crosstyan/RapidPoseTriangulation
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Mixed updates and improvements.

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This commit is contained in:
Daniel
2025-01-21 16:23:19 +01:00
parent c5f190ab35
commit 29c072400f
11 changed files with 49 additions and 82 deletions
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12
README.md
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@ -32,16 +32,16 @@ Fast triangulation of multiple persons from multiple camera views.
cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
cd /RapidPoseTriangulation/scripts/ && \
g++ -std=c++17 -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
$(pkg-config --cflags opencv4) \
g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
-I /RapidPoseTriangulation/rpt/ \
-I /onnxruntime/include/ \
-I /onnxruntime/include/onnxruntime/core/session/ \
-I /onnxruntime/include/onnxruntime/core/providers/tensorrt/ \
-isystem /usr/include/opencv4/ \
-isystem /onnxruntime/include/ \
-isystem /onnxruntime/include/onnxruntime/core/session/ \
-isystem /onnxruntime/include/onnxruntime/core/providers/tensorrt/ \
-L /onnxruntime/build/Linux/Release/ \
test_skelda_dataset_cpp.cpp \
/RapidPoseTriangulation/rpt/*.cpp \
-o test_skelda_dataset \
-o test_skelda_dataset.bin \
-Wl,--start-group \
-lonnxruntime_providers_tensorrt \
-lonnxruntime_providers_shared \

12
extras/ros/rpt2D_wrapper_cpp/src/rpt2D_wrapper.cpp
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@ -1,12 +1,12 @@
#include <atomic>
#include <chrono>
#include <cmath>
#include <iostream>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include <mutex>
#include <atomic>
#include <cmath>
#include <iostream>
// ROS2
#include <rclcpp/rclcpp.hpp>
@ -14,15 +14,15 @@
#include <std_msgs/msg/string.hpp>
// OpenCV / cv_bridge
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
// JSON library
#include "/RapidPoseTriangulation/extras/include/nlohmann/json.hpp"
using json = nlohmann::json;
#include "/RapidPoseTriangulation/scripts/utils_pipeline.hpp"
#include "/RapidPoseTriangulation/scripts/utils_2d_pose.hpp"
#include "/RapidPoseTriangulation/scripts/utils_pipeline.hpp"
// =================================================================================================

29
rpt/triangulator.cpp
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@ -581,20 +581,21 @@ void TriangulatorInternal::reset()
void TriangulatorInternal::print_stats()
{
std::cout << "Triangulator statistics:" << std::endl;
std::cout << " Number of calls: " << num_calls << std::endl;
std::cout << " Init time: " << init_time / num_calls << std::endl;
std::cout << " Undistort time: " << undistort_time / num_calls << std::endl;
std::cout << " Project time: " << project_time / num_calls << std::endl;
std::cout << " Match time: " << match_time / num_calls << std::endl;
std::cout << " Pairs time: " << pairs_time / num_calls << std::endl;
std::cout << " Pair scoring time: " << pair_scoring_time / num_calls << std::endl;
std::cout << " Grouping time: " << grouping_time / num_calls << std::endl;
std::cout << " Full time: " << full_time / num_calls << std::endl;
std::cout << " Merge time: " << merge_time / num_calls << std::endl;
std::cout << " Post time: " << post_time / num_calls << std::endl;
std::cout << " Convert time: " << convert_time / num_calls << std::endl;
std::cout << " Total time: " << total_time / num_calls << std::endl;
std::cout << "{" << std::endl;
std::cout << " \"triangulator_calls\": " << num_calls << "," << std::endl;
std::cout << " \"init_time\": " << init_time / num_calls << "," << std::endl;
std::cout << " \"undistort_time\": " << undistort_time / num_calls << "," << std::endl;
std::cout << " \"project_time\": " << project_time / num_calls << "," << std::endl;
std::cout << " \"match_time\": " << match_time / num_calls << "," << std::endl;
std::cout << " \"pairs_time\": " << pairs_time / num_calls << "," << std::endl;
std::cout << " \"pair_scoring_time\": " << pair_scoring_time / num_calls << "," << std::endl;
std::cout << " \"grouping_time\": " << grouping_time / num_calls << "," << std::endl;
std::cout << " \"full_time\": " << full_time / num_calls << "," << std::endl;
std::cout << " \"merge_time\": " << merge_time / num_calls << "," << std::endl;
std::cout << " \"post_time\": " << post_time / num_calls << "," << std::endl;
std::cout << " \"convert_time\": " << convert_time / num_calls << "," << std::endl;
std::cout << " \"total_time\": " << total_time / num_calls << std::endl;
std::cout << "}" << std::endl;
}
// =================================================================================================

