Initial cpp reimplementation.

2024-09-11 11:40:00 +02:00
parent 7b426d209c
commit 244f46559c
14 changed files with 1904 additions and 1 deletions
--- a/tests/test_interface.py
+++ b/tests/test_interface.py
@ -0,0 +1,85 @@
+import json
+import sys
+import time
+
+import numpy as np
+
+sys.path.append("../swig/")
+import spt
+
+# ==================================================================================================
+
+
+def main():
+    print("")
+
+    # Test camera structure
+    camera = spt.Camera()
+    camera.name = "Camera 1"
+    camera.K = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
+    camera.DC = [0, 0, 0, 0, 0]
+    camera.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
+    camera.T = [[1], [2], [3]]
+    camera.width = 640
+    camera.height = 480
+    print(camera)
+    print("")
+
+    # Load input data
+    roomparams = [[0, 0, 1], [4, 4, 2]]
+    joint_names = [
+        "nose",
+        "eye_left",
+        "eye_right",
+        "ear_left",
+        "ear_right",
+        "shoulder_left",
+        "shoulder_right",
+        "elbow_left",
+        "elbow_right",
+        "wrist_left",
+        "wrist_right",
+        "hip_left",
+        "hip_right",
+        "knee_left",
+        "knee_right",
+        "ankle_left",
+        "ankle_right",
+        "hip_middle",
+        "shoulder_middle",
+        "head",
+    ]
+    cpath = "/SimplePoseTriangulation/data/h1/sample.json"
+    ppath = "/SimplePoseTriangulation/tests/poses_h1.json"
+    with open(cpath, "r") as file:
+        cdata = json.load(file)
+    with open(ppath, "r") as file:
+        pdata = json.load(file)
+    cams = cdata["cameras"]
+    poses_2d = pdata["2D"]
+    cameras = []
+    for cam in cams:
+        camera = spt.Camera()
+        camera.name = cam["name"]
+        camera.K = cam["K"]
+        camera.DC = cam["DC"]
+        camera.R = cam["R"]
+        camera.T = cam["T"]
+        camera.width = cam["width"]
+        camera.height = cam["height"]
+        cameras.append(camera)
+
+    # Run triangulation
+    triangulator = spt.Triangulator(min_score=0.95)
+    stime = time.time()
+    poses_3d = triangulator.triangulate_poses(
+        poses_2d, cameras, roomparams, joint_names
+    )
+    print("3D time:", time.time() - stime)
+    print(np.array(poses_3d))
+
+
+# ==================================================================================================
+
+if __name__ == "__main__":
+    main()