diff --git a/metadata/README.md b/metadata/README.md new file mode 100644 index 0000000000000000000000000000000000000000..1210191c349afc789ac8c83fc420e9294cbb8b9d --- /dev/null +++ b/metadata/README.md @@ -0,0 +1,6 @@ +This directory contains various metadata regarding the MEVA data. + +Subirectories include: + +[camera-models](camera-models): Camera models for the MEVA KF1 collection. + diff --git a/metadata/camera-models/2018-03/README.md b/metadata/camera-models/2018-03/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0bec4e601e0f0dbc59442d52c1352442002ac774 --- /dev/null +++ b/metadata/camera-models/2018-03/README.md @@ -0,0 +1,70 @@ +This directory contains the geometric scene model for the March 2018 +MEVA data collection. The format of the data is a common coordinate +system containing a calibrated camera model for each camera and a +collection of 3D landmark points with their annotated 2D locations in +each image that sees them. Additionally the model is georegistered. + +This directory contains models covering a subset of the public +cameras. We started with the stationary (non-patrolling) +RGB cameras that are outdoors and have overlapping fields of view. +In the future we will add models for IR cameras and each state of +the patrolling cameras. We may also provide model of indoor cameras, +but these will likely be in different local coordinates that are +not georegistered. + +The data is structured as follows: + +* [cameras](cameras) is a directory of camera files, one per camera + id/state. Refer to the [cameras readme](cameras/README.md) + for details on the format. + +* [frames](frames) is a directory of sample images, one per camera + id/state. The file names match the camera names, but with a different + file extension. These files are mostly here for convenience to help + visualize the geometry in the image space without needing the video. + +* [frames.txt](frames.txt) is an ordered list of the frames (and + corresponding cameras) that are currently considered for the model. + The order of the image name in this file assigned it an integer index. + The first line in this file is camera 1, the second is 2, and so on. + +* [tracks.txt](tracks.txt) is a text file containing the image location + of selected landmark points in each image. Each line provides a the + following `track_id camera_id X_loc Y_loc`. There are several other + fields that appear on each line as well, but these are currently not + used for this application and appear as default values + `1 1 0 255 255 255 0`. The `camera_id` indicates the camera index + that sees the current landmark, it match the line number in `frames.txt`. + +* [landmarks.ply](landmarks.ply) is sparse 3D point cloud of selected + landmark points. PLY is a standard ASCII file format for 3D mesh + and point data. The header documents the order of the fields. The + relevant fields are the first three, `X Y Z` location, and the last + two `track_id observations`. The `track_id` is a unique number for + each track/landmark and matches the `track_id` in `tracks.txt`. The + `observations` field indicates the number of cameras that see the + landmark. You can open PLY files in many 3D applications such as + [MeshLab](http://www.meshlab.net/) and [Blender](https://www.blender.org). + +* [gcps.json](gcps.json) is a geo-JSON formatted file that contains + a few manually selected ground control points (GCPs) that were used + to georegister the coordinate system. You should not need to use + these GCPs directly, see `geo_origin.txt`. + +* [geo_origin.txt](geo_origin.txt) a simple ASCII file containing only + three numbers: `latitude longitude elevation` in WGS84. This is the + location of the origin of the local cartesian coordinate system in + geographic coordinates. + +* [meva-2018-03-telesculptor.conf](meva-2018-03-telesculptor.conf) + This is an optional project configuration file that enables loading + all of the above data into the open source + [TeleSculptor](https://github.com/kitware/TeleSculptor) application + for visualization of the camera geometry. TeleSculptor, along with + other tools, was used to build this model. If you have all of the data + checked out and have TeleSculptor v1.0 you can use + `File -> Open Project` and select