crosstyan/RapidPoseTriangulation
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Allow keypoint detections outside the image.

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This commit is contained in:
Daniel
2025-02-11 11:26:33 +01:00
parent 24d706d030
commit 2c994eca44
3 changed files with 182 additions and 157 deletions
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37
scripts/utils_2d_pose.hpp
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@ -867,8 +867,6 @@ namespace utils_2d_pose
int pad_top = paddings[2];
int box_left = box[0];
int box_top = box[1];
int img_w = image.cols;
int img_h = image.rows;
for (auto &kp : kpts)
{
@ -884,10 +882,6 @@ namespace utils_2d_pose
x += box_left;
y += box_top;
// Clamp to iamge region
x = std::max(0.0f, std::min(x, img_w - 1.0f));
y = std::max(0.0f, std::min(y, img_h - 1.0f));
}
}
@ -949,6 +943,37 @@ namespace utils_2d_pose
// Sometimes the detection model predicts multiple boxes with different shapes for the same
// person. They then result in strongly overlapping poses, which are merged here.
merge_close_poses(poses, {(size_t)image.cols, (size_t)image.rows});
// Clip keypoints far outside the image
float mask_offset = (image.cols + image.rows) / 10.0;
for (size_t i = 0; i < poses.size(); ++i)
{
for (size_t j = 0; j < poses[i].size(); ++j)
{
auto &kp = poses[i][j];
if (kp[0] < -mask_offset)
{
kp[0] = -mask_offset;
kp[2] = 0.001;
}
if (kp[1] < -mask_offset)
{
kp[1] = -mask_offset;
kp[2] = 0.001;
}
if (kp[0] >= image.cols + mask_offset)
{
kp[0] = image.cols + mask_offset;
kp[2] = 0.001;
}
if (kp[1] >= image.rows + mask_offset)
{
kp[1] = image.rows + mask_offset;
kp[2] = 0.001;
}
}
}
return poses;
}