Initial cpp reimplementation.

spt/interface.hpp

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "camera.hpp"
+
+// =================================================================================================
+
+// Forward declaration of the class, that swig does try to parse all its dependencies.
+class TriangulatorInternal;
+
+// =================================================================================================
+
+class Triangulator
+{
+public:
+    /**
+     * Triangulator to predict poses from multiple views.
+     *
+     *
+     * @param min_score Minimum score to consider a triangulated joint as valid.
+     */
+    Triangulator(
+        double min_score = 0.95);
+
+    /**
+     * Calculate a triangulation.
+     *
+     *
+     * @param poses_2d List of shape [views, persons, joints, 3], containing the 2D poses.
+     * @param cameras List of cameras.
+     * @param roomparams Room parameters (room center, room size).
+     * @param joint_names List of 2D joint names.
+     *
+     * @return List of shape [persons, joints, 4], containing the 3D poses.
+     */
+    std::vector<std::vector<std::array<double, 4>>> triangulate_poses(
+        const std::vector<std::vector<std::vector<std::array<double, 3>>>> &poses_2d,
+        const std::vector<Camera> &cameras,
+        const std::array<std::array<double, 3>, 2> &roomparams,
+        const std::vector<std::string> &joint_names);
+
+    /** Reset the triangulator. */
+    void reset();
+
+private:
+    TriangulatorInternal *triangulator;
+};