Camera Pose Estimation in VIOSO 7

In the Align 3D step, defining the camera’s precise position and orientation relative to the screen's 3D model is critical. Traditionally, this is a manual process requiring the input of exact coordinates for position and rotation angles.

VIOSO 7 introduces an automated estimation process to streamline this setup. By utilizing the markers generated during the Design step, the software can calculate an initial camera pose.

Preparation

Before starting the estimation, ensure your camera parameters are accurately configured:

• Camera Type: Select the correct lens profile.

• FOV: Set the field of view.

• Border PX: Define any sensor cropping or active pixel areas.

Once configured, click the Estimate Pose button to open the estimation interface.

This opens Pose estimation dialogue:

Marker Management

• Point list: Displays all available markers. The Use column indicates if a point is active in the current calculation. Double-clicking a description allows for renaming.

• Add Point: Manually creates a new marker by entering specific 3D $X,Y,Z$ coordinates.

• Change Point: Allows you to edit the 3D coordinates of the currently selected marker if its digital position in the model needs adjustment.

• Delete Points: Removes the selected marker(s) from the list.

• Save to / Load from: Exports or imports the current marker configuration (positions and names) to a file.

• Start Point Picker: Switches back to the "Show Model" view to visually select or generate new markers directly from the 3D geometry.

Step 1: Rough Marker Placement

Using your mouse, drag the digital markers over the camera screenshot to match their physical locations on the screen from the camera's perspective.

• During this stage, markers will also be projected onto the real screen by the projector.

• Aim for a rough visual match to align the digital model's points with the physical surface.

Step 2: Precise Marker Alignment

To achieve a valid calculation, the markers must be placed with higher precision:

1. Select a marker in the interface.

2. Use the keyboard arrow keys for fine adjustments.

3. Observe the real projected screen; the projected marker should sit exactly on the corresponding feature of the physical screen.

• Test Current Configuration: Press to test current marker placement. The software will provide an Error Value. For a successful pose, the error should ideally not exceed a few pixels.

• Estimate: Finalizes the calculation. This button automatically updates the camera's position and orientation in the 3D space based on the marker alignment.

• Close: Exits the dialogue

Note: Since automatically generated markers are based on the 3D model rather than precisely measured positions of the physical space, this tool provides a only initial pose estimation. Some final manual fine-tuning of the coordinates may still be required to achieve perfect alignment.