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Samleo8 / learnable-triangulation-pytorch

The repository that this is forked from is an official PyTorch implementation of the paper "Learnable Triangulation of Human Pose" (ICCV 2019, oral). Proposed method archives state-of-the-art results in multi-view 3D human pose estimation! This repo aims to extend the capabilites to the CMU dataset
MIT License
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Camera calibration format #4

Open jamalknight opened 3 years ago

jamalknight commented 3 years ago

Hi, I am trying to collect the correct camera calibration data for my own dataset in this format:

[
    {
        'id':   3, // optional
        'R':    [ /* 3x3 rotation matrix */ ],
        'k':    [ /* 3x3 calibration/instrinsics matrix */ ],
        't':    [ /* 3x1 translation matrix */ ],
        'dist': [ /* 5x1 distortion coefficients */ ]
    }.
]

However, when using the OpenCV method of camera calibration the output is in this format (below) The Rotation matrix and translation matrix are in a different format (vectors?) How do I get the correct format? Thanks

Camera matrix :

[[1.44644326e+03 0.00000000e+00 9.59836634e+02]
[0.00000000e+00 1.44646498e+03 5.39556895e+02]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]

dist :

[[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
3.04891387e-04]]

rvecs :

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[0.01965572]]), array([[ 0.02876875],
[-0.03474045],
[ 0.01824509]]), array([[ 0.03467534],
[-0.05020887],
[ 0.01830534]]), array([[ 0.03556834],
[-0.05399128],
[-0.0484105 ]]), array([[ 0.03717584],
[ 0.08012789],
[-0.04607123]]), array([[ 0.01846599],
[-0.11597159],
[-0.05320749]]), array([[ 0.10165191],
[-0.07348809],
[ 0.02913424]]), array([[-0.05693991],
[-0.011658 ],
[ 0.01366273]]), array([[ 0.30802603],
[-0.10069939],
[ 0.10513563]]), array([[0.0610907 ],
[0.44109706],
[0.11019328]]), array([[-0.19697588],
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[ 0.03067312]]), array([[-0.13900922],
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[ 0.14566023]]), array([[0.09366817],
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[0.0197487 ]]), array([[0.08399034],
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tvecs :

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[ 22.24608275]]), array([[-13.01531582],
[ 1.2277689 ],
[ 22.37329458]]), array([[-13.15430946],
[ 1.4224258 ],
[ 22.49923683]]), array([[-13.29169438],
[ 1.61659894],
[ 22.62078269]]), array([[-13.42919306],
[ 1.81118309],
[ 22.74229904]]), array([[-13.56516549],
[ 2.00585805],
[ 22.85974279]]), array([[-13.70096453],
[ 2.20032005],
[ 22.97454022]]), array([[-13.83545961],
[ 2.3952648 ],
[ 23.08564551]]), array([[-13.96988255],
[ 2.59034097],
[ 23.19518439]]), array([[-9.30587616],
[ 2.90039978],
[24.31258248]]), array([[-6.97117884],
[ 3.05505408],
[24.8702023 ]]), array([[-4.63519532],
[ 3.2096385 ],
[25.42945668]]), array([[-2.29762676],
[ 3.36337746],
[25.98378421]]), array([[ 0.04132794],
[ 3.51739226],
[26.53666313]]), array([[ 2.3829259 ],
[ 3.67054169],
[27.0944156 ]]), array([[ 4.72568078],
[ 3.82361894],
[27.64882815]]), array([[ 7.06929493],
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[28.65558535]]), array([[ 1.82374512],
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[28.5767474 ]]), array([[-7.61873651],
[-4.17006646],
[15.85264069]]), array([[-6.52336284],
[-4.27276853],
[16.00434806]]), array([[-5.42639454],
[-4.375587 ],
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[-4.47851559],
[16.3030692 ]]), array([[-3.2286759 ],
[-4.581914 ],
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[-4.68553991],
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[-3.92582811],
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[ 3.63529076],
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[ 3.54251312],
[28.01622498]]), array([[-10.7965339 ],
[ 3.44420368],
[ 27.82158908]]), array([[-13.30128796],
[ 3.33950885],
[ 27.61081806]]), array([[-15.79670924],
[ 3.22971291],
[ 27.38368363]]), array([[-15.67662443],
[ 2.69176754],
[ 27.44643405]]), array([[-15.53035104],
[ 2.14003432],
[ 27.3821291 ]]), array([[-15.37533219],
[ 1.59069354],
[ 27.19774241]]), array([[-15.21986949],
[ 1.05984621],
[ 26.90484057]]), array([[-15.06791124],
[ 0.56169201],
[ 26.52990026]]), array([[-14.91602495],
[ 0.101534 ],
[ 26.09931668]]), array([[-14.59951049],
[ -0.72324798],
[ 25.18482877]]), array([[-14.43061322],
[ -1.11019423],
[ 24.74977714]]), array([[-14.25843677],
[ -1.49939839],
[ 24.35408144]]), array([[-12.03561919],
[ -1.66655548],
[ 24.66001519]]), array([[-9.81418202],
[-1.85745629],
[25.02776588]]), array([[-7.58387946],
[-2.06703024],
[25.4523048 ]]), array([[-5.33683202],
[-2.28634232],
[25.9301971 ]]), array([[-3.06696795],
[-2.50349066],
[26.4540593 ]]), array([[-0.77133833],
[-2.70344578],
[27.01730903]]), array([[ 1.55104657],
[-2.87274905],
[27.61032289]]), array([[ 3.89371844],
[-2.99695837],
[28.21740965]]), array([[ 6.2510516 ],
[-3.06451392],
[28.82630677]]), array([[ 8.42141371],
[-3.633064 ],
[29.22925865]]), array([[ 8.23343721],
[-4.20028124],
[29.03962546]]), array([[ 8.04677693],
[-4.76678543],
[28.85138532]]), array([[ 7.85922467],
[-5.33374361],
[28.65840293]]), array([[ 7.67348716],
[-5.90060333],
[28.46572019]]), array([[ 7.48810416],
[-6.46734802],
[28.2722626 ]]), array([[ 7.30614913],
[-7.03545105],
[28.08484318]]), array([[ 7.12139581],
[-7.60175787],
[27.88695128]]), array([[ 6.93990038],
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[ 21.93372129]]), array([[-12.89609158],
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[ 21.84359786]]), array([[-13.0977233 ],
[ -5.40178763],
[ 21.82415022]]), array([[-13.31384693],
[ -4.88532471],
[ 21.86746617]]), array([[-13.52362252],
[ -4.35715022],
[ 21.96370236]]), array([[-13.70484116],
[ -3.82201743],
[ 22.08985974]]), array([[-13.92132371],
[ -2.78021789],
[ 22.3136256 ]]), array([[-13.95009631],
[ -2.2983199 ],
[ 22.33882235]]), array([[-13.94280444],
[ -1.84919091],
[ 22.261118 ]]), array([[-13.91903533],
[ -1.42394983],
[ 22.04756372]]), array([[-11.79453727],
[ -1.47107728],
[ 22.63867602]]), array([[-9.66568976],
[-1.51303156],
[23.23007915]]), array([[-7.53010553],
[-1.55010946],
[23.81938766]]), array([[-5.38987144],
[-1.58169641],
[24.4091039 ]]), array([[-3.24411048],
[-1.60860179],
[24.99742874]]), array([[-1.09313656],
[-1.62943417],
[25.58429844]]), array([[ 1.06220894],
[-1.64436314],
[26.1689715 ]]), array([[ 3.22223862],
[-1.65381828],
[26.75259768]]), array([[ 7.55601901],
[-1.65507476],
[27.91239821]]), array([[ 7.77308603],
[-1.25227671],
[27.70949359]]), array([[ 7.98698812],
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[-0.24035137],
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[ 0.35604804],
[27.0034321 ]]), array([[ 8.7083773 ],
[ 0.99808634],
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[ 1.6715963 ],
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[ 3.79288322],
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[ 3.71702485],
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[ 3.63767404],
[ 24.17225827]])]
jamalknight commented 3 years ago

