3D-pose
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Optical multi-view motion capture with calibration suite
3DPose
Introduction
This repository contains a multi-view optical motion capture system with support 3D visualizations. It includes a multi-camera calibration tool.
It is composed by the following modules:
-
Capture module:
- Sinchronized capture using Optitrack cameras (but can easily be extended to any type of camera by implementing the adequate interfaces)
- Dynamic 2D visualization of the cameras feed
-
Calibration module:
- For intrinsics: charuco based calibration [1][2]
- For extrinsics: charuco board pose estimation + nister 5-point algorithm [3]
- Dynamic 3D visualization of calibration board
-
Human pose estimation module:
- OpenPose 3D module with CERES non-linear optimization [4]
Libraries
The following libraries were used:
- OpenCV 4.1.0 + Contrib Modules (aruco)
- OptiTrack Camera SDK 2.1.1
- OpenPose 1.5 (customized)
- VTK 8.2
- Boost 1.67
References
[1] S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez, "Automatic generation and detection of highly reliable fiducial markers under occlusion", PR, 2014.
[2] Z. Zhang, "A flexible new technique for camera calibration," TPAMI, 2000.
[3] D. Nister, "An efficient solution to the five-point relative pose problem," TPAMI, 2004.
[4] C. Zhe, S. Tomas, W. Shih-En, S. Yaser, "Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields", CVPR, 2017.