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Improve calibration errors #292

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18 changes: 15 additions & 3 deletions main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -212,12 +212,19 @@ def main(sessionName, trialName, trial_id, cameras_to_use=['all'],
cameraDirectories[camName] = os.path.join(sessionDir, 'Videos',
pathCam)
cameraModels[camName] = sessionMetadata['iphoneModel'][camName]
cameraMapping = sessionMetadata.get('cameraMapping', {})

# Get cameras' intrinsics and extrinsics.
# Load parameters if saved, compute and save them if not.
CamParamDict = {}
loadedCamParams = {}
for camName in cameraDirectories:
cameraLabel = cameraMapping.get(camName, {}).get('phone_label')
calibrationFailurePrefix = (
"Calibration failed for {}.".format(cameraLabel)
if cameraLabel else
"Calibration failed for at least one camera."
)
camDir = cameraDirectories[camName]
lidarIntrinsicPath = os.path.join(camDir, 'InputMedia', trialName,
'camera_matrix.csv')
Expand Down Expand Up @@ -254,7 +261,10 @@ def main(sessionName, trialName, trial_id, cameras_to_use=['all'],
# webapp will give you the opportunity to compute them.

else:
exception = "Intrinsics don't exist for your camera model. OpenCap supports all iOS devices released in 2018 or later: https://www.opencap.ai/get-started."
if cameraLabel:
exception = "Intrinsics don't exist for the camera model used by {}. OpenCap supports all iOS devices released in 2018 or later: https://www.opencap.ai/get-started.".format(cameraLabel)
else:
exception = "Intrinsics don't exist for your camera model. OpenCap supports all iOS devices released in 2018 or later: https://www.opencap.ai/get-started."
raise Exception(exception, exception)

# Extrinsics ##################################################
Expand All @@ -281,9 +291,11 @@ def main(sessionName, trialName, trial_id, cameras_to_use=['all'],
useSecondExtrinsicsSolution = useSecondExtrinsicsSolution)
except Exception as e:
if len(e.args) == 2: # specific exception
raise Exception(e.args[0], e.args[1])
exception = "{} {}".format(
calibrationFailurePrefix, e.args[0])
raise Exception(exception, e.args[1])
elif len(e.args) == 1: # generic exception
exception = "Camera calibration failed. Verify your setup and try again. Visit https://www.opencap.ai/best-pratices to learn more about camera calibration and https://www.opencap.ai/troubleshooting for potential causes for a failed calibration."
exception = "{} Verify your setup and try again. Visit https://www.opencap.ai/best-pratices to learn more about camera calibration and https://www.opencap.ai/troubleshooting for potential causes for a failed calibration.".format(calibrationFailurePrefix)
raise Exception(exception, traceback.format_exc())
loadedCamParams[camName] = False

Expand Down
44 changes: 38 additions & 6 deletions utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -528,6 +528,22 @@ def downloadVideosFromServer(session_id,trial_id, isDocker=True,
os.makedirs(session_path, exist_ok=True)

trial = getTrialJson(trial_id)
session = getSessionJson(session_id)
apiCameraMap = (session.get('meta') or {}).get('camera_map') or {}

def getCameraIndex(video, fallbackIndex, usedIndices):
device_id = video["device_id"].replace('-', '').upper()
camera_label = apiCameraMap.get(device_id, {}).get('camera_label', '')
if camera_label.startswith('Cam'):
try:
camera_index = int(camera_label.replace('Cam', ''))
if camera_index not in usedIndices:
return camera_index
except ValueError:
pass
while fallbackIndex in usedIndices:
fallbackIndex += 1
return fallbackIndex

if trial_name is None:
trial_name = trial['name']
Expand All @@ -542,7 +558,10 @@ def downloadVideosFromServer(session_id,trial_id, isDocker=True,
if not benchmark:
if not os.path.exists(os.path.join(session_path, "Videos", 'mappingCamDevice.pickle')):
mappingCamDevice = {}
for k, video in enumerate(trial["videos"]):
usedIndices = set()
for i, video in enumerate(trial["videos"]):
k = getCameraIndex(video, i, usedIndices)
usedIndices.add(k)
os.makedirs(os.path.join(session_path, "Videos", "Cam{}".format(k), "InputMedia", trial_name), exist_ok=True)
video_path = os.path.join(session_path, "Videos", "Cam{}".format(k), "InputMedia", trial_name, trial_id + ".mov")
downloadVideoFile(video, video_path, trial_id,
Expand Down Expand Up @@ -584,11 +603,24 @@ def downloadVideosFromServer(session_id,trial_id, isDocker=True,
else: # subject parameters will be entered when capturing static pose
session_desc = getMetadataFromServer(session_id)

