Minimal calligator example

calligator_minimal_example.py

import numpy as np
from calligator.boards import CharucoBoard, Checkerboard
from calligator.cameras import Camera, CameraGroup

cam_names = ['A', 'B', 'C']
# cam_names = ['A', 'B', 'C', 'D', 'E', 'F']
vidname_format = 'videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test {} Cam-{}.avi'

vidnames = [[] for _ in cam_names]
for i in range(2, 4):
    for cix, cname in enumerate(cam_names):
        vname = vidname_format.format(i, cname)
        vidnames[cix].append(vname)
        
# Example format here is:
# [['videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test 2 Cam-A.avi',
#  'videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test 3 Cam-A.avi'],
# ['videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test 2 Cam-B.avi',
#  'videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test 3 Cam-B.avi'],
# ['videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test 2 Cam-C.avi',
#  'videos/calibration-evyn-2019-05-22-compressed/23-May-2019 Calibration Test 3 Cam-C.avi']]

n_cams = len(cam_names)

board = CharucoBoard(6, 6,
                     square_length=0.5, # here, in mm but any unit works
                     marker_length=0.375,
                     marker_bits=4, dict_size=50)

# an example checkerboard usage
# board = Checkerboard(9, 6, square_length=2)

cgroup = CameraGroup.from_names(cam_names)
# cgroup = CameraGroup.from_names(cam_names, fisheye=True) # supports fisheye too if needed

# this will take a few minutes
# cgroup.calibrate_videos(vidnames, board)

# example saving and loading for later
# cgroup.dump('calib.toml')
cgroup = CameraGroup.load('calib.toml')

# example triangulation (of random points here for simplicity)

n_cams = len(cam_names)
n_points = 100
pts = np.random.uniform(600, size=(n_cams, n_points, 2))

# triangulation doc
# Given an CxNx2 array, this returns an Nx3 array of points,
# where N is the number of points and C is the number of cameras
p3d = cgroup.triangulate(pts)

# example triangulation with multiple joints
n_cams = len(cam_names)
n_frames = 100
n_joints = 13

pts = np.random.uniform(600, size=(n_cams, n_frames, n_joints, 2))
pts_flat = pts.reshape((n_cams, -1, 2))

p3d_flat = cgroup.triangulate(pts_flat)
p3d = p3d_flat.reshape(n_frames, n_joints, 3)