@@ -55,7 +55,8 @@ This demo assumes n arbitrary stereo cameras from the FLIR company (formerly Poi
The user must manually get the intrinsic and extrinsic parameters of the FLIR cameras:
1. Create a xml file for each camera named as `models/cameraParameters/flir/{camera_serial_number}.xml`.
2. The elements inside each xml file are the extrinsic parameters of the camera, the intrinsic parameters, and the distortion coefficients. Copy the format from `models/cameraParameters/flir/17012332.xml.example`.
2. The elements inside each xml file are the extrinsic parameters of the camera (`CameraMatrix`), the intrinsic parameters (`Intrinsics`), and the distortion coefficients (`Distortion`). Copy the format from `models/cameraParameters/flir/17012332.xml.example`. For the extrinsic parameters of the camera, it allows you to set the coordinate origin (so that 3-d keypoints are distances with respect to that origin).
- E.g., in order to set the camera 1 as the coordinate center, set its `CameraMatrix` as the identity matrix of size 3x4, and the `CameraMatrix` of the other cameras as the camera extrinsic parameters of from those cameras with respect to the main camera `M_1_i`.
3. The program can use any arbitrary number of cameras. Even if lots of cameras are added in `models/cameraParameters/flir/`, the program will check at runtime which FLIR cameras are detected and simply read those camera parameters. If the file corresponding to any of the cameras detected at runtime is not found, OpenPose will return an error.
4. In the example XML, OpenPose uses the 8-distortion-parameter version of OpenCV. The distortion parameters are internally used by the OpenCV function [undistort()](http://docs.opencv.org/3.2.0/da/d54/group__imgproc__transform.html#ga69f2545a8b62a6b0fc2ee060dc30559d) to rectify the images. Therefore, 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.