Reformatted the output to match the example template, I calibrated 190 frames, not sure if I need that many ...

[
    {
        'id':   0, // optional
        'R':    [[0.10322433, 0.00586084],[0.01965572],
                [0.02876875],[-0.03474045],[ 0.01824509],
                [0.03467534],[-0.05020887],[ 0.01830534], 
                [0.03556834],[-0.05399128],[-0.0484105 ], 
                [0.03717584],[ 0.08012789],[-0.04607123], 
                [0.01846599],[-0.11597159],[-0.05320749], 
                [0.10165191],[-0.07348809],[ 0.02913424],
                [-0.05693991],[-0.011658  ],[ 0.01366273], 
                [0.30802603],[-0.10069939],[ 0.10513563],
                [0.0610907, 0.44109706,0.11019328],
                [-0.19697588],[-0.04283537],[0.03067312],
                [-0.13900922],[-0.2246676 ],[ 0.03297445],
                [-0.1011033 ],[ 0.42317815],[ 0.14566023],
                [0.09366817],[0.00607288],[0.0197487 ],
                [0.08399034],[0.00614608],[0.01978352],
                [0.07426776],[0.00604659],[0.01976052],
                [0.06450547],[0.0055183 ],[0.01971954],
                [0.05460176],[0.00494075],[0.01961118],
                [0.04475805],[0.00400285],[0.01945504],
                [0.03487713],[0.00280646],[0.01928059], 
                [0.03351362],[-0.00343919],[ 0.01905554], 
                [0.03243555],[-0.00973823],[ 0.01882941], 
                [0.0310162 ],[-0.01598584],[ 0.01867843], 
                [0.03049254],[-0.02229135],[ 0.01850028], 
                [0.02964575],[-0.02886133],[ 0.01845228], 
                [0.02843749],[-0.04118144],[ 0.01820741], 
                [0.027988  ],[-0.0472495 ],[ 0.01814665], 
                [0.02716986],[-0.05361597],[ 0.01811481], 
                [0.02688923],[-0.05968937],[ 0.01804434], 
                [0.02779733],[-0.05870588],[ 0.01810973], 
                [0.02871731],[-0.05767375],[ 0.01813291], 
                [0.02957412],[-0.05654344],[ 0.01815416], 
                [0.03037135],[-0.0554144 ],[ 0.01819777], 
                [0.03125682],[-0.05465253],[ 0.01824934], 
                [0.03198659],[-0.0534214 ],[ 0.01822905], 
                [0.03292994],[-0.05217291],[ 0.01826689], 
                [0.03389497],[-0.05133067],[ 0.01830513], 
                [0.03568775],[-0.04904374],[ 0.01839013], 
                [0.03567725],[-0.05145943],[ 0.01169535], 
                [0.03553939],[-0.05379552],[ 0.00499246], 
                [0.03557365],[-0.05603038],[-0.00168168], 
                [0.03554298],[-0.05841379],[-0.00836349], 
                [0.03572186],[-0.06072667],[-0.01503664], 
                [0.03575173],[-0.06303097],[-0.02172327], 
                [0.0361487 ],[-0.06531335],[-0.02838113], 
                [0.03615495],[-0.06766396],[-0.03500657], 
                [0.03636102],[-0.06999564],[-0.0416864 ], 
                [0.03663928],[-0.07213835],[-0.04834239], 
                [0.03613996],[-0.06324022],[-0.0483991 ], 
                [0.03518512],[-0.04457608],[-0.04832746], 
                [0.03496729],[-0.03495072],[-0.04821182], 
                [0.03525891],[-0.02573156],[-0.04808373], 
                [0.03519819],[-0.01630115],[-0.04787894], 
                [0.03557333],[-0.00677863],[-0.0476355 ], 
                [0.03654236],[ 0.00295582][-0.04731691], 
                [0.03748246],[ 0.01259579],[-0.04699502], 
                [0.03849325][ 0.0223351 ],[-0.04656495], 
                [0.0378291 ],[ 0.03377083],[-0.04661988], 
                [0.0373468 ],[ 0.04492803],[-0.04655054], 
                [0.0370422 ],[ 0.05682901],[-0.04640478],
                [0.03702993],[ 0.06839694],[-0.04629415],
                [0.03741903],[ 0.09169926],[-0.04576833], 
                [0.03805815],[ 0.10364171],[-0.04547383],
                [0.03860977],[ 0.11547035],[-0.0450544 ], 
                [0.03996408],[ 0.12723619],[-0.04472855], 
                [0.04127252],[ 0.13904516],[-0.04427556], 
                [0.02988295],[ 0.10598679],[-0.04712711], 
                [0.02129357],[ 0.07288558],[-0.0495296 ], 
                [0.01486569],[ 0.04006551],[-0.05144872], 
                [0.01107139],[ 0.00760604],[-0.05289524], 
                [0.00931909],[-0.02469899],[-0.05377705], 
                [0.01011569],[-0.05546574],[-0.05418065], 
                [[0.01308388],[-0.0862145 ],[-0.05398944], 
                [0.02539993],[-0.14478329],[-0.05190197], 
                [0.03421056],[-0.17195762],[-0.05013324], 
                [0.03940709],[-0.16280336],[-0.04242425], 
                [0.04495138],[-0.15361656],[-0.03467084], 
                [0.05109064],[-0.14472358],[-0.0268123 ], 
                [0.05742325],[-0.13612306],[-0.01898232], 
                [0.06439736],[-0.12763301],[-0.01109991], 
                [0.07153872][-0.11971874],[-0.003183  ], 
                [0.07896143],[-0.11181481],[ 0.00474868], 
                [0.08715167],[-0.10438608],[ 0.01278411], 
                [0.09561111],[-0.09718168],[ 0.02075846], 
                [0.1044322 ],[-0.09021456],[ 0.02880461], 
                [0.09971569],[-0.05697319],[ 0.02968208], 
                [0.0980634 ],[-0.03978327],[ 0.03019855], 
                [0.09687983],[-0.02279768],[ 0.03095413], 
