ N.B.: Markers are not needed in Pose2Sim and were used here for validation
> _**Convert a preexisting calibration file, or calculate intrinsic and extrinsic parameters from scratch.**_ \
> _**N.B.:**_ You can visualize camera calibration in 3D with my (experimental) [Maya-Mocap tool](https://github.com/davidpagnon/Maya-Mocap).
### Convert from Qualisys, Optitrack, or Vicon
### Convert from Qualisys, Optitrack, Vicon, OpenCap, or bioCV
If you already have a calibration file, set `calibration_type` type to `convert` in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file.
- **From Qualisys:**
- Export calibration to `.qca.txt` within QTM
- Copy it in the `calibration` Pose2Sim folder
- set `convert_from` to 'qualisys' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. Change `binning_factor` to 2 if you film in 540p
- Export calibration to `.qca.txt` within QTM.
- Copy it in the `calibration` Pose2Sim folder.
- set `convert_from` to 'qualisys' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. Change `binning_factor` to 2 if you film in 540p.
- **From Optitrack:** Exporting calibration will be available in Motive 3.2. In the meantime:
- Calculate intrinsics with a board (see next section)
- Use their C++ API [to retrieve extrinsic properties](https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference#tt_cameraxlocation). Translation can be copied as is in your `Calib.toml` file, but TT_CameraOrientationMatrix first needs to be [converted to a Rodrigues vector](https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac) with OpenCV. See instructions [here](https://github.com/perfanalytics/pose2sim/issues/28)
- Calculate intrinsics with a board (see next section).
- Use their C++ API [to retrieve extrinsic properties](https://docs.optitrack.com/developer-tools/motive-api/motive-api-function-reference#tt_cameraxlocation). Translation can be copied as is in your `Calib.toml` file, but TT_CameraOrientationMatrix first needs to be [converted to a Rodrigues vector](https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga61585db663d9da06b68e70cfbf6a1eac) with OpenCV. See instructions [here](https://github.com/perfanalytics/pose2sim/issues/28).
- **From Vicon:**
- Copy your `.xcp` Vicon calibration file to the Pose2Sim `calibration` folder
- Copy your `.xcp` Vicon calibration file to the Pose2Sim `calibration` folder.
- set `convert_from` to 'vicon' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
- **From OpenCap:**
- Copy your `.pickle` OpenCap calibration files to the Pose2Sim `calibration` folder.
- set `convert_from` to 'opencap' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
- **From bioCV:**
- Copy your bioCV calibration files (no extension) to the Pose2Sim `calibration` folder.
- set `convert_from` to 'biocv' in your [User\Config.toml](https://github.com/perfanalytics/pose2sim/blob/main/Pose2Sim/Empty_project/User/Config.toml) file. No other setting is needed.
### Calculate from scratch
@ -831,8 +837,10 @@ If you want to contribute to Pose2Sim, please follow [this guide](https://docs.g
</br>
> - [x] **Calibration:** Convert [Qualisys](https://www.qualisys.com) .qca.txt calibration file.
> - [x] **Calibration:** Convert Optitrack extrinsic calibration file.
> - [x] **Calibration:** Convert Vicon [.xcp calibration file](https://montrealrobotics.ca/diffcvgp/assets/papers/7.pdf).
> - [x] **Calibration:** Convert [Optitrack](https://optitrack.com/) extrinsic calibration file.
> - [x] **Calibration:** Convert [Vicon](http://www.vicon.com/Software/Nexus) .xcp calibration file.
> - [x] **Calibration:** Convert [OpenCap](https://www.opencap.ai/) .pickle calibration files.
> - [x] **Calibration:** Convert [bioCV](https://github.com/camera-mc-dev/.github/blob/main/profile/mocapPipe.md) calibration files.
> - [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.
> - [ ] **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.