1
scripts/.gitignore vendored
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@ -1 +0,0 @@
test_skelda_dataset

17
scripts/test_skelda_dataset_cpp.cpp
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@ -1,12 +1,12 @@
#include <chrono>
#include <memory>
#include <string>
#include <vector>
#include <cmath>
#include <iostream>
#include <fstream>
#include <iostream>
#include <memory>
#include <sstream>
#include <stdexcept>
#include <string>
#include <vector>
// OpenCV
#include <opencv2/opencv.hpp>
@ -15,10 +15,10 @@
#include "/RapidPoseTriangulation/extras/include/nlohmann/json.hpp"
using json = nlohmann::json;
#include "/RapidPoseTriangulation/scripts/utils_pipeline.hpp"
#include "/RapidPoseTriangulation/scripts/utils_2d_pose.hpp"
#include "/RapidPoseTriangulation/rpt/interface.hpp"
#include "/RapidPoseTriangulation/rpt/camera.hpp"
#include "/RapidPoseTriangulation/rpt/interface.hpp"
#include "/RapidPoseTriangulation/scripts/utils_2d_pose.hpp"
#include "/RapidPoseTriangulation/scripts/utils_pipeline.hpp"
// =================================================================================================
@ -232,12 +232,12 @@ int main(int argc, char **argv)
all_poses_3d.push_back(std::move(poses_3d));
all_ids.push_back(item["id"].get<std::string>());
old_id = item["index"];
}
std::cout << std::endl;
// Print timing stats
std::cout << "\nMetrics:" << std::endl;
tri_model->print_stats();
size_t warmup = 10;
double avg_time_image = time_image / (time_count - warmup);
double avg_time_pose2d = time_pose2d / (time_count - warmup);
@ -249,6 +249,7 @@ int main(int argc, char **argv)
<< " \"avg_time_3d\": " << avg_time_pose3d << ",\n"
<< " \"fps\": " << fps << "\n"
<< "}" << std::endl;
tri_model->print_stats();
// Store the results as json
json all_results;

2
scripts/test_skelda_dataset_cpp.py
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@ -361,7 +361,7 @@ def main():
save_json(config, config_path)
# Call the CPP binary
os.system("/RapidPoseTriangulation/scripts/test_skelda_dataset")
os.system("/RapidPoseTriangulation/scripts/test_skelda_dataset.bin")
# Load the results
print("Loading exports ...")

10
scripts/test_skelda_dataset_py.py
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@ -330,7 +330,9 @@ def main():
# Load 2D pose model
if utils_pipeline.use_whole_body(whole_body):
kpt_model = utils_2d_pose.load_wb_model(min_bbox_score, min_bbox_area, batch_poses)
kpt_model = utils_2d_pose.load_wb_model(
min_bbox_score, min_bbox_area, batch_poses
)
else:
kpt_model = utils_2d_pose.load_model(min_bbox_score, min_bbox_area, batch_poses)
@ -446,10 +448,7 @@ def main():
all_ids.append(label["id"])
times[i][2] = time_3d
# Print per-step triangulation timings
print("")
triangulator.print_stats()
# Print per-step timings
warmup_iters = 10
if len(times) > warmup_iters:
times = times[warmup_iters:]
@ -464,6 +463,7 @@ def main():
}
print("\nMetrics:")
print(json.dumps(tstats, indent=2))
triangulator.print_stats()
_ = evals.mpjpe.run_eval(
labels,