                [0.09633085],[-0.0057622 ],[ 0.03181397],
                [0.09653789],[0.01137864],[0.03269646],
                [0.09653923],[0.02895417],[0.03380738],
                [0.09753421],[0.04658338],[0.0349351 ],
                [0.0992599 ],[0.0638449 ],[0.03628648],
                [0.10127923],[0.08142823],[0.03766291],
                [0.05844177],[0.06393778],[0.03176851],
                [0.01760905][0.04224549],[0.02582513],
                [-0.02103805],[ 0.01714929],[ 0.01972768], 
                [0.13053995],[-0.13185105],[ 0.00974808], 
                [0.12843456],[-0.11722955],[ 0.01031913], 
                [0.12695212],[-0.10256126],[ 0.01104121], 
                [0.12624114],[-0.0876771 ],[ 0.01185421], 
                [0.12566218],[-0.07267249],[ 0.01278509], 
                [0.12579632],[-0.05735235],[ 0.01387445], 
                [0.12638359],[-0.0421282 ][ 0.01504203], 
                [0.12734985],[-0.02702861],[ 0.01628402], 
                [0.1290801 ],[-0.01163635],[ 0.01765662],
                [0.13127712],[0.0036921 ],[0.01914791],
                [0.12207521],[0.0046558 ],[0.0193463 ],
                [0.11269308],[0.00533789],[0.01952478],
                [-0.08967877],[-0.04376131],[ 0.00774083],
                [-0.11941828],-0.07925056],[ 0.00204692],
                [-0.1454916 ],[-0.11696271],[-0.00333265],
                [-0.1675641 ],[-0.1573031 ],[-0.00832662],
                [-0.18607216],[-0.19960762],[-0.01274968],
                [-0.2005398 ],[-0.24355475],[-0.0167385 ],
                [-0.14039336],[-0.16271505],[ 0.00628496],
                [-0.06705754],[-0.10160029],[ 0.02908743], 
                [0.01326019],[-0.06230612],[ 0.05041263], 
                [0.0960622 ],[-0.04449067],[ 0.06949887], 
                [0.17544689],[-0.04634389],[ 0.08522649], 
                [0.24728927],[-0.06614863],[ 0.09715182], 
                [0.35446342],[-0.14534241],[ 0.10908152], 
                [0.38539402],[-0.19648518],[ 0.10935265], 
                [0.40068516],[-0.24843512],[ 0.10645312], 
                [0.4289201 ],[-0.18637292],[ 0.11771753], 
                [0.44484721],[-0.11682918],[ 0.12753298], 
                [0.44708468],[-0.04181391],[ 0.13547181],
                [0.43528193],[0.03636956],[0.14121547],
                [0.40844847],[0.11550975],[0.14420246],
                [0.36667462],[0.19288141],[0.14422624],
                [0.3101974 ],[0.266351  ],[0.14098314],
                [0.23987336],[0.33361671],[0.13430372],
                [0.15648128],[0.39266557],[0.12400402],
                [0.06173157],[0.42652433],[0.10944694],
                [0.06205619],[0.4117478 ],[0.10890919],
                [0.06201045],[0.39714842],[0.1084275 ],
                [0.06285113],[0.38235055],[0.1078152 ],
                [0.06375749],[0.36747543],[0.10724109],
                [0.06470036],[0.352857  ],[0.10670031],
                [0.06506839],[0.33881657],[0.10640113],
                [0.06612846],[0.32347699],[0.10580073],
                [0.06701756],[0.3091255 ],[0.10542839],
                [0.06862262],[0.29486992],[0.10495771],
                [-0.05302695],[ 0.19830796],[ 0.07602803],
                [-0.14232847],[ 0.08277688],[ 0.05073745],
                [-0.21774921],[-0.16961981],[ 0.01694203],
                [-0.20704163],[-0.28890978],[ 0.01018257],
                [-0.16954777],[-0.39282166],[ 0.01049646],
                [-0.11180395],[-0.47588849],[ 0.01746095],
                [-0.04113122],[-0.53427107],[ 0.03011798], 
                [0.03480776],[-0.56616622],[ 0.04722538], 
                [0.10743273],[-0.57288792],[ 0.06692612],  
                [0.04709503],[-0.55724037],[ 0.05204467],
                [-0.01233936],[-0.52333596], [0.03981064],
                [-0.06561062],[-0.47104485],[ 0.03105644],
                [-0.10753099],[-0.40130808],[ 0.02678977],
                [-0.13322331],[-0.3176376 ],[ 0.02733897], 
                [-0.12154509],[-0.12695985],[ 0.04361731],
                [-0.07953874],[-0.03061587],[ 0.05871882],
                [-0.01299762],[ 0.05758161],[ 0.07743038],
                [0.07690079],[0.13163967],[0.09874222],
                [0.05924685],[0.16516787],[0.10484263],
                [0.04108452],[0.19815769],[0.11074048],
                [0.02249052],[0.23118179],[0.11639785],
                [0.00318595],[0.26374743],[0.12185212],
                [-0.01658914],[ 0.29616878],[ 0.1271042 ],
                [-0.03709911],[ 0.32838984],[ 0.13212863],
                [-0.05797423],[ 0.36015046],[ 0.13688942],
                [-0.07940517],[ 0.39186655],[ 0.1414372 ],
                [-0.12421278],[ 0.45450897],[ 0.14988746],
                [-0.02027904],[ 0.40946676],[ 0.16321869],
                [0.07206196],[0.35343336],[0.17297331],
                [0.1522359 ],[0.28748761],[0.17897129],
                [0.21888208],[0.21381116],[0.1812202 ],
                [0.27147827],[0.13449869],[0.17980693],
                [0.30902299],[0.05123254],[0.17499767], 
                [0.33118207],[-0.03327948],[ 0.16696734], 
                [0.33800658],[-0.11694237],[ 0.15595736], 
                [0.32980645],[-0.19779851],[ 0.14229471],
