crosstyan/RapidPoseTriangulation
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Replaced cv::mats with nested std::vectors to improve speed.

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Daniel
2025-02-11 13:53:31 +01:00
parent 651b806a3a
commit 24d951f31d
3 changed files with 832 additions and 803 deletions
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82
rpt/triangulator.hpp
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@ -70,64 +70,76 @@ private:
{"shoulder_left", "elbow_left"},
{"shoulder_right", "elbow_right"},
};
std::vector<cv::Mat> last_poses_3d;
std::vector<std::vector<std::array<float, 4>>> last_poses_3d;
void undistort_poses(std::vector<cv::Mat> &poses, CameraInternal &icam);
void undistort_poses(
std::vector<std::vector<std::array<float, 3>>> &poses_2d, CameraInternal &icam);
std::tuple<std::vector<cv::Mat>, std::vector<cv::Mat>> project_poses(
const std::vector<cv::Mat> &bodies3D, const CameraInternal &icam, bool calc_dists);
std::tuple<std::vector<std::vector<std::array<float, 3>>>, std::vector<std::vector<float>>>
project_poses(
const std::vector<std::vector<std::array<float, 4>>> &poses_3d,
const CameraInternal &icam,
bool calc_dists);
float calc_pose_score(
const cv::Mat &pose1,
const cv::Mat &pose2,
const cv::Mat &dist1,
const std::vector<std::array<float, 3>> &pose1,
const std::vector<std::array<float, 3>> &pose2,
const std::vector<float> &dist1,
const CameraInternal &icam);
cv::Mat score_projection(
const cv::Mat &pose1,
const cv::Mat &repro1,
const cv::Mat &dists1,
const cv::Mat &mask,
std::vector<float> score_projection(
const std::vector<std::array<float, 3>> &pose,
const std::vector<std::array<float, 3>> &repro,
const std::vector<float> &dists,
const std::vector<bool> &mask,
float iscale);
std::pair<cv::Mat, float> triangulate_and_score(
const cv::Mat &pose1,
const cv::Mat &pose2,
std::pair<std::vector<std::array<float, 4>>, float> triangulate_and_score(
const std::vector<std::array<float, 3>> &pose1,
const std::vector<std::array<float, 3>> &pose2,
const CameraInternal &cam1,
const CameraInternal &cam2,
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::array<size_t, 2>> &core_limbs_idx);
std::vector<std::tuple<cv::Point3f, cv::Mat, std::vector<int>>> calc_grouping(
const std::vector<std::pair<std::tuple<int, int, int, int>, std::pair<int, int>>> &all_pairs,
const std::vector<std::pair<cv::Mat, float>> &all_scored_poses,
std::vector<std::tuple<
std::array<float, 3>, std::vector<std::array<float, 4>>, std::vector<int>>>
calc_grouping(
const std::vector<std::pair<
std::tuple<int, int, int, int>, std::pair<int, int>>> &all_pairs,
const std::vector<std::pair<std::vector<std::array<float, 4>>, float>> &all_scored_poses,
float min_score);
cv::Mat merge_group(const std::vector<cv::Mat> &poses_3d, float min_score);
std::vector<std::array<float, 4>> merge_group(
const std::vector<std::vector<std::array<float, 4>>> &poses_3d,
float min_score);
void add_extra_joints(std::vector<cv::Mat> &poses, const std::vector<std::string> &joint_names);
void add_extra_joints(
std::vector<std::vector<std::array<float, 4>>> &poses,
const std::vector<std::string> &joint_names);
void filter_poses(
std::vector<cv::Mat> &poses,
std::vector<std::vector<std::array<float, 4>>> &poses,
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<size_t> &core_joint_idx,
const std::vector<std::array<size_t, 2>> &core_limbs_idx);
void add_missing_joints(
std::vector<cv::Mat> &poses, const std::vector<std::string> &joint_names);
std::vector<std::vector<std::array<float, 4>>> &poses,
const std::vector<std::string> &joint_names);
// Statistics
float num_calls = 0;
float total_time = 0;
float init_time = 0;
float undistort_time = 0;
float project_time = 0;
float match_time = 0;
float pairs_time = 0;
float pair_scoring_time = 0;
float grouping_time = 0;
float full_time = 0;
float merge_time = 0;
float post_time = 0;
float convert_time = 0;
double num_calls = 0;
double total_time = 0;
double init_time = 0;
double undistort_time = 0;
double project_time = 0;
double match_time = 0;
double pairs_time = 0;
double pair_scoring_time = 0;
double grouping_time = 0;
double full_time = 0;
double merge_time = 0;
double post_time = 0;
double convert_time = 0;
};