From b31ebb58ebe5df1a1be5ee9e3590b949ea74ba71 Mon Sep 17 00:00:00 2001 From: gineshidalgo99 Date: Tue, 22 Aug 2017 10:13:09 -0400 Subject: [PATCH] Improved 3D OpenPose doc --- doc/openpose_3d_reconstruction_demo.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/doc/openpose_3d_reconstruction_demo.md b/doc/openpose_3d_reconstruction_demo.md index 49a8d439..7144772d 100644 --- a/doc/openpose_3d_reconstruction_demo.md +++ b/doc/openpose_3d_reconstruction_demo.md @@ -39,7 +39,11 @@ This demo assumes n arbitrary stereo cameras, FLIR company (former Point Grey). ### Calibrate Cameras -You must manually get the intrinsic and extrinsic parameters of your cameras and introduce them on: `openpose3d\cameraParameters.hpp`. We used the 8-distortion-parameter version of OpenCV. By default, the program uses 3 cameras, but you can add or remove cameras from `cameraParameters.hpp` by adding or removing elements to `INTRINSICS`, `DISTORTIONS` and `M_EACH_CAMERA`. `INTRINSICS` corresponds to the intrinsic parameters, `DISTORTIONS` to the distortion coefficients, and `M_EACH_CAMERA` corresponds to the extrinsic parameters of the cameras with respect to camera 1 as origin. +The user must manually get the intrinsic and extrinsic parameters of your cameras and introduce them on: `include\openpose3d\cameraParameters.hpp`. + +The program uses 3 cameras by default, but cameras can be added or removed from `cameraParameters.hpp` by adding or removing elements to `INTRINSICS`, `DISTORTIONS` and `M_EACH_CAMERA`. `INTRINSICS` corresponds to the intrinsic parameters, `DISTORTIONS` to the distortion coefficients, and `M_EACH_CAMERA` corresponds to the extrinsic parameters of the cameras with respect to camera 1, i.e. camera 1 is considered the coordinates origin. + +3D OpenPose uses the 8-distortion-parameter version of OpenCV by default. Internally, the distortion parameters are used by the OpenCV function [undistort()](http://docs.opencv.org/3.2.0/da/d54/group__imgproc__transform.html#ga69f2545a8b62a6b0fc2ee060dc30559d) to rectify the images. This function can take either 4-, 5- or 8-parameter distortion coefficients (OpenCV 3.X also adds a 12- and 14-parameter alternatives). Therefore, either version (4, 5, 8, 12 or 14) will work in 3D OpenPose, the user just needs to modify the `DISTORTION_i` variables in `cameraParameters.hpp` with the desired number of distortion parameters for each camera.