                [0.30719502],[-0.27357063],[ 0.12652331], 
                [0.3209136 ],[-0.28285912],[ 0.14107921], 
                [0.33371294],[-0.29456343],[ 0.15515309], 
                [0.34558165],[-0.3086057 ],[ 0.16873544], 
                [0.35567916],[-0.32498616],[ 0.18178202], 
                [0.36381888],[-0.34333639],[ 0.19416744], 
                [0.36976401],[-0.36345518],[ 0.20597662], 
                [0.37327916],[-0.38496579],[ 0.21710015], 
                [0.37368722],[-0.40757291],[ 0.22755185], 
                [0.37136296],[-0.43058458],[ 0.23737914], 
                [0.36590434],[-0.45406728],[ 0.24666299]],
        'k':    [[ 1.44644326e+03, 0.00000000e+00, 9.59836634e+02 ],
                [ 0.00000000e+00, 1.44646498e+03, 5.39556895e+02 ],
                [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 ]],
        't':    [[ 2.66476989],[-3.33673936],[17.85376573], 
                [-4.8351615 ],[ 0.55764164],[18.24433871], 
                [-9.69708746],[-4.47578088],[16.45470293], 
                [-10.84578967],[ -7.83191025],[ 25.7312514 ],  
                [8.33363135],[-4.864706 ],[27.99576755], 
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                [7.92032349],[-6.39566824],[27.55592403],  
                [8.05818063],[-5.88524902],[27.70592726],  
                [8.19541322],[-5.37475797],[27.85004051],  
                [8.47174301],[-4.35467161],[28.13790798],  
                [8.61173245],[-3.84509985],[28.28384761],  
                [8.75229465],[-3.3355427 ],[28.42866949],  
                [8.89284733],[-2.8264006 ],[28.57045431],  
                [9.03361656],[-2.31751098],[28.71136965],  
                [6.84757155],[-2.00854557],[28.05704765],  
                [4.66530408],[-1.70294947],[27.39429883],  
                [2.48889205],[-1.40143005],[26.72772946],  
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                [2.3829259 ],[ 3.67054169],[27.0944156 ], 
                [4.72568078],[ 3.82361894],[27.64882815],  
                [7.06929493],[ 3.97589108],[28.19711393],  
                [9.41545033],[ 4.12799864],[28.74863343],  
                [6.88569795],[ 4.04588092],[28.71465112],  
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                [1.82374512],[ 3.88739733],[28.5767474 ], 
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                [1.18204347],[-4.99807705],[17.04005582],  
                [2.28769813],[-5.1028949 ],[17.18350066],  
                [2.41323857],[-4.51451945],[17.40742503],  
                [2.53897816],[-3.92582811],[17.63097404], 
                [-3.23694242],[ 3.7230754 ],[28.34120761], 
                [-5.76247817],[ 3.63529076],[28.18824665], 
                [-8.28303807],[ 3.54251312],[28.01622498], 
                [-10.7965339 ], [ 3.44420368],[ 27.82158908], 
                [-13.30128796],[ 3.33950885],[ 27.61081806], 
                [-15.79670924],[ 3.22971291],[ 27.38368363], 
                [-15.67662443],[ 2.69176754],[ 27.44643405], 
                [-15.53035104],[ 2.14003432],[ 27.3821291 ], 
                [-15.37533219],[ 1.59069354],[ 27.19774241], 
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                [-15.06791124],[ 0.56169201],[ 26.52990026], 
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                [-10.84279579],[ -6.62881897],[ 22.31272354], 
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                [-12.89609158],[ -5.90666051],[ 21.84359786], 
                [-13.0977233 ],[ -5.40178763],[ 21.82415022], 
                [-13.31384693],[ -4.88532471],[ 21.86746617], 
                [-13.52362252],[ -4.35715022],[ 21.96370236], 
                [-13.70484116],[ -3.82201743],[ 22.08985974], 
                [-13.92132371],[ -2.78021789],[ 22.3136256 ], 
                [-13.95009631],[ -2.2983199 ],[ 22.33882235], 
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                [-13.91903533],[ -1.42394983],[ 22.04756372], 
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                [8.20808877],[-0.24035137],[27.24021905],  
                [8.44652258],[ 0.35604804],[27.0034321 ],  
                [8.7083773 ],[ 0.99808634],[26.78350405],  
                [8.99775191],[ 1.6715963 ],[26.59178926],  
                [9.31553826],[ 2.36271304],[26.44402531],  
                [9.65800996],[ 3.05785712],[26.34759193], 
                [10.01555132],[ 3.74444359],[26.30238494], 
                [10.38053438],[ 4.41315337],[26.31505714],  
                [7.96496956],[ 4.32552467],[26.10934223],  
                [5.55337945],[ 4.24160465],[25.89788475],  
                [3.14450296],[ 4.16227988],[25.67948139],  
                [0.73877632],[ 4.08528555],[25.45708993], 
                [-1.66356045],[ 4.0113828 ],[25.23507107], 
                [-4.06372185],[ 3.93822602],[25.01122381], 
                [-6.4620782 ],[ 3.8657905 ],[24.79089856], 
                [-8.85981245],[ 3.79288322],[24.57929644], 
                [-11.25755087],[ 3.71702485],[ 24.37258417], 
                [-13.65489903],[ 3.63767404],[ 24.17225827] ],
        'dist': [[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
                3.04891387e-04 ]]
liken95 commented 3 years ago

