crosstyan/RapidPoseTriangulation
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Make triangulation a zero-copy pure function

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crosstyan
2026-03-11 22:29:21 +08:00
parent 5bed0f0aaf
commit 24f74c87f1
10 changed files with 596 additions and 947 deletions
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rpt/interface.cpp
+8 -70
View File
@@ -1,7 +1,7 @@
#include <algorithm>
#include <stdexcept>
#include <utility>
#include "triangulator.hpp"
#include "interface.hpp"
// =================================================================================================
@@ -33,36 +33,19 @@ float &PoseBatch2D::at(size_t view, size_t person, size_t joint, size_t coord)
return data[pose2d_offset(view, person, joint, coord, max_persons, num_joints)];
}
const float &PoseBatch2DView::at(size_t view, size_t person, size_t joint, size_t coord) const
{
return data[pose2d_offset(view, person, joint, coord, max_persons, num_joints)];
}
const float &PoseBatch2D::at(size_t view, size_t person, size_t joint, size_t coord) const
{
return data[pose2d_offset(view, person, joint, coord, max_persons, num_joints)];
}
RaggedPoses2D PoseBatch2D::to_nested() const
PoseBatch2DView PoseBatch2D::view() const
{
if (person_counts.size() != num_views)
{
throw std::invalid_argument("PoseBatch2D person_counts size must match num_views.");
}
RaggedPoses2D poses_2d(num_views);
for (size_t view = 0; view < num_views; ++view)
{
const size_t num_persons = person_counts[view];
poses_2d[view].resize(num_persons);
for (size_t person = 0; person < num_persons; ++person)
{
poses_2d[view][person].resize(num_joints);
for (size_t joint = 0; joint < num_joints; ++joint)
{
for (size_t coord = 0; coord < 3; ++coord)
{
poses_2d[view][person][joint][coord] = at(view, person, joint, coord);
}
}
}
}
return poses_2d;
return PoseBatch2DView {data.data(), person_counts.data(), num_views, max_persons, num_joints};
}
PoseBatch2D PoseBatch2D::from_nested(const RaggedPoses2D &poses_2d)
@@ -169,48 +152,3 @@ PoseBatch3D PoseBatch3D::from_nested(const NestedPoses3D &poses_3d)
}
return batch;
}
// =================================================================================================
// =================================================================================================
Triangulator::Triangulator(float min_match_score, size_t min_group_size)
: triangulator(std::make_unique<TriangulatorInternal>(min_match_score, min_group_size))
{
}
Triangulator::~Triangulator() = default;
// =================================================================================================
PoseBatch3D Triangulator::triangulate_poses(
const PoseBatch2D &poses_2d,
const std::vector<Camera> &cameras,
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::string> &joint_names)
{
return PoseBatch3D::from_nested(
triangulator->triangulate_poses(poses_2d.to_nested(), cameras, roomparams, joint_names));
}
NestedPoses3D Triangulator::triangulate_poses(
const RaggedPoses2D &poses_2d,
const std::vector<Camera> &cameras,
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::string> &joint_names)
{
return triangulator->triangulate_poses(poses_2d, cameras, roomparams, joint_names);
}
// =================================================================================================
void Triangulator::reset()
{
triangulator->reset();
}
// =================================================================================================
void Triangulator::print_stats()
{
triangulator->print_stats();
}