This code accompanies the paper "Calibration for Camera-Motion Capture Extrinsics". The purpose is to calculate the transformation between a camera and the mocap rigid body being used to track it. Two methods of performing this calibration were implemented. The first uses the motion capture markers directly, as outlined in the accompanying paper. The second is our implementation of the calibration process described here.
This section describes how to reproduce the results from the paper.
The bag files used total ~50 GB, so it is much more convenient to use the pre-extracted data
(board_data_10_9_18.npz and marker_data_10_9_18.npz).
To reproduce the Euclidean error results run the following command in the base directory:
python scripts/board_evaluation.py data/marker_calibration_10_9_18.npz data/board_calibration_10_9_18.npz data/board_data_10_9_18.npz
To reproduce the reprojection error results run the following command in the base directory:
python scripts/marker_evaluation.py data/marker_calibration_10_9_18.npz data/board_calibration_10_9_18.npz data/marker_data_10_9_18.npz