重新格式化输出以匹配示例模板，我校准了190帧，不确定是否需要那么多...

[
    {
        'id':   0, // optional
        'R':    [[0.10322433, 0.00586084],[0.01965572],
                [0.02876875],[-0.03474045],[ 0.01824509],
                [0.03467534],[-0.05020887],[ 0.01830534], 
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                [0.10165191],[-0.07348809],[ 0.02913424],
                [-0.05693991],[-0.011658  ],[ 0.01366273], 
                [0.30802603],[-0.10069939],[ 0.10513563],
                [0.0610907, 0.44109706,0.11019328],
                [-0.19697588],[-0.04283537],[0.03067312],
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                [-0.1011033 ],[ 0.42317815],[ 0.14566023],
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                [0.08399034],[0.00614608],[0.01978352],
                [0.07426776],[0.00604659],[0.01976052],
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                [0.0310162 ],[-0.01598584],[ 0.01867843], 
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                [0.02964575],[-0.02886133],[ 0.01845228], 
                [0.02843749],[-0.04118144],[ 0.01820741], 
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                [0.02716986],[-0.05361597],[ 0.01811481], 
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                [-0.14232847],[ 0.08277688],[ 0.05073745],
                [-0.21774921],[-0.16961981],[ 0.01694203],
                [-0.20704163],[-0.28890978],[ 0.01018257],
                [-0.16954777],[-0.39282166],[ 0.01049646],
                [-0.11180395],[-0.47588849],[ 0.01746095],
                [-0.04113122],[-0.53427107],[ 0.03011798], 
                [0.03480776],[-0.56616622],[ 0.04722538], 
                [0.10743273],[-0.57288792],[ 0.06692612],  
                [0.04709503],[-0.55724037],[ 0.05204467],
                [-0.01233936],[-0.52333596], [0.03981064],
                [-0.06561062],[-0.47104485],[ 0.03105644],
                [-0.10753099],[-0.40130808],[ 0.02678977],
                [-0.13322331],[-0.3176376 ],[ 0.02733897], 
                [-0.12154509],[-0.12695985],[ 0.04361731],
                [-0.07953874],[-0.03061587],[ 0.05871882],
                [-0.01299762],[ 0.05758161],[ 0.07743038],
                [0.07690079],[0.13163967],[0.09874222],
                [0.05924685],[0.16516787],[0.10484263],
                [0.04108452],[0.19815769],[0.11074048],
                [0.02249052],[0.23118179],[0.11639785],
                [0.00318595],[0.26374743],[0.12185212],
                [-0.01658914],[ 0.29616878],[ 0.1271042 ],
                [-0.03709911],[ 0.32838984],[ 0.13212863],
                [-0.05797423],[ 0.36015046],[ 0.13688942],
                [-0.07940517],[ 0.39186655],[ 0.1414372 ],
                [-0.12421278],[ 0.45450897],[ 0.14988746],
                [-0.02027904],[ 0.40946676],[ 0.16321869],
                [0.07206196],[0.35343336],[0.17297331],
                [0.1522359 ],[0.28748761],[0.17897129],
                [0.21888208],[0.21381116],[0.1812202 ],
                [0.27147827],[0.13449869],[0.17980693],
                [0.30902299],[0.05123254],[0.17499767], 
                [0.33118207],[-0.03327948],[ 0.16696734], 
                [0.33800658],[-0.11694237],[ 0.15595736], 
                [0.32980645],[-0.19779851],[ 0.14229471],
                [0.30719502],[-0.27357063],[ 0.12652331], 
                [0.3209136 ],[-0.28285912],[ 0.14107921], 
                [0.33371294],[-0.29456343],[ 0.15515309], 
                [0.34558165],[-0.3086057 ],[ 0.16873544], 
                [0.35567916],[-0.32498616],[ 0.18178202], 
                [0.36381888],[-0.34333639],[ 0.19416744], 
                [0.36976401],[-0.36345518],[ 0.20597662], 
                [0.37327916],[-0.38496579],[ 0.21710015], 
                [0.37368722],[-0.40757291],[ 0.22755185], 
                [0.37136296],[-0.43058458],[ 0.23737914], 
                [0.36590434],[-0.45406728],[ 0.24666299]],
        'k':    [[ 1.44644326e+03, 0.00000000e+00, 9.59836634e+02 ],
                [ 0.00000000e+00, 1.44646498e+03, 5.39556895e+02 ],
                [ 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 ]],
        't':    [[ 2.66476989],[-3.33673936],[17.85376573], 
                [-4.8351615 ],[ 0.55764164],[18.24433871], 
                [-9.69708746],[-4.47578088],[16.45470293], 
                [-10.84578967],[ -7.83191025],[ 25.7312514 ],  
                [8.33363135],[-4.864706 ],[27.99576755], 
                [-8.31158562],[ 0.06787774],[23.34155579], 
                [-11.63857256],[ 2.74490915],[ 23.75431658], 
                [-0.70765791],[ 3.80631702],[28.47027191], 
                [-14.7612401],[ -0.32354 ],[ 25.6419018],  
                [8.6118176 ],[-3.0669686 ],[29.41959859],  
                [0.38914573],[-7.76669697],[26.18945499], 
                [-13.8400198 ],[ -3.29190071],[ 22.21753805],  
                [5.38651559],[-1.65756222],[27.33248578],  
                [2.7903882 ],[-2.74716648],[18.07559891],  
                [2.9159042 ],[-2.15696271],[18.29726111],  
                [3.0410726 ],[-1.56619629],[18.51863335],  
                [3.16662301],[-0.97544427],[18.73754069],  
                [3.29188471],[-0.38385296],[18.95728839],  
