mirror of
https://github.com/gosticks/openpose.git
synced 2026-08-16 22:30:19 +00:00
Deprecated ubuntu moved to different folder
This commit is contained in:
gineshidalgo99
+1
-1
@@ -11,7 +11,7 @@ OpenPose is authored by [Gines Hidalgo](https://www.gineshidalgo.com/), [Zhe Cao
|
||||
### Contributors
|
||||
We would also like to thank the following people who have highly contributed to OpenPose:
|
||||
|
||||
1. [Yaadhav Raaj](https://www.linkedin.com/in/yaadhavraaj): OpenPose maintainer, CPU version, OpenCL version, and person tracker.
|
||||
1. [Yaadhav Raaj](https://www.linkedin.com/in/yaadhavraaj): OpenPose maintainer, CPU version, OpenCL version, Mac version, Python API, and person tracker.
|
||||
2. [Bikramjot Hanzra](https://www.linkedin.com/in/bikz05): Former OpenPose maintainer, CMake (Ubuntu and Windows) version, and Travis Build.
|
||||
3. [Luis Fernando Fraga](https://github.com/fragalfernando/): Implementation of Lukas-Kanade algorith and person ID extractor.
|
||||
4. [Helen Medina](https://github.com/helen-medina): Initial Windows version.
|
||||
|
||||
@@ -969,6 +969,7 @@ namespace op
|
||||
{
|
||||
#ifdef USE_EIGEN
|
||||
// For debugging
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
const auto coutResults = false;
|
||||
// const auto coutResults = true;
|
||||
const bool coutAndImshowVerbose = false;
|
||||
@@ -977,6 +978,7 @@ namespace op
|
||||
const cv::Size gridInnerCornersCvSize{gridInnerCorners.x, gridInnerCorners.y};
|
||||
|
||||
// Load intrinsic parameters
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
CameraParameterReader cameraParameterReader;
|
||||
cameraParameterReader.readParameters(intrinsicsFolder);
|
||||
const auto cameraSerialNumbers = cameraParameterReader.getCameraSerialNumbers();
|
||||
@@ -986,9 +988,11 @@ namespace op
|
||||
std::vector<cv::Mat>{realCameraDistortions.size()}
|
||||
: realCameraDistortions);
|
||||
// Only use the 2 desired ones
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
cameraIntrinsicsSubset = {cameraIntrinsicsSubset.at(index0), cameraIntrinsicsSubset.at(index1)};
|
||||
cameraDistortionsSubset = {cameraDistortionsSubset.at(index0), cameraDistortionsSubset.at(index1)};
|
||||
// Base extrinsics
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
cv::Mat extrinsicsCam0 = cv::Mat::eye(4, 4, realCameraDistortions.at(0).type());
|
||||
bool cam0IsOrigin = true;
|
||||
if (combineCam0Extrinsics)
|
||||
@@ -998,6 +1002,7 @@ namespace op
|
||||
}
|
||||
|
||||
// Number cameras and image paths
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
const auto numberCameras = cameraParameterReader.getNumberCameras();
|
||||
log("\nDetected " + std::to_string(numberCameras) + " cameras from your XML files on:\n"
|
||||
+ intrinsicsFolder + "\nRemove wrong/extra XML files if this number of cameras does not"
|
||||
@@ -1013,6 +1018,7 @@ namespace op
|
||||
__LINE__, __FUNCTION__, __FILE__);
|
||||
|
||||
// Estimate extrinsic parameters per image
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
log("Calibrating camera " + cameraSerialNumbers.at(index1) + " with respect to camera "
|
||||
+ cameraSerialNumbers.at(index0) + "...", Priority::High);
|
||||
const auto numberViews = imagePaths.size() / numberCameras;
|
||||
@@ -1020,6 +1026,7 @@ namespace op
|
||||
std::vector<Eigen::Matrix4d> MCam1ToCam0s;
|
||||
for (auto i = 0u ; i < imagePaths.size() ; i+=numberCameras)
|
||||
{
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
const auto pathCam0 = imagePaths[i+index0];
|
||||
const auto pathCam1 = imagePaths[i+index1];
|
||||
if (coutResults || i/numberCameras % int(numberViews/10) == 0)
|
||||
@@ -1079,6 +1086,7 @@ namespace op
|
||||
log("Finished processing images.", Priority::High);
|
||||
|
||||
// Pseudo RANSAC calibration
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
const auto MCam1ToCam0Noisy = getMAverage(MCam1ToCam0s);
|
||||
log("Estimated initial (noisy?) projection matrix.", Priority::High);
|
||||
auto MCam1ToCam0 = getMAverage(MCam1ToCam0s, MCam1ToCam0Noisy);
|
||||
@@ -1095,11 +1103,13 @@ namespace op
|
||||
|
||||
|
||||
// Show errors
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
if (coutAndImshowVerbose)
|
||||
{
|
||||
log("\n-----------------------------------------------------------------------------------"
|
||||
"-------------------\nErrors:", Priority::High);
|
||||
// Errors
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
for (auto i = 0u ; i < MCam1ToCam0s.size() ; i++)
|
||||
{
|
||||
log("tCam1WrtCam0:", Priority::High);
|
||||
@@ -1112,6 +1122,7 @@ namespace op
|
||||
log(" ", Priority::High);
|
||||
|
||||
// Rotation matrix in degrees Rodrigues(InputArray src, OutputArray dst
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
const auto rad2deg = 180 / PI;
|
||||
for (auto i = 0u ; i < MCam1ToCam0s.size() ; i++)
|
||||
{
|
||||
@@ -1125,6 +1136,7 @@ namespace op
|
||||
}
|
||||
|
||||
// Show final result
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
if (coutResults)
|
||||
{
|
||||
log("\n\n\n---------------------------------------------------------------------------"
|
||||
@@ -1138,9 +1150,11 @@ namespace op
|
||||
}
|
||||
|
||||
// mm --> m
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
MCam1ToCam0.block<3,1>(0,3) *= 1e-3;
|
||||
|
||||
// Eigen --> cv::Mat
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
cv::Mat cvMatExtrinsics;
|
||||
Eigen::MatrixXd eigenExtrinsics = MCam1ToCam0.block<3,4>(0,0);
|
||||
cv::eigen2cv(eigenExtrinsics, cvMatExtrinsics);
|
||||
@@ -1151,11 +1165,13 @@ namespace op
|
||||
cvMatExtrinsics *= extrinsicsCam0;
|
||||
|
||||
// Final projection matrix
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
log("\nFinal projection matrix w.r.t. global origin (m):", Priority::High);
|
||||
log(cvMatExtrinsics, Priority::High);
|
||||
log(" ", Priority::High);
|
||||
|
||||
// Save result
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
CameraParameterReader camera2ParameterReader{
|
||||
cameraSerialNumbers.at(index1),
|
||||
cameraIntrinsicsSubset.at(1),
|
||||
@@ -1163,6 +1179,8 @@ namespace op
|
||||
cvMatExtrinsics};
|
||||
camera2ParameterReader.writeParameters(intrinsicsFolder);
|
||||
|
||||
// Let the rendered image to be displayed
|
||||
log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
|
||||
if (coutAndImshowVerbose)
|
||||
cv::waitKey(0);
|
||||
#else
|
||||
|
||||
Executable → Regular
Executable → Regular
Reference in New Issue
Block a user