From 7e3151530e95e4d1bd65a6a8ebc93250f4870f0a Mon Sep 17 00:00:00 2001 From: Daniel Date: Fri, 21 Mar 2025 17:44:36 +0100 Subject: [PATCH] Small updates. --- extras/jetson/docker-compose-2d.yml | 1 + extras/ros/docker-compose-2d.yml | 1 + extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp | 2 +- rpt/triangulator.cpp | 8 ++++---- 4 files changed, 7 insertions(+), 5 deletions(-) diff --git a/extras/jetson/docker-compose-2d.yml b/extras/jetson/docker-compose-2d.yml index 3d44999..2310d33 100644 --- a/extras/jetson/docker-compose-2d.yml +++ b/extras/jetson/docker-compose-2d.yml @@ -12,6 +12,7 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - /dev/shm:/dev/shm environment: + - CAMID - DISPLAY - QT_X11_NO_MITSHM=1 - "PYTHONUNBUFFERED=1" diff --git a/extras/ros/docker-compose-2d.yml b/extras/ros/docker-compose-2d.yml index 2c12a57..ba79b9f 100644 --- a/extras/ros/docker-compose-2d.yml +++ b/extras/ros/docker-compose-2d.yml @@ -12,6 +12,7 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - /dev/shm:/dev/shm environment: + - CAMID - DISPLAY - QT_X11_NO_MITSHM=1 - "PYTHONUNBUFFERED=1" diff --git a/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp b/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp index b7e7638..b6314e4 100644 --- a/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp +++ b/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp @@ -36,7 +36,7 @@ static const std::string pose_in_topic = "/poses/{}"; static const std::string cam_info_topic = "/{}/calibration"; static const std::string pose_out_topic = "/poses/humans3d"; -static const float min_match_score = 0.95; +static const float min_match_score = 0.92; static const size_t min_group_size = 1; static const std::array, 2> roomparams = {{ diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index e0a4d58..b4fd512 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -781,10 +781,6 @@ std::vector>> TriangulatorInternal::triangulate all_scored_poses[i] = std::move(std::make_pair(pose3d, score)); } - elapsed = std::chrono::steady_clock::now() - stime; - pair_scoring_time += elapsed.count(); - stime = std::chrono::steady_clock::now(); - // Drop low scoring poses size_t num_poses = all_scored_poses.size(); for (size_t i = num_poses; i > 0; --i) @@ -796,6 +792,10 @@ std::vector>> TriangulatorInternal::triangulate } } + elapsed = std::chrono::steady_clock::now() - stime; + pair_scoring_time += elapsed.count(); + stime = std::chrono::steady_clock::now(); + // Group pairs that share a person std::vector, std::vector>, std::vector>>