                [3.41694196],[ 0.20823813],[19.17514928],  
                [3.54161431],[ 0.80035122],[19.39120409],  
                [2.14485278],[ 0.76003749],[19.20101953],  
                [0.74851655],[ 0.71994826],[19.00988863], 
                [-0.6478042 ],[ 0.67952596],[18.82016795], 
                [-2.04386228],[ 0.63901063],[18.62702602], 
                [-3.43949434],[ 0.59796158],[18.43403745], 
                [-6.2302112 ],[ 0.51674524],[18.05054834], 
                [-7.62513181],[ 0.47569233],[17.85825502], 
                [-9.02037895],[ 0.4347188 ],[17.66692769], 
                [-10.41499955],[ 0.39350786],[ 17.47417583], 
                [-10.33517141],[ -0.14756397],[ 17.36074001], 
                [-10.2554202 ],[ -0.68835179],[ 17.24724257], 
                [-10.17558818],[ -1.22936344],[ 17.13403114], 
                [-10.09574321],[ -1.7705013 ],[ 17.02109091], 
                [-10.01614928],[ -2.31174753],[ 16.9077382 ], 
                [-9.93634984],[-2.85262729],[16.79478293], 
                [-9.85657027],[-3.39356365],[16.68169372], 
                [-9.77690877],[-3.93473924],[16.56792339], 
                [-9.61729664],[-5.01697665],[16.34136664], 
                [-10.20296647],[ -5.30938486],[ 17.24159502], 
                [-10.78871091],[ -5.6016467 ],[ 18.14230835], 
                [-11.3737879 ],[ -5.8937778 ],[ 19.04298717], 
                [-11.95899859],[ -6.18615614],[ 19.94331574], 
                [-12.54411122],[ -6.47832866],[ 20.84412938], 
                [-13.12835314],[ -6.76989098],[ 21.7436547 ], 
                [-13.71320259],[ -7.06198458],[ 22.64444017], 
                [-14.29775153],[ -7.35389026],[ 23.54469573], 
                [-14.88149386],[ -7.64541725],[ 24.44442915], 
                [-15.46519308],[ -7.93732792],[ 25.34491232], 
                [-13.15600189],[ -7.88421999],[ 25.53700823], 
                [-8.53540381],[-7.7794031 ],[25.92336113], 
                [-6.22455979],[-7.72715888],[26.11686875], 
                [-3.91330531],[-7.67502795],[26.30845097], 
                [-1.60155603],[-7.62317184],[26.50108937],  
                [0.71040853],[-7.57158749],[26.69219264],  
                [3.02309107],[-7.52044805],[26.88493523],  
                [5.33658419],[-7.4692043 ],[27.07676178],  
                [7.65006377],[-7.41843523],[27.26864762],  
                [7.78544571],[-6.90709676],[27.41459736],  
                [7.92032349],[-6.39566824],[27.55592403],  
                [8.05818063],[-5.88524902],[27.70592726],  
                [8.19541322],[-5.37475797],[27.85004051],  
                [8.47174301],[-4.35467161],[28.13790798],  
                [8.61173245],[-3.84509985],[28.28384761],  
                [8.75229465],[-3.3355427 ],[28.42866949],  
                [8.89284733],[-2.8264006 ],[28.57045431],  
                [9.03361656],[-2.31751098],[28.71136965],  
                [6.84757155],[-2.00854557],[28.05704765],  
                [4.66530408],[-1.70294947],[27.39429883],  
                [2.48889205],[-1.40143005],[26.72772946],  
                [0.31757785],[-1.1025838 ],[26.05562442], 
                [-1.8479478 ],[-0.80684063],[25.37875087], 
                [-4.00852065],[-0.51328989],[24.70360262], 
                [-6.16271984],[-0.22177243],[24.02239176], 
                [-10.45545777],[ 0.35653497],[ 22.66198211], 
                [-12.59485238],[ 0.64480591],[ 21.98408514], 
                [-12.73574278],[ 0.8392204 ],[ 22.11595189], 
                [-12.87622873],[ 1.03363034],[ 22.24608275], 
                [-13.01531582],[ 1.2277689 ],[ 22.37329458], 
                [-13.15430946],[ 1.4224258 ],[ 22.49923683], 
                [-13.29169438],[ 1.61659894],[ 22.62078269], 
                [-13.42919306],[ 1.81118309],[ 22.74229904], 
                [-13.56516549],[ 2.00585805],[ 22.85974279], 
                [-13.70096453],[ 2.20032005],[ 22.97454022], 
                [-13.83545961],[ 2.3952648 ],[ 23.08564551],
                [-13.96988255],[ 2.59034097],[ 23.19518439], 
                [-9.30587616],[ 2.90039978],[24.31258248], 
                [-6.97117884],[ 3.05505408],[24.8702023 ], 
                [-4.63519532],[ 3.2096385 ],[25.42945668], 
                [-2.29762676],[ 3.36337746],[25.98378421],  
                [0.04132794],[ 3.51739226],[26.53666313],  
                [2.3829259 ],[ 3.67054169],[27.0944156 ], 
                [4.72568078],[ 3.82361894],[27.64882815],  
                [7.06929493],[ 3.97589108],[28.19711393],  
                [9.41545033],[ 4.12799864],[28.74863343],  
                [6.88569795],[ 4.04588092],[28.71465112],  
                [4.35462631],[ 3.96590393],[28.65558535],  
                [1.82374512],[ 3.88739733],[28.5767474 ], 
                [-7.61873651],[-4.17006646],[15.85264069], 
                [-6.52336284],[-4.27276853],[16.00434806], 
                [-5.42639454],[-4.375587 ],[16.15374732], 
                [-4.32823853],[-4.47851559],[16.3030692 ], 
                [-3.2286759 ],[-4.581914 ],[16.45238781], 
                [-2.12785921],[-4.68553991],[16.60127778], 
                [-1.02581462],[-4.78970083],[16.74963005],  
                [0.07746096],[-4.89343442],[16.89458024],  
