crosstyan/RapidPoseTriangulation
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Small speed improvements.

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This commit is contained in:
Daniel
2024-08-05 16:28:25 +02:00
parent d935e1cda5
commit 6002aeddde
2 changed files with 33 additions and 23 deletions
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22
scripts/triangulate_poses.py
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@ -46,7 +46,7 @@ def undistort_points(points: np.ndarray, caminfo: dict):
points = cv2.undistortPoints(points, K, DC, P=newK)
points = points.reshape(pshape)
return points
return points, caminfo
# ==================================================================================================
@ -104,9 +104,7 @@ def calc_pose_scored(pose1, pose2, cam1, cam2, roomparams):
# Triangulate points
points1 = pose1[mask, 0:2].T
points2 = pose2[mask, 0:2].T
P1 = get_camera_P(cam1)
P2 = get_camera_P(cam2)
points3d = cv2.triangulatePoints(P1, P2, points1, points2)
points3d = cv2.triangulatePoints(cam1["P"], cam2["P"], points1, points2)
points3d = (points3d / points3d[3, :])[0:3, :].T
pose3d = np.zeros([len(pose1), 4])
pose3d[mask] = np.concatenate([points3d, np.ones([points3d.shape[0], 1])], axis=-1)
@ -295,14 +293,26 @@ def get_3d_pose(poses_2d, camparams, roomparams, joint_names_2d, min_score=0.95)
camparams[i]["K"] = np.array(camparams[i]["K"])
camparams[i]["R"] = np.array(camparams[i]["R"])
camparams[i]["T"] = np.array(camparams[i]["T"])
camparams[i]["DC"] = np.array(camparams[i]["DC"][0:5])
camparams[i]["DC"] = np.array(camparams[i]["DC"])
# Undistort 2D points
for i in range(len(camparams)):
poses = poses_2d[i]
cam = camparams[i]
poses[:, :, 0:2] = undistort_points(poses[:, :, 0:2], cam)
poses[:, :, 0:2], cam = undistort_points(poses[:, :, 0:2], cam)
# Mask out points that are far outside the image (points slightly outside are still valid)
offset = (cam["width"] + cam["height"]) / 40
mask = (
(poses[:, :, 0] >= 0 - offset)
& (poses[:, :, 0] < cam["width"] + offset)
& (poses[:, :, 1] >= 0 - offset)
& (poses[:, :, 1] < cam["height"] + offset)
)
poses = poses * np.expand_dims(mask, axis=-1)
poses_2d[i] = poses
# Calc projection matrix with updated camera parameters
cam["P"] = get_camera_P(cam)
camparams[i] = cam
# Create pairs of persons
num_persons = [len(p) for p in poses_2d]