this file to view the data. + +* [homographies](homographies) (coming soon) contains alternative models for direct + image-to-image mapping with a homography transformation. These models + are only applied in cases of co-located RGB and IR cameras that have similar viewpoints and minimal parallax. diff --git a/metadata/camera-models/2018-03/cameras/G328.krtd b/metadata/camera-models/2018-03/cameras/G328.krtd new file mode 100644 index 0000000000000000000000000000000000000000..e03b40a1941b329d1a86eb2392ab7789294c3b3d --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G328.krtd @@ -0,0 +1,11 @@ +1460.19079702 0 959.5 + 0 1460.19079702 535.5 + 0 0 1 + + -0.882264787742 -0.470041487771 0.0258813462527 + -0.020547611134 -0.0164750029126 -0.999653124816 + 0.470304837298 -0.882490551821 0.00487708524067 + +127.469270361 12.7661662918 98.4895022221 + +-0.353997555311 0.122164890204 diff --git a/metadata/camera-models/2018-03/cameras/G336.krtd b/metadata/camera-models/2018-03/cameras/G336.krtd new file mode 100644 index 0000000000000000000000000000000000000000..72c527e218ae932bb645837b3cc49365b6279518 --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G336.krtd @@ -0,0 +1,11 @@ +2196.4170273 0 959.5 + 0 2196.4170273 539.5 + 0 0 1 + + -0.997424546078 0.0677089316475 0.0236595742968 +-0.0111311709675 0.179743630005 -0.98365050933 +-0.0708545828697 -0.981380521535 -0.178527028874 + +-0.57076048718 -16.2977260539 144.709029621 + +-0.188099076566 0 diff --git a/metadata/camera-models/2018-03/cameras/G340.krtd b/metadata/camera-models/2018-03/cameras/G340.krtd new file mode 100644 index 0000000000000000000000000000000000000000..68dd75b0f69ed0a2b554bad5d75d3a9def56f507 --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G340.krtd @@ -0,0 +1,11 @@ +2997.58983856 0 959.5 + 0 2997.58983856 539.5 + 0 0 1 + + 0.520809766882 -0.853382581137 0.0222566154673 +-0.130140267522 -0.105136016443 -0.9859056389 + 0.843694670772 0.510572804073 -0.165815301623 + +-11.2857171381 0.81503879573 15.4308860251 + +-0.188099076566 0 diff --git a/metadata/camera-models/2018-03/cameras/G341.krtd b/metadata/camera-models/2018-03/cameras/G341.krtd new file mode 100644 index 0000000000000000000000000000000000000000..1527cd2f15b18162e039e18e50ac9626149647e7 --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G341.krtd @@ -0,0 +1,11 @@ +3361.20904041 0 960 + 0 3361.20904041 540 + 0 0 1 + + 0.483680462594 0.875017230691 0.0199513432618 + 0.202319394696 -0.0895995448253 -0.975212173887 + -0.851539824456 0.475727619085 -0.220370505751 + + 27.9907720829 0.598570439881 61.5135953027 + +0 0 diff --git a/metadata/camera-models/2018-03/cameras/G424.krtd b/metadata/camera-models/2018-03/cameras/G424.krtd new file mode 100644 index 0000000000000000000000000000000000000000..53c06d920dda10d5f298c1426d5db9124b398588 --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G424.krtd @@ -0,0 +1,11 @@ +4004.96723614 0 959.5 + 0 4004.96723614 539.5 + 0 0 1 + + -0.924718286681 0.380641188918 -0.00289405923643 + 0.0509501255898 0.116235068867 -0.991914055485 + -0.377226954209 -0.917388518603 -0.126878410115 + + 25.7075161779 -11.6966747468 171.258160563 + +0 0 diff --git a/metadata/camera-models/2018-03/cameras/G436.krtd b/metadata/camera-models/2018-03/cameras/G436.krtd new file mode 100644 index 0000000000000000000000000000000000000000..b1ef0b93b7a87efd18f0c4b9350d37ad71e437dc --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G436.krtd @@ -0,0 +1,11 @@ +3751.8219329 0 959.5 + 0 3751.8219329 539.5 + 0 0 1 + + 0.983236711091 0.180664407665 -0.0246158844372 +0.00632924370911 -0.168741296753 -0.985640053693 + -0.182223792732 0.968961684781 -0.16705610671 + +-14.7137926596 1.21671519903 75.7285808212 + +-0.188099076566 0 diff --git a/metadata/camera-models/2018-03/cameras/G505.krtd b/metadata/camera-models/2018-03/cameras/G505.krtd new file mode 100644 index 0000000000000000000000000000000000000000..f930fb2a77316a74cfb343a20b681a506a40f0a1 --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G505.krtd @@ -0,0 +1,11 @@ +1452.84910798 0 959.5 + 0 1452.84910798 535.5 + 0 0 1 + + -0.997592340867 -0.0532273874405 0.0444563456564 +-0.0595258939458 0.328278929156 -0.942703353459 + 0.0355835550898 -0.943079948837 -0.330656953214 + +-15.3004829927 