                [1.18204347],[-4.99807705],[17.04005582],  
                [2.28769813],[-5.1028949 ],[17.18350066],  
                [2.41323857],[-4.51451945],[17.40742503],  
                [2.53897816],[-3.92582811],[17.63097404], 
                [-3.23694242],[ 3.7230754 ],[28.34120761], 
                [-5.76247817],[ 3.63529076],[28.18824665], 
                [-8.28303807],[ 3.54251312],[28.01622498], 
                [-10.7965339 ], [ 3.44420368],[ 27.82158908], 
                [-13.30128796],[ 3.33950885],[ 27.61081806], 
                [-15.79670924],[ 3.22971291],[ 27.38368363], 
                [-15.67662443],[ 2.69176754],[ 27.44643405], 
                [-15.53035104],[ 2.14003432],[ 27.3821291 ], 
                [-15.37533219],[ 1.59069354],[ 27.19774241], 
                [-15.21986949],[ 1.05984621],[ 26.90484057], 
                [-15.06791124],[ 0.56169201],[ 26.52990026], 
                [-14.91602495],[ 0.101534 ],[ 26.09931668], 
                [-14.59951049],[ -0.72324798],[ 25.18482877], 
                [-14.43061322],[ -1.11019423],[ 24.74977714], 
                [-14.25843677],[ -1.49939839],[ 24.35408144], 
                [-12.03561919],[ -1.66655548],[ 24.66001519], 
                [-9.81418202],[-1.85745629],[25.02776588], 
                [-7.58387946],[-2.06703024],[25.4523048 ], 
                [-5.33683202],[-2.28634232],[25.9301971 ], 
                [-3.06696795],[-2.50349066],[26.4540593 ], 
                [-0.77133833],[-2.70344578],[27.01730903],  
                [1.55104657],[-2.87274905],[27.61032289], 
                [3.89371844],[-2.99695837],[28.21740965],  
                [6.2510516 ],[-3.06451392],[28.82630677],  
                [8.42141371],[-3.633064 ],[29.22925865],  
                [8.23343721],[-4.20028124],[29.03962546],  
                [8.04677693],[-4.76678543],[28.85138532],  
                [7.85922467],[-5.33374361],[28.65840293],  
                [7.67348716],[-5.90060333],[28.46572019],  
                [7.48810416],[-6.46734802],[28.2722626 ],  
                [7.30614913],[-7.03545105],[28.08484318],  
                [7.12139581],[-7.60175787],[27.88695128],  
                [6.93990038],[-8.16882934],[27.69440104],  
                [6.75950563],[-8.73616189],[27.50152655],  
                [4.61475964],[-8.35759804],[27.24387105],  
                [2.47708456],[-8.02883363],[26.79123135], 
                [-1.62106854],[-7.56139183],[25.49356842], 
                [-3.54538313],[-7.38967315],[24.75998093], 
                [-5.39819777],[-7.22479538],[24.04236463], 
                [-7.20802572],[-7.04658043],[23.37785016], 
                [-9.01163137],[-6.84628089],[22.79558044], 
                [-10.84279579],[ -6.62881897],[ 22.31272354], 
                [-12.72450427],[ -6.4078483 ],[ 21.93372129], 
                [-12.89609158],[ -5.90666051],[ 21.84359786], 
                [-13.0977233 ],[ -5.40178763],[ 21.82415022], 
                [-13.31384693],[ -4.88532471],[ 21.86746617], 
                [-13.52362252],[ -4.35715022],[ 21.96370236], 
                [-13.70484116],[ -3.82201743],[ 22.08985974], 
                [-13.92132371],[ -2.78021789],[ 22.3136256 ], 
                [-13.95009631],[ -2.2983199 ],[ 22.33882235], 
                [-13.94280444],[ -1.84919091],[ 22.261118 ], 
                [-13.91903533],[ -1.42394983],[ 22.04756372], 
                [-11.79453727],[ -1.47107728],[ 22.63867602], 
                [-9.66568976],[-1.51303156],[23.23007915], 
                [-7.53010553],[-1.55010946],[23.81938766], 
                [-5.38987144],[-1.58169641],[24.4091039 ], 
                [-3.24411048],[-1.60860179],[24.99742874], 
                [-1.09313656],[-1.62943417],[25.58429844],
                [1.06220894],[-1.64436314],[26.1689715 ],  
                [3.22223862],[-1.65381828],[26.75259768],  
                [7.55601901],[-1.65507476],[27.91239821],  
                [7.77308603],[-1.25227671],[27.70949359],  
                [7.98698812],[-0.77924244],[27.48111848],  
                [8.20808877],[-0.24035137],[27.24021905],  
                [8.44652258],[ 0.35604804],[27.0034321 ],  
                [8.7083773 ],[ 0.99808634],[26.78350405],  
                [8.99775191],[ 1.6715963 ],[26.59178926],  
                [9.31553826],[ 2.36271304],[26.44402531],  
                [9.65800996],[ 3.05785712],[26.34759193], 
                [10.01555132],[ 3.74444359],[26.30238494], 
                [10.38053438],[ 4.41315337],[26.31505714],  
                [7.96496956],[ 4.32552467],[26.10934223],  
                [5.55337945],[ 4.24160465],[25.89788475],  
                [3.14450296],[ 4.16227988],[25.67948139],  
                [0.73877632],[ 4.08528555],[25.45708993], 
                [-1.66356045],[ 4.0113828 ],[25.23507107], 
                [-4.06372185],[ 3.93822602],[25.01122381], 
                [-6.4620782 ],[ 3.8657905 ],[24.79089856], 
                [-8.85981245],[ 3.79288322],[24.57929644], 
                [-11.25755087],[ 3.71702485],[ 24.37258417], 
                [-13.65489903],[ 3.63767404],[ 24.17225827] ],
        'dist': [[ 6.95929106e-06 -2.00836991e-04 8.42048176e-06 2.98005924e-05
                3.04891387e-04 ]]

