crosstyan/RapidPoseTriangulation
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Simplify triangulation core and remove integrations

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crosstyan
2026-03-11 23:55:04 +08:00
parent 103aeb5887
commit 7df34b18c3
20 changed files with 222 additions and 1969 deletions
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rpt/interface.hpp
+18 -15
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@@ -144,6 +144,14 @@ struct TriangulationTrace
// =================================================================================================
struct TriangulationOptions
{
float min_match_score = 0.95f;
size_t min_group_size = 1;
};
// =================================================================================================
std::vector<PairCandidate> build_pair_candidates(const PoseBatch2DView &poses_2d);
PreviousPoseFilterDebug filter_pairs_with_previous_poses(
@@ -151,17 +159,17 @@ PreviousPoseFilterDebug filter_pairs_with_previous_poses(
const std::vector<Camera> &cameras,
const std::vector<std::string> &joint_names,
const PoseBatch3DView &previous_poses_3d,
float min_match_score = 0.95f);
const TriangulationOptions &options = {});
inline PreviousPoseFilterDebug filter_pairs_with_previous_poses(
const PoseBatch2D &poses_2d,
const std::vector<Camera> &cameras,
const std::vector<std::string> &joint_names,
const PoseBatch3D &previous_poses_3d,
float min_match_score = 0.95f)
const TriangulationOptions &options = {})
{
return filter_pairs_with_previous_poses(
poses_2d.view(), cameras, joint_names, previous_poses_3d.view(), min_match_score);
poses_2d.view(), cameras, joint_names, previous_poses_3d.view(), options);
}
TriangulationTrace triangulate_debug(
@@ -170,8 +178,7 @@ TriangulationTrace triangulate_debug(
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::string> &joint_names,
const PoseBatch3DView *previous_poses_3d = nullptr,
float min_match_score = 0.95f,
size_t min_group_size = 1);
const TriangulationOptions &options = {});
inline TriangulationTrace triangulate_debug(
const PoseBatch2D &poses_2d,
@@ -179,8 +186,7 @@ inline TriangulationTrace triangulate_debug(
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::string> &joint_names,
const PoseBatch3D *previous_poses_3d = nullptr,
float min_match_score = 0.95f,
size_t min_group_size = 1)
const TriangulationOptions &options = {})
{
PoseBatch3DView previous_view_storage;
const PoseBatch3DView *previous_view = nullptr;
@@ -190,7 +196,7 @@ inline TriangulationTrace triangulate_debug(
previous_view = &previous_view_storage;
}
return triangulate_debug(
poses_2d.view(), cameras, roomparams, joint_names, previous_view, min_match_score, min_group_size);
poses_2d.view(), cameras, roomparams, joint_names, previous_view, options);
}
// =================================================================================================
@@ -202,8 +208,7 @@ inline TriangulationTrace triangulate_debug(
* @param cameras List of cameras.
* @param roomparams Room parameters (room size, room center).
* @param joint_names List of 2D joint names.
* @param min_match_score Minimum score to consider a triangulated joint as valid.
* @param min_group_size Minimum number of camera pairs that need to see a person.
* @param options Triangulation options.
*
* @return Pose tensor of shape [persons, joints, 4].
*/
@@ -213,8 +218,7 @@ PoseBatch3D triangulate_poses(
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::string> &joint_names,
const PoseBatch3DView *previous_poses_3d = nullptr,
float min_match_score = 0.95f,
size_t min_group_size = 1);
const TriangulationOptions &options = {});
inline PoseBatch3D triangulate_poses(
const PoseBatch2D &poses_2d,
@@ -222,8 +226,7 @@ inline PoseBatch3D triangulate_poses(
const std::array<std::array<float, 3>, 2> &roomparams,
const std::vector<std::string> &joint_names,
const PoseBatch3D *previous_poses_3d = nullptr,
float min_match_score = 0.95f,
size_t min_group_size = 1)
const TriangulationOptions &options = {})
{
PoseBatch3DView previous_view_storage;
const PoseBatch3DView *previous_view = nullptr;
@@ -233,5 +236,5 @@ inline PoseBatch3D triangulate_poses(
previous_view = &previous_view_storage;
}
return triangulate_poses(
poses_2d.view(), cameras, roomparams, joint_names, previous_view, min_match_score, min_group_size);
poses_2d.view(), cameras, roomparams, joint_names, previous_view, options);
}