Fixed bug in Camera parameter reader with folders

doc/release_notes.md

@@ -310,6 +310,7 @@ OpenPose Library - Release Notes
     3. Template functions could not be imported in Windows for projects using the OpenPose library DLL.
     4. Function `scaleKeypoints2d` was not working if any of the scales was 1 (e.g., fail if scaleX = 1 but scaleY != 1, or if any offset was not 0).
     5. Fixed bug in `KeepTopNPeople` that could provoke segmentation fault for `number_people_max` > 1.
+    6. Camera parameter reader can now take folder paths even if they are not finished in `/` (e.g., `~/Desktop/` worked but `~/Desktop` did not).
 
 
 

examples/calibration/calibration.cpp

@@ -26,8 +26,8 @@ DEFINE_int32(cam0,                      1,              "Baseline camera for ext
                                                         " 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.");
-// // Mode 3
-// DEFINE_int32(number_cameras,            4,              "Number of cameras.");
+// // 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.");
@@ -36,7 +36,7 @@ int openPoseDemo()
 {
     try
     {
-        op::log("Starting OpenPose demo...", op::Priority::High);
+        op::log("Starting OpenPose calibration toolbox...", op::Priority::High);
         const auto timerBegin = std::chrono::high_resolution_clock::now();
 
         // logging_level
@@ -44,24 +44,26 @@ int openPoseDemo()
                   __LINE__, __FUNCTION__, __FILE__);
         op::ConfigureLog::setPriorityThreshold((op::Priority)FLAGS_logging_level);
 
+        // Common parameters
+        const auto gridInnerCorners = op::flagsToPoint(FLAGS_grid_number_inner_corners, "12x7");
+        const auto calibrationImageDir = op::formatAsDirectory(FLAGS_calibration_image_dir);
+
         // Calibration - Intrinsics
         if (FLAGS_mode == 1)
         {
             op::log("Running calibration (intrinsic parameters)...", op::Priority::High);
-            // Obtain & save intrinsics
-            const auto gridInnerCorners = op::flagsToPoint(FLAGS_grid_number_inner_corners, "12x7");
+            // 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 camera calibration code
+            // Run calibration
             op::estimateAndSaveIntrinsics(
                 gridInnerCorners, FLAGS_grid_square_size_mm, flags,
-                op::formatAsDirectory(FLAGS_camera_parameter_folder),
-                op::formatAsDirectory(FLAGS_calibration_image_dir),
-                FLAGS_camera_serial_number, saveImagesWithCorners);
+                op::formatAsDirectory(FLAGS_camera_parameter_folder), calibrationImageDir, FLAGS_camera_serial_number,
+                saveImagesWithCorners);
             op::log("Intrinsic calibration completed!", op::Priority::High);
         }
 
@@ -69,27 +71,42 @@ int openPoseDemo()
         else if (FLAGS_mode == 2)
         {
             op::log("Running calibration (extrinsic parameters)...", op::Priority::High);
-            // Parameters
+            // Run calibration
             op::estimateAndSaveExtrinsics(
-                FLAGS_camera_parameter_folder, op::formatAsDirectory(FLAGS_calibration_image_dir),
-                op::flagsToPoint(FLAGS_grid_number_inner_corners, "12x7"), FLAGS_grid_square_size_mm, FLAGS_cam0,
-                FLAGS_cam1, FLAGS_omit_distortion, FLAGS_combine_cam0_extrinsics);
+                FLAGS_camera_parameter_folder, calibrationImageDir, gridInnerCorners, FLAGS_grid_square_size_mm,
+                FLAGS_cam0, FLAGS_cam1, FLAGS_omit_distortion, FLAGS_combine_cam0_extrinsics);
+            // Logging
             op::log("Extrinsic calibration completed!", op::Priority::High);
         }
 
