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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tests/test_interface.py
+22 -7
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@@ -69,13 +69,13 @@ def test_camera_structure_repr():
)
def test_triangulate_samples(camera_path: str, pose_path: str, roomparams):
poses_2d, person_counts, cameras = load_case(camera_path, pose_path)
triangulator = rpt.Triangulator(min_match_score=0.95)
poses_3d = triangulator.triangulate_poses(
poses_3d = rpt.triangulate_poses(
poses_2d,
person_counts,
cameras,
np.asarray(roomparams, dtype=np.float32),
JOINT_NAMES,
min_match_score=0.95,
)
assert isinstance(poses_3d, np.ndarray)
@@ -86,18 +86,33 @@ def test_triangulate_samples(camera_path: str, pose_path: str, roomparams):
assert np.isfinite(poses_3d).all()
def test_triangulate_repeatability_after_reset():
def test_triangulate_repeatability():
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)
triangulator = rpt.Triangulator(min_match_score=0.95)
first = triangulator.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
triangulator.reset()
second = triangulator.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
first = rpt.triangulate_poses(
poses_2d, person_counts, cameras, roomparams, JOINT_NAMES, min_match_score=0.95
)
second = rpt.triangulate_poses(
poses_2d, person_counts, cameras, roomparams, JOINT_NAMES, min_match_score=0.95
)
np.testing.assert_allclose(first, second, rtol=1e-5, atol=1e-5)
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)
poses_before = poses_2d.copy()
counts_before = person_counts.copy()
rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
np.testing.assert_array_equal(poses_2d, poses_before)
np.testing.assert_array_equal(person_counts, counts_before)
def test_pack_poses_2d_from_ragged_inputs():
packed, counts = rpt.pack_poses_2d(
[