Refactor triangulation stages and camera model

2026-03-11 23:42:07 +08:00
parent 24f74c87f1
commit 103aeb5887
10 changed files with 1268 additions and 232 deletions
@@ -52,7 +52,7 @@ def test_camera_structure_repr():
    camera.T = [[1], [2], [3]]
    camera.width = 640
    camera.height = 480
-    camera.type = "pinhole"
+    camera.model = rpt.CameraModel.PINHOLE

    rendered = repr(camera)
    assert "Camera 1" in rendered
@@ -100,6 +100,75 @@ def test_triangulate_repeatability():
    np.testing.assert_allclose(first, second, rtol=1e-5, atol=1e-5)


+def test_build_pair_candidates_exposes_cartesian_view_pairs():
+    poses_2d, person_counts = rpt.pack_poses_2d(
+        [
+            np.zeros((2, 2, 3), dtype=np.float32),
+            np.zeros((1, 2, 3), dtype=np.float32),
+            np.zeros((3, 2, 3), dtype=np.float32),
+        ],
+        joint_count=2,
+    )
+
+    pairs = rpt.build_pair_candidates(poses_2d, person_counts)
+
+    assert len(pairs) == (2 * 1) + (2 * 3) + (1 * 3)
+    assert (pairs[0].view1, pairs[0].view2, pairs[0].person1, pairs[0].person2) == (0, 1, 0, 0)
+    assert pairs[-1].global_person2 == 5
+
+
+def test_triangulate_accepts_empty_previous_poses():
+    poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
+    roomparams = np.asarray([[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]], dtype=np.float32)
+    empty_previous = np.zeros((0, len(JOINT_NAMES), 4), dtype=np.float32)
+
+    baseline = rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
+    with_previous = rpt.triangulate_poses(
+        poses_2d,
+        person_counts,
+        cameras,
+        roomparams,
+        JOINT_NAMES,
+        empty_previous,
+    )
+
+    np.testing.assert_allclose(with_previous, baseline, rtol=1e-5, atol=1e-5)
+
+
+def test_triangulate_debug_matches_final_output():
+    poses_2d, person_counts, cameras = load_case("data/h1/sample.json", "tests/poses_h1.json")
+    roomparams = np.asarray([[4.8, 6.0, 2.0], [0.0, 0.0, 1.0]], dtype=np.float32)
+
+    final_poses = rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
+    trace = rpt.triangulate_debug(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
+
+    np.testing.assert_allclose(trace.final_poses, final_poses, rtol=1e-5, atol=1e-5)
+    assert len(trace.pairs) >= len(trace.core_proposals)
+    for group in trace.grouping.groups:
+        assert all(0 <= index < len(trace.core_proposals) for index in group.proposal_indices)
+    for merge_indices in trace.merge.group_proposal_indices:
+        assert all(0 <= index < len(trace.core_proposals) for index in merge_indices)
+
+
+def test_filter_pairs_with_previous_poses_returns_debug_matches():
+    poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
+    roomparams = np.asarray([[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]], dtype=np.float32)
+    previous_poses = rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
+
+    debug = rpt.filter_pairs_with_previous_poses(
+        poses_2d,
+        person_counts,
+        cameras,
+        JOINT_NAMES,
+        previous_poses,
+    )
+
+    assert debug.used_previous_poses is True
+    assert len(debug.matches) == len(rpt.build_pair_candidates(poses_2d, person_counts))
+    assert len(debug.kept_pairs) == len(debug.kept_pair_indices)
+    assert any(match.matched_view1 or match.matched_view2 for match in debug.matches)
+
+
 def test_triangulate_does_not_mutate_inputs():
    poses_2d, person_counts, cameras = load_case("data/h1/sample.json", "tests/poses_h1.json")
    roomparams = np.asarray([[4.8, 6.0, 2.0], [0.0, 0.0, 1.0]], dtype=np.float32)