40
scripts/utils_2d_pose.hpp
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@ -1,13 +1,13 @@
#pragma once
#include <filesystem>
#include <vector>
#include <string>
#include <memory>
#include <string>
#include <vector>
#include <opencv2/opencv.hpp>
#include <onnxruntime_cxx_api.h>
#include <onnxruntime_c_api.h>
#include <opencv2/opencv.hpp>
#include <tensorrt_provider_options.h>
// =================================================================================================
@ -646,27 +646,10 @@ namespace utils_2d_pose
std::vector<std::array<float, 5>> RTMDet::call(const cv::Mat &image)
{
auto stime = std::chrono::high_resolution_clock::now();
std::chrono::duration<float> elapsed;
cv::Mat preprocessed = preprocess(image);
std::vector<cv::Mat> inputs = {preprocessed};
elapsed = std::chrono::high_resolution_clock::now() - stime;
std::cout << "Preprocess time: " << elapsed.count() << "s\n";
stime = std::chrono::high_resolution_clock::now();
auto results = call_by_image(inputs);
elapsed = std::chrono::high_resolution_clock::now() - stime;
std::cout << "Inference time: " << elapsed.count() << "s\n";
stime = std::chrono::high_resolution_clock::now();
auto outputs = postprocess(results, image);
elapsed = std::chrono::high_resolution_clock::now() - stime;
std::cout << "Postprocess time: " << elapsed.count() << "s\n";
return outputs;
}
@ -818,26 +801,9 @@ namespace utils_2d_pose
std::vector<std::vector<std::array<float, 3>>> RTMPose::call(
const cv::Mat &image, const std::vector<std::array<float, 5>> &bboxes)
{
auto stime = std::chrono::high_resolution_clock::now();
std::chrono::duration<float> elapsed;
std::vector<cv::Mat> inputs = preprocess(image, bboxes);
elapsed = std::chrono::high_resolution_clock::now() - stime;
std::cout << "Preprocess time: " << elapsed.count() << "s\n";
stime = std::chrono::high_resolution_clock::now();
auto results = call_by_image(inputs);
elapsed = std::chrono::high_resolution_clock::now() - stime;
std::cout << "Inference time: " << elapsed.count() << "s\n";
stime = std::chrono::high_resolution_clock::now();
auto outputs = postprocess(results, image, bboxes);
elapsed = std::chrono::high_resolution_clock::now() - stime;
std::cout << "Postprocess time: " << elapsed.count() << "s\n";
return outputs;
}

1
scripts/utils_2d_pose.py
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@ -20,6 +20,7 @@ class BaseModel(ABC):
raise FileNotFoundError("File not found:", model_path)
if model_path.endswith(".onnx"):
print("Loading model:", model_path)
self.init_onnxruntime(model_path)
self.runtime = "ort"
else:

1
tests/.gitignore vendored
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@ -1 +0,0 @@
my_app

6
tests/README.md
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@ -13,14 +13,14 @@ Various module tests
```bash
cd /RapidPoseTriangulation/tests/
g++ -std=c++17 -O3 -march=native -Wall -DCOMPILE_EXAMPLE_MAIN \
g++ -std=c++17 -O3 -march=native -Wall \
$(pkg-config --cflags opencv4) \
-I /onnxruntime/include \
-I /onnxruntime/include/onnxruntime/core/session \
-I /onnxruntime/include/onnxruntime/core/providers/tensorrt \
-L /onnxruntime/build/Linux/Release \
test_utils2d.cpp \
-o my_app \
-o my_app.bin \
-Wl,--start-group \
-lonnxruntime_providers_tensorrt \
-lonnxruntime_providers_shared \
@ -30,5 +30,5 @@ g++ -std=c++17 -O3 -march=native -Wall -DCOMPILE_EXAMPLE_MAIN \
$(pkg-config --libs opencv4) \
-Wl,-rpath,/onnxruntime/build/Linux/Release
./my_app
./my_app.bin
```