10.9596122579 -21.6448926086 + +-0.353997555311 0.122164890204 diff --git a/metadata/camera-models/2018-03/cameras/G506.krtd b/metadata/camera-models/2018-03/cameras/G506.krtd new file mode 100644 index 0000000000000000000000000000000000000000..de2c859b900e77383821b0c0990cc8884eea8abd --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/G506.krtd @@ -0,0 +1,11 @@ +1490.5193438 0 959.5 + 0 1490.5193438 535.5 + 0 0 1 + + 0.992650918786 0.0959763451094 -0.073706815233 +-0.0339568246321 -0.363696666464 -0.930898312849 + -0.116151140732 0.926559914945 -0.357764778205 + +17.4227724787 -9.5785787824 31.8484366523 + +-0.353997555311 0.122164890204 diff --git a/metadata/camera-models/2018-03/cameras/README.md b/metadata/camera-models/2018-03/cameras/README.md new file mode 100644 index 0000000000000000000000000000000000000000..259393684c662d3f85f794cd5fbfed71895a0006 --- /dev/null +++ b/metadata/camera-models/2018-03/cameras/README.md @@ -0,0 +1,20 @@ +This directory contains camera calibration (intrinsic and extrinsic) +for the March 2018 MEVA data collection. The goal is to provide camera +models in a common coordinate system to allow tools to project points +from one camera into the world space and then into other cameras. The +local camera coordinate system is scaled to units of meters. The Z=0 +plane is roughly aligned with the ground. This is an ENU (East, North, +Up) coordinate system. The geo_origin.txt file in the parent directory +provides the geographic location of the origin of the cooridinate system. + +The data here is stored in KRTD format. +KRTD is an ASCII file containing the following matrices: + +K - 3x3 upper triangular intrinisic matrix encoding focal length, + principal point, skew, pixel aspect ratio. + +R - 3x3 orthonormal rotation matrix + +T - 3d translation vector + +D - Nd vector of lens distortion parameters (using OpenCV conventions) diff --git a/metadata/camera-models/2018-03/frames.txt b/metadata/camera-models/2018-03/frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c3880e54d55f640b825a67d5a7a42f85e62a829 --- /dev/null +++ b/metadata/camera-models/2018-03/frames.txt @@ -0,0 +1,11 @@ +frames/G328.png +frames/G336.png +frames/G340.png +frames/G341.png +frames/G424.png +frames/G436.png +frames/G505.png +frames/G506.png +frames/G509.png +frames/G638.png +frames/G639.png diff --git 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+-10.7122 -35.1293 -0.104521 0 0 0 255 255 255 146 3 +28.7895 39.6295 1.33726 0 0 0 255 255 255 154 2 diff --git a/metadata/camera-models/2018-03/meva-2018-03-telesculptor.conf b/metadata/camera-models/2018-03/meva-2018-03-telesculptor.conf new file mode 100644 index 0000000000000000000000000000000000000000..079c917cd2392b5826392970a3403c7bab92c9bf --- /dev/null +++ b/metadata/camera-models/2018-03/meva-2018-03-telesculptor.conf @@ -0,0 +1,9 @@ +ROI = 1e+299 1e+299 1e+299 -1e+299 -1e+299 -1e+299 +geo_origin_file = geo_origin.txt +ground_control_points_file = gcps.json +output_krtd_dir = cameras +output_ply_file = landmarks.ply +output_tracks_file = tracks.txt +video_reader:image_list:image_reader:type = ocv +video_reader:type = image_list +video_source = frames.txt diff --git a/metadata/camera-models/2018-03/tracks.txt b/metadata/camera-models/2018-03/tracks.txt new file mode 100644 index 0000000000000000000000000000000000000000..032132e75b44f033720cfca99baa4dc9c17db587 --- /dev/null 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255 255 0 +121 11 799.689 175.843 1 1 0 255 255 255 0 +122 11 1839.79 579.369 1 1 0 255 255 255 0 diff --git a/metadata/camera-models/README.md b/metadata/camera-models/README.md new file mode 100644 index 0000000000000000000000000000000000000000..1090dccd256e869667e33d85f96207b555177b66 --- /dev/null +++ b/metadata/camera-models/README.md @@ -0,0 +1,8 @@ +This directory contains camera models for the MEVA KF1 collection. + +The KF1 collection took place in two separate events, in March and May of 2018. Between the events, camera positions may have shifted; for the moment the camera models are broken out by collection month. As we refine our models, this organization may change. + +This directory includes: + +* [2018-03](2018-03) is a directory containing models for the March 2018 collection event. +