-        // // Calibration - Extrinsics Refinement with Visual SFM
+        // // Calibration - Extrinsics - Bundle Adjustment (BA)
         // else if (FLAGS_mode == 3)
         // {
+        //     op::log("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, FLAGS_grid_square_size_mm,
+        //         FLAGS_number_cameras, FLAGS_omit_distortion, saveImagesWithCorners);
+        //     // Logging
+        //     op::log("Extrinsic calibration (bundle adjustment) completed!", op::Priority::High);
+        // }
+
+        // // Calibration - Extrinsics Refinement with Visual SFM
+        // else if (FLAGS_mode == 4)
+        // {
         //     op::log("Running calibration (intrinsic parameters)...", op::Priority::High);
         //     // Obtain & save intrinsics
-        //     const auto gridInnerCorners = op::flagsToPoint(FLAGS_grid_number_inner_corners, "12x7");
         //     const auto saveImagesWithCorners = false;
         //     // const auto saveImagesWithCorners = true;
         //     // Run camera calibration code
-        //     op::estimateAndSaveSiftFile(gridInnerCorners,
-        //                                 op::formatAsDirectory(FLAGS_calibration_image_dir),
-        //                                 FLAGS_number_cameras,
-        //                                 saveImagesWithCorners);
+        //     op::estimateAndSaveSiftFile(
+        //         gridInnerCorners, calibrationImageDir, FLAGS_number_cameras, saveImagesWithCorners);
         //     op::log("Intrinsic calibration completed!", op::Priority::High);
         // }
 
@@ -100,7 +117,7 @@ int openPoseDemo()
         const auto now = std::chrono::high_resolution_clock::now();
         const auto totalTimeSec = (double)std::chrono::duration_cast<std::chrono::nanoseconds>(now-timerBegin).count()
                                 * 1e-9;
-        const auto message = "OpenPose demo successfully finished. Total time: "
+        const auto message = "OpenPose calibration toolbox successfully finished. Total time: "
                            + std::to_string(totalTimeSec) + " seconds.";
         op::log(message, op::Priority::High);
 

include/openpose/calibration/cameraParameterEstimation.hpp

@@ -15,16 +15,21 @@ namespace op
      */
     OP_API void estimateAndSaveIntrinsics(
         const Point<int>& gridInnerCorners, const float gridSquareSizeMm, const int flags,
-        const std::string& outputParameterFolder, const std::string& imagesFolder, const std::string& serialNumber,
+        const std::string& outputParameterFolder, const std::string& imageFolder, const std::string& serialNumber,
         const bool saveImagesWithCorners = false);
 
     OP_API void estimateAndSaveExtrinsics(
-        const std::string& intrinsicsFolder, const std::string& extrinsicsImagesFolder,
-        const Point<int>& gridInnerCorners, const float gridSquareSizeMm, const int index0, const int index1,
-        const bool imagesAreUndistorted, const bool combineCam0Extrinsics);
+        const std::string& parameterFolder, const std::string& imageFolder, const Point<int>& gridInnerCorners,
+        const float gridSquareSizeMm, const int index0, const int index1, const bool imagesAreUndistorted,
+        const bool combineCam0Extrinsics);
+
+    OP_API void refineAndSaveExtrinsics(
+        const std::string& parameterFolder, const std::string& imageFolder, const Point<int>& gridInnerCorners,
+        const float gridSquareSizeMm, const int numberCameras, const bool imagesAreUndistorted,
+        const bool saveImagesWithCorners = false);
 
     OP_API void estimateAndSaveSiftFile(
-        const Point<int>& gridInnerCorners, const std::string& imagesFolder, const int numberCameras,
+        const Point<int>& gridInnerCorners, const std::string& imageFolder, const int numberCameras,
         const bool saveImagesWithCorners = false);
 }
 

