crosstyan/RapidPoseTriangulation
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implemented fisheye camera triangulation.

Browse Source
This commit is contained in:
Daniel
2024-10-08 15:11:38 +02:00
parent 3318afc3f1
commit 99aa3bb301
15 changed files with 2979 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

483
data/e1/sample.json Normal file
View File

@ -0,0 +1,483 @@
{
"id": "006_legoassemble-000002",
"imgpaths": [
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam01/images/c1_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam02/images/c2_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam03/images/c3_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam04/images/c4_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam05/images/c5_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam06/images/c6_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam07/images/c7_00002.jpg",
"/datasets/egohumans/02_legoassemble/006_legoassemble/exo/cam08/images/c8_00002.jpg"
],
"dataset_name": "egohumans",
"room_size": [
6.0,
5.0,
2.0
],
"room_center": [
1.5,
1.0,
-0.5
],
"num_persons": 3,
"cameras": [
{
"type": "fisheye",
"name": "cam01",
"width": 3840,
"height": 2160,
"K": [
[
1905.440429,
0.0,
1920.0
],
[
0.0,
1908.738384,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.022721,
0.096403,
-0.122399,
0.06457
],
"R": [
[
-1.320967,
1.091159,
-0.053999
],
[
0.324639,
0.311149,
-1.654174
],
[
-1.043145,
-1.284934,
-0.446418
]
],
"T": [
[
1.938363
],
[
2.912456
],
[
-0.05983
]
]
},
{
"type": "fisheye",
"name": "cam02",
"width": 3840,
"height": 2160,
"K": [
[
1932.244518,
0.0,
1920.0
],
[
0.0,
1936.559524,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.038159,
0.063352,
-0.103183,
0.057205
],
"R": [
[
-0.559664,
1.606496,
-0.210818
],
[
0.354514,
-0.096222,
-1.674383
],
[
-1.58101,
-0.590262,
-0.300823
]
],
"T": [
[
3.363792
],
[
2.221809
],
[
-0.150734
]
]
},
{
"type": "fisheye",
"name": "cam03",
"width": 3840,
"height": 2160,
"K": [
[
1894.357534,
0.0,
1920.0
],
[
0.0,
1895.186619,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.050168,
0.041318,
-0.141156,
0.109365
],
"R": [
[
1.33355,
1.075326,
-0.06178
],
[
0.254785,
-0.410461,
-1.64472
],
[
-1.046531,
1.270312,
-0.479142
]
],
"T": [
[
3.350025
],
[
-0.796138
],
[
-0.123788
]
]
},
{
"type": "fisheye",
"name": "cam04",
"width": 3840,
"height": 2160,
"K": [
[
1954.001155,
0.0,
1920.0
],
[
0.0,
1961.448327,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.002428,
0.182701,
-0.217826,
0.085325
],
"R": [
[
-1.267021,
-1.154138,
-0.033506
],
[
-0.150745,
0.214669,
-1.694016
],
[
1.144741,
-1.249152,
-0.260162
]
],
"T": [
[
-0.017013
],
[
3.310275
],
[
-0.109274
]
]
},
{
"type": "fisheye",
"name": "cam05",
"width": 3840,
"height": 2160,
"K": [
[
1935.020765,
0.0,
1920.0
],
[
0.0,
1932.219587,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.058948,
-0.009451,
0.031702,
-0.02819
],
"R": [
[
1.702269,
0.12581,
-0.157957
],
[
-0.14946,
-0.116741,
-1.703681
],
[
-0.135795,
1.705591,
-0.104959
]
],
"T": [
[
1.404604
],
[
-1.586799
],
[
-0.106577
]
]
},
{
"type": "fisheye",
"name": "cam06",
"width": 3840,
"height": 2160,
"K": [
[
1922.984553,
0.0,
1920.0
],
[
0.0,
1913.40327,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.051617,
-0.019883,
0.131883,
-0.148917
],
"R": [
[
0.859208,
-1.483123,
-0.024598
],
[
-0.452399,
-0.234941,
-1.636654
],
[
1.412655,
0.826829,
-0.509173
]
],
"T": [
[
-1.069183
],
[
0.162843
],
[
-0.081835
]
]
},
{
"type": "fisheye",
"name": "cam07",
"width": 3840,
"height": 2160,
"K": [
[
1921.007178,
0.0,
1920.0
],
[
0.0,
1922.985943,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
0.012135,
0.192931,
-0.334768,
0.182519
],
"R": [
[
-0.069061,
1.712667,
-0.022347
],
[
0.123643,
-0.017322,
-1.709652
],
[
-1.708344,
-0.07049,
-0.122835
]
],
"T": [
[
4.379272
],
[
1.482245
],
[
-0.111096
]
]
},
{
"type": "fisheye",
"name": "cam08",
"width": 3840,
"height": 2160,
"K": [
[
1944.872901,
0.0,
1920.0
],
[
0.0,
1952.784761,
1080.0
],
[
0.0,
0.0,
1.0
]
],
"DC": [
-0.011357,
0.225262,
-0.308,
0.148322
],
"R": [
[
-0.32595,
-1.682675,
-0.029302
],
[
-0.137145,
0.056305,
-1.707782
],
[
1.677333,
-0.322385,
-0.145329
]
],
"T": [
[
-1.092642
],
[
1.923018
],
[
-0.068911
]
]
}
]
}