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feat: Add Bundle Adjustment for camera extrinsic refinement #218

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feat: Add Bundle Adjustment for camera extrinsic refinement #218

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10 changes: 10 additions & 0 deletions Pose2Sim/Demo_Batch/Config.toml
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Expand Up @@ -205,6 +205,16 @@ fill_large_gaps_with = 'last_value' # 'last_value', 'nan', or 'zeros'
show_interp_indices = true # true or false (lowercase). For each keypoint, return the frames that need to be interpolated
make_c3d = true # save triangulated data in c3d format in addition to trc

# Bundle Adjustment for camera extrinsic refinement using human keypoints
# Requires ba-cuda: pip install pose2sim[ba] or pip install ba-cuda
[triangulation.bundle_adjustment]
enabled = false # true or false (lowercase) # Set to true to refine camera extrinsics after triangulation
ref_cam_idx = 0 # Reference camera index (fixed during optimization, 0-indexed)
max_iterations = 50 # Maximum Levenberg-Marquardt iterations
tolerance = 1e-6 # Convergence tolerance
huber_delta = 1.0 # Huber loss delta for outlier robustness
use_confidence_weights = true # Use keypoint confidence scores as weights


[filtering]
reject_outliers = true # Hampel filter for outlier rejection before other filtering methods. Can be slow. Rejects outliers that are outside of a 95% confidence interal from the median in a sliding window of size 7.
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10 changes: 10 additions & 0 deletions Pose2Sim/Demo_MultiPerson/Config.toml
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Expand Up @@ -205,6 +205,16 @@ fill_large_gaps_with = 'last_value' # 'last_value', 'nan', or 'zeros'
show_interp_indices = true # true or false (lowercase). For each keypoint, return the frames that need to be interpolated
make_c3d = true # save triangulated data in c3d format in addition to trc

# Bundle Adjustment for camera extrinsic refinement using human keypoints
# Requires ba-cuda: pip install pose2sim[ba] or pip install ba-cuda
[triangulation.bundle_adjustment]
enabled = false # true or false (lowercase) # Set to true to refine camera extrinsics after triangulation
ref_cam_idx = 0 # Reference camera index (fixed during optimization, 0-indexed)
max_iterations = 50 # Maximum Levenberg-Marquardt iterations
tolerance = 1e-6 # Convergence tolerance
huber_delta = 1.0 # Huber loss delta for outlier robustness
use_confidence_weights = true # Use keypoint confidence scores as weights


[filtering]
reject_outliers = true # Hampel filter for outlier rejection before other filtering methods. Can be slow. Rejects outliers that are outside of a 95% confidence interal from the median in a sliding window of size 7.
Expand Down
10 changes: 10 additions & 0 deletions Pose2Sim/Demo_SinglePerson/Config.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -208,6 +208,16 @@ fill_large_gaps_with = 'last_value' # 'last_value', 'nan', or 'zeros'
show_interp_indices = true # true or false (lowercase). For each keypoint, return the frames that need to be interpolated
make_c3d = true # save triangulated data in c3d format in addition to trc

# Bundle Adjustment for camera extrinsic refinement using human keypoints
# Requires ba-cuda: pip install pose2sim[ba] or pip install ba-cuda
[triangulation.bundle_adjustment]
enabled = false # true or false (lowercase) # Set to true to refine camera extrinsics after triangulation
ref_cam_idx = 0 # Reference camera index (fixed during optimization, 0-indexed)
max_iterations = 50 # Maximum Levenberg-Marquardt iterations
tolerance = 1e-6 # Convergence tolerance
huber_delta = 1.0 # Huber loss delta for outlier robustness
use_confidence_weights = true # Use keypoint confidence scores as weights


[filtering]
reject_outliers = true # Hampel filter for outlier rejection before other filtering methods. Can be slow. Rejects outliers that are outside of a 95% confidence interal from the median in a sliding window of size 7.
Expand Down
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