Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Feature/optical flow #10

Open
wants to merge 9 commits into
base: develop
Choose a base branch
from
Open

Feature/optical flow #10

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
e02b69f
Added optical flow with outlier removal
zoes-full-stack Jul 29, 2021
953342a
Added argparsers
zoes-full-stack Jul 29, 2021
82faa86
Fixed variable names, documentation
zoes-full-stack Aug 1, 2021
b4efb30
Fixed variable names, documentation
zoes-full-stack Aug 1, 2021
d06ef82
Adding constraints to image points
zoes-full-stack Aug 1, 2021
36690ca
Did linting, try catches, optimised code
zoes-full-stack Aug 8, 2021
f32f185
Updated README.md
zoes-full-stack Aug 8, 2021
9051b29
Updated README.md
zoes-full-stack Aug 8, 2021
0846835
Changed class name
zoes-full-stack Aug 12, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -138,3 +138,5 @@ aprilgroup_tracking/aprilgroup_pose_estimation/april_group.json
aprilgroup_tracking/aprilgroup_pose_estimation/pen_tip_calibration/
aprilgroup_tracking/aprilgroup_pose_estimation/mean_error.webm
aprilgroup_tracking/aprilgroup_pose_estimation/pen_tip_calib.webm
aprilgroup_tracking/aprilgroup_pose_estimation/dodeca_pentip_calib.webm
aprilgroup_tracking/aprilgroup_pose_estimation/pen_tip_calib_usb/
15 changes: 13 additions & 2 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,11 +116,23 @@ Execute the program
- Store your images under this folder
- Obtain the Calibrated Dodecahedron and it's information (measured tag sizes, rotation and translation vectors) as a ***.json*** file
- Store this ***.json*** file under the directory: ***aprilgroup_tracking/aprilgroup_pose_estimation/april_group.json***
- There are Bash options available to run parts of the program as described below:

| Bash Options | Argument | Description |
|--------------|----------|-------------|
| `---disable-enhanced-ape` | `-` | No enhancement on APE would be completed, meaning that `cv:solvePnP()` would be called with no extrinsic guesses. The default is set to True. |
| `--disable-opticalflow` | `-` | Optical flow will not be used to obtain the pose of the object. The default is set True where the Lucas Kanade pyramidal optical flow algorithm will be used to obtain more image points for pose estimation. |
| `--outliermethod` | `opencv` | Once optical flow is used, the [OpenCV](https://github.com/opencv/opencv/blob/master/samples/python/lk_track.py) outlier method will be implemented. |
| `--outliermethod` | `velocity_vector` | The velocity vector outlier method from the [paper](https://research.fb.com/wp-content/uploads/2017/09/uist2017_pen.pdf) will be implemented. |

- Calibrate, Detect and Estimate the pose of the Dodecahedron by running:

```bash
# Assumming you are in the directory: accurate-aprilgroup-tracking
$ python3 aprilgroup_tracking/main.py
# The following command line arguements are used on the terminal:

# An example:
$ python3 aprilgroup_tracking/main.py --disable-enhanced-ape --outliermethod opencv
```

> This will search for the camera intrinsic parameters, if found, it will store them,
Expand All @@ -132,5 +144,4 @@ $ python3 aprilgroup_tracking/main.py
> Any logs created would be stored under the ***logs*** folder.



**N.B: More details and patches coming soon...**
Loading