# Load iPhone models.
phoneModel= []
for i,video in enumerate(trial["videos"]):
phoneModel.append(video['parameters']['model'])
session_desc['iphoneModel'] = {'Cam' + str(i) : phoneModel[i] for i in range(len(phoneModel))}
# Load camera labels and iPhone models.
phoneModel = {}
cameraMapping = {}
for video in trial["videos"]:
device_id = video["device_id"].replace('-', '').upper()
if device_id not in mappingCamDevice:
continue
camName = 'Cam' + str(mappingCamDevice[device_id])
phoneModel[camName] = video.get('parameters', {}).get('model', 'unknown')
phone_label = apiCameraMap.get(device_id, {}).get('phone_label')
if phone_label:
cameraMapping[camName] = {
'phone_label': phone_label,
'device_id': video["device_id"],
}
session_desc['iphoneModel'] = phoneModel
if cameraMapping:
session_desc['cameraMapping'] = cameraMapping

# Save metadata.
with open(sessionYamlPath, 'w') as file:
Expand Down
15 changes: 12 additions & 3 deletions utilsChecker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -452,6 +452,7 @@ def calcExtrinsics(imageFileName, CameraParams, CheckerBoardParams,

# 3D points real world coordinates. Assuming z=0
objectp3d = generate3Dgrid(CheckerBoardParams)
detectedCheckerBoardParams = CheckerBoardParams

# Load and resize image - remember calibration image res needs to be same as all processing
image = cv2.imread(imageFileName)
Expand Down Expand Up @@ -510,16 +511,24 @@ def calcExtrinsics(imageFileName, CameraParams, CheckerBoardParams,
# Using ACCURACY|LARGER without EXHAUSTIVE to keep the fallback reasonably fast.
corners2_from_sb = False
if not ret:
ret_sb, corners_sb, _ = cv2.findChessboardCornersSBWithMeta(
ret_sb, corners_sb, meta_sb = cv2.findChessboardCornersSBWithMeta(
grayColor, CheckerBoardParams['dimensions'],
cv2.CALIB_CB_ACCURACY | cv2.CALIB_CB_LARGER | cv2.CALIB_CB_EXHAUSTIVE)
if ret_sb:
detectedDimensions = meta_sb.shape[::-1]
checkerCopy = copy.copy(CheckerBoardParams)
checkerCopy['dimensions'] = detectedDimensions
detectedCheckerBoardParams = checkerCopy
objectp3d = generate3Dgrid(detectedCheckerBoardParams)
ret = True
corners, orderingSuccess, orderingError = ensureCornerOrdering(
grayColor, corners_sb, CheckerBoardParams['dimensions'],
grayColor, corners_sb, detectedCheckerBoardParams['dimensions'],
squareResolution=2)
if orderingSuccess:
corners2_from_sb = True
if tuple(detectedDimensions) != tuple(CheckerBoardParams['dimensions']):
print('Detected checkerboard dimensions {} instead of input dimensions {}.'.format(
detectedDimensions, CheckerBoardParams['dimensions']))
else:
print('Rejected SB checkerboard detection: ' + orderingError)
ret = False
Expand All @@ -544,7 +553,7 @@ def calcExtrinsics(imageFileName, CameraParams, CheckerBoardParams,

# For testing: Draw and display the corners
# image = cv2.drawChessboardCorners(image,
# CheckerBoardParams['dimensions'],
# detectedCheckerBoardParams['dimensions'],
# corners2, ret)
# Draw small dots instead
# Choose dot size based on size of squares in pixels
Expand Down