src/openpose/producer/producer.cpp

@@ -28,47 +28,55 @@ namespace op
         mNumberEmptyFrames{0},
         mTrackingFps{false}
     {
-        // Basic properties
-        mProperties[(unsigned int)ProducerProperty::AutoRepeat] = (double) false;
-        mProperties[(unsigned int)ProducerProperty::Flip] = (double) false;
-        mProperties[(unsigned int)ProducerProperty::Rotation] = 0.;
-        mProperties[(unsigned int)ProducerProperty::NumberViews] = numberViews;
-        auto& mNumberViews = mProperties[(unsigned int)ProducerProperty::NumberViews];
-        // Camera (distortion, intrinsic, and extrinsic) parameters
-        if (mType != ProducerType::FlirCamera)
+        try
         {
-            // Undistort image?
-            mCameraParameterReader.setUndistortImage(undistortImage);
-            // If no stereo --> Set to 1
-            if (mNumberViews <= 0)
-                mNumberViews = 1;
-            // Get camera paremeters
-            if (mNumberViews > 1 || undistortImage)
+            // Basic properties
+            mProperties[(unsigned int)ProducerProperty::AutoRepeat] = (double) false;
+            mProperties[(unsigned int)ProducerProperty::Flip] = (double) false;
+            mProperties[(unsigned int)ProducerProperty::Rotation] = 0.;
+            mProperties[(unsigned int)ProducerProperty::NumberViews] = numberViews;
+            auto& mNumberViews = mProperties[(unsigned int)ProducerProperty::NumberViews];
+            // Camera (distortion, intrinsic, and extrinsic) parameters
+            if (mType != ProducerType::FlirCamera)
             {
-                const auto extension = getFileExtension(cameraParameterPath);
+                // Undistort image?
+                mCameraParameterReader.setUndistortImage(undistortImage);
+                // If no stereo --> Set to 1
+                if (mNumberViews <= 0)
+                    mNumberViews = 1;
                 // Get camera paremeters
-                if (extension == "xml" || extension == "XML")
-                    mCameraParameterReader.readParameters(
-                        getFileParentFolderPath(cameraParameterPath), getFileNameNoExtension(cameraParameterPath));
-                else // if (mNumberViews > 1)
+                if (mNumberViews > 1 || undistortImage)
                 {
-                    // Read camera parameters from SN
-                    auto serialNumbers = getFilesOnDirectory(cameraParameterPath, ".xml");
-                    // Get serial numbers
-                    for (auto& serialNumber : serialNumbers)
-                        serialNumber = getFileNameNoExtension(serialNumber);
+                    const auto extension = getFileExtension(cameraParameterPath);
                     // Get camera paremeters
-                    mCameraParameterReader.readParameters(cameraParameterPath, serialNumbers);
+                    if (extension == "xml" || extension == "XML")
+                        mCameraParameterReader.readParameters(
+                            getFileParentFolderPath(cameraParameterPath), getFileNameNoExtension(cameraParameterPath));
+                    else // if (mNumberViews > 1)
+                    {
+                        const auto cameraParameterPathCleaned = formatAsDirectory(cameraParameterPath);
+                        // Read camera parameters from SN
+                        auto serialNumbers = getFilesOnDirectory(cameraParameterPathCleaned, ".xml");
+                        // Get serial numbers
+                        for (auto& serialNumber : serialNumbers)
+                            serialNumber = getFileNameNoExtension(serialNumber);
+                        // Get camera paremeters
+                        mCameraParameterReader.readParameters(cameraParameterPathCleaned, serialNumbers);
+                    }
+                    // Sanity check
+                    if ((int)mCameraParameterReader.getNumberCameras() != mNumberViews)
+                        error("Found different number of camera parameter files than the number indicated by"
+                              " `--3d_views` ("
+                              + std::to_string(mCameraParameterReader.getNumberCameras()) + " vs. "
+                              + std::to_string(mNumberViews) + "). Make sure they are the same number of files.",
+                              __LINE__, __FUNCTION__, __FILE__);
                 }
-                // Sanity check
-                if ((int)mCameraParameterReader.getNumberCameras() != mNumberViews)
-                    error("Found different number of camera parameter files than the number indicated by"
-                          " `--3d_views` ("
-                          + std::to_string(mCameraParameterReader.getNumberCameras()) + " vs. "
-                          + std::to_string(mNumberViews) + "). Make sure they are the same number of files.",
-                          __LINE__, __FUNCTION__, __FILE__);
             }
         }
+        catch (const std::exception& e)
+        {
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+        }
     }
 
     Producer::~Producer(){}