Hello, I also encountered the same problem. May I ask how did you generate the R and T in the camera parameters later

jamalknight commented 3 years ago

hi @liken95

Below is the code for camera calibration, which will print outputs for R, k,t and dist. Be sure to adjust your path where your images are in line 24.

#!/usr/bin/env python

import cv2
import numpy as np
import os
import glob

# Defining the dimensions of checkerboard
CHECKERBOARD = (9,6)
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# Creating vector to store vectors of 3D points for each checkerboard image
objpoints = []
# Creating vector to store vectors of 2D points for each checkerboard image
imgpoints = [] 

# Defining the world coordinates for 3D points
objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
prev_img_shape = None

# Extracting path of individual image stored in a given directory
images = glob.glob('./images/camera1/*.jpg')
for fname in images:
    img = cv2.imread(fname)
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
    # Find the chess board corners
    # If desired number of corners are found in the image then ret = true
    ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, cv2.CALIB_CB_ADAPTIVE_THRESH+
        cv2.CALIB_CB_FAST_CHECK+cv2.CALIB_CB_NORMALIZE_IMAGE)

    """
    If desired number of corner are detected,
    we refine the pixel coordinates and display 
    them on the images of checker board
    """
    if ret == True:
        objpoints.append(objp)
        # refining pixel coordinates for given 2d points.
        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)

        imgpoints.append(corners2)

        # Draw and display the corners
        img = cv2.drawChessboardCorners(img, CHECKERBOARD, corners2,ret)

    cv2.imshow('img',img)
    cv2.waitKey(1)

cv2.destroyAllWindows()

h,w = img.shape[:2]

"""
Performing camera calibration by 
passing the value of known 3D points (objpoints)
and corresponding pixel coordinates of the 
detected corners (imgpoints)
"""
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1],None,None)

# print("Camera matrix : \n")
# print(mtx)
# print("dist : \n")
# print(dist)
# print("rvecs : \n")
# print(rvecs)
# print("tvecs : \n")
# print(tvecs)

# Obtain R,k,t
rotation_mat = np.zeros(shape=(3, 3))
R, _ = cv2.Rodrigues(rvecs[0], rotation_mat)
t = tvecs[0]
k = mtx

# Put in a npz
np.savez("camera1data.npz", R=R, dist=dist, k=k, t=t)

print("R:", R)
print("k:", k)
print("t:", t)
print("dist:", dist)