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// ------------------------- OpenPose Calibration Toolbox -------------------------
// Check `doc/advanced/calibration_module.md`.
// Implemented on top of OpenCV.
// It computes and saves the intrinsics parameters of the input images.
// Third-party dependencies
#include <opencv2/opencv.hpp>
// Command-line user interface
#define OPENPOSE_FLAGS_DISABLE_POSE
#include <openpose/flags.hpp>
// OpenPose dependencies
#include <openpose/headers.hpp>
// Calibration
DEFINE_int32(mode, 1, "Select 1 for intrinsic camera parameter calibration, 2 for extrinsic calibration.");
DEFINE_string(calibration_image_dir, "images/intrinsics/", "Directory where the images for camera parameter calibration are placed.");
DEFINE_double(grid_square_size_mm, 127.0, "Chessboard square length (in millimeters).");
DEFINE_string(grid_number_inner_corners,"9x6", "Number of inner corners in width and height, i.e., number of total squares in width"
" and height minus 1.");
// Mode 1 - Intrinsics
DEFINE_string(camera_serial_number, "18079958", "Camera serial number.");
// Mode 2 - Extrinsics
DEFINE_bool(omit_distortion, false, "Set to true if image views are already undistorted (e.g., if recorded from OpenPose"
" after intrinsic parameter calibration).");
DEFINE_bool(combine_cam0_extrinsics, false, "Set to true if cam0 extrinsics are not [R=I, t=0]. I will make no effect if cam0 is"
" already the origin. See doc/advanced/calibration_module.md for an example.");
DEFINE_int32(cam0, 1, "Baseline camera for extrinsic calibration, cam1 will be calibrated assuming cam0 the"
" world coordinate origin.");
DEFINE_int32(cam1, 0, "Target camera to estimate its extrinsic parameters, it will be calibrated assuming cam0"
" as the world coordinate origin.");
// Modes 3-4
DEFINE_int32(number_cameras, 4, "Number of cameras (for mode 3-4).");
// Producer
DEFINE_string(camera_parameter_folder, "models/cameraParameters/flir/", "String with the folder where the camera parameters are or will be"
" located.");
int openPoseDemo()
{
try
{
op::opLog("Starting OpenPose calibration toolbox...", op::Priority::High);
const auto opTimer = op::getTimerInit();
// logging_level
op::checkBool(
0 <= FLAGS_logging_level && FLAGS_logging_level <= 255, "Wrong logging_level value.",
__LINE__, __FUNCTION__, __FILE__);
op::ConfigureLog::setPriorityThreshold((op::Priority)FLAGS_logging_level);
// Common parameters
const auto gridInnerCorners = op::flagsToPoint(op::String(FLAGS_grid_number_inner_corners), "12x7");
const auto calibrationImageDir = op::formatAsDirectory(FLAGS_calibration_image_dir);
const auto gridSqureSizeMm = (float)FLAGS_grid_square_size_mm;
// Calibration - Intrinsics
if (FLAGS_mode == 1)
{
op::opLog("Running calibration (intrinsic parameters)...", op::Priority::High);
// Parameters
// const auto flags = 0; // 5 parameters
const auto flags = cv::CALIB_RATIONAL_MODEL; // 8 parameters
// const auto flags = cv::CALIB_RATIONAL_MODEL | cv::CALIB_THIN_PRISM_MODEL; // 12 parameters
// const auto flags = cv::CALIB_RATIONAL_MODEL | cv::CALIB_THIN_PRISM_MODEL | cv::CALIB_TILTED_MODEL; // 14
// const auto saveImagesWithCorners = false;
const auto saveImagesWithCorners = true;
// Run calibration
op::estimateAndSaveIntrinsics(
gridInnerCorners, gridSqureSizeMm, flags,
op::formatAsDirectory(FLAGS_camera_parameter_folder), calibrationImageDir, FLAGS_camera_serial_number,
saveImagesWithCorners);
op::opLog("Intrinsic calibration completed!", op::Priority::High);
}
// Calibration - Extrinsics
else if (FLAGS_mode == 2)
{
op::opLog("Running calibration (extrinsic parameters)...", op::Priority::High);
// Run calibration
op::estimateAndSaveExtrinsics(
FLAGS_camera_parameter_folder, calibrationImageDir, gridInnerCorners, gridSqureSizeMm,
FLAGS_cam0, FLAGS_cam1, FLAGS_omit_distortion, FLAGS_combine_cam0_extrinsics);
// Logging
op::opLog("Extrinsic calibration completed!", op::Priority::High);
}
// Calibration - Extrinsics - Bundle Adjustment (BA)
else if (FLAGS_mode == 3)
{
op::opLog("Running calibration (bundle adjustment over extrinsic parameters)...", op::Priority::High);
// Sanity check
if (!FLAGS_omit_distortion)
op::error("This mode assumes that the images are already undistorted (add flag `--omit_distortion`.",
__LINE__, __FUNCTION__, __FILE__);
// Parameters
const auto saveImagesWithCorners = false;
// Run calibration
op::refineAndSaveExtrinsics(
FLAGS_camera_parameter_folder, calibrationImageDir, gridInnerCorners, gridSqureSizeMm,
FLAGS_number_cameras, FLAGS_omit_distortion, saveImagesWithCorners);
// Logging
op::opLog("Extrinsic calibration (bundle adjustment) completed!", op::Priority::High);
}
// // Calibration - Extrinsics Refinement with Visual SFM
// else if (FLAGS_mode == 4)
// {
// op::opLog("Running calibration (intrinsic parameters)...", op::Priority::High);
// // Obtain & save intrinsics
// const auto saveImagesWithCorners = false;
// // const auto saveImagesWithCorners = true;
// // Run camera calibration code
// op::estimateAndSaveSiftFile(
// gridInnerCorners, calibrationImageDir, FLAGS_number_cameras, saveImagesWithCorners);
// op::opLog("Intrinsic calibration completed!", op::Priority::High);
// }
else
op::error("Unknown `--mode " + std::to_string(FLAGS_mode) + "`.", __LINE__, __FUNCTION__, __FILE__);
// Measuring total time
op::printTime(
opTimer, "OpenPose calibration toolbox successfully finished. Total time: ", " seconds.",
op::Priority::High);
return 0;
}
catch (const std::exception&)
{
return -1;
}
}
int main(int argc, char *argv[])
{
// Parsing command line flags
gflags::ParseCommandLineFlags(&argc, &argv, true);
// Running openPoseDemo
return openPoseDemo();
}