crosstyan/RapidPoseTriangulation
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Batching of poses in cpp implementation.

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This commit is contained in:
Daniel
2025-01-20 12:20:25 +01:00
parent 8f2322694a
commit 86d8ccf797
5 changed files with 206 additions and 117 deletions
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87
ros/rpt2D_wrapper_cpp/tests/my_app.cpp
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@ -25,49 +25,72 @@ int main(int argc, char **argv)
"/RapidPoseTriangulation/data/h1/60457274-img_003201.jpg",
};
// RTMDet model1(model_path1, 0.3, 0.1 * 0.1, 30);
// RTMPose model2(model_path2, 30);
// for (size_t i = 0; i < img_paths.size(); i++)
// {
// cv::Mat img = cv::imread(img_paths[i]);
// cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
// auto outputs1 = model1.call(img);
// std::cout << "Model1 outputs: " << outputs1[0][0] << " " << outputs1[0][1] << " "
// << outputs1[0][2] << " " << outputs1[0][3] << " " << outputs1[0][4] << " "
// << std::endl;
// for (size_t j = 0; j < outputs1.size(); j++)
// std::cout << "\nTesting RTMDet and RTMPose" << std::endl;
// RTMDet model1(model_path1, 0.3, 0.1 * 0.1, 30);
// RTMPose model2(model_path2, 30);
// for (size_t i = 0; i < img_paths.size(); i++)
// {
// std::vector<std::array<float, 5>> bboxes = {outputs1[j]};
// auto outputs2 = model2.call(img, bboxes);
// std::cout << "Model2 outputs: " << outputs2[0][0] << " " << outputs2[0][1] << " "
// << outputs2[0][2] << " " << std::endl;
// cv::Mat img = cv::imread(img_paths[i]);
// cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
// auto outputs1 = model1.call(img);
// std::cout << "Model1 outputs: " << outputs1[0][0] << " " << outputs1[0][1] << " "
// << outputs1[0][2] << " " << outputs1[0][3] << " " << outputs1[0][4] << " "
// << std::endl;
// for (size_t j = 0; j < outputs1.size(); j++)
// {
// std::vector<std::array<float, 5>> bboxes = {outputs1[j]};
// auto outputs2 = model2.call(img, bboxes);
// std::cout << "Model2 outputs: " << outputs2[0][0][0] << " "
// << outputs2[0][0][1] << " " << outputs2[0][0][2] << " " << std::endl;
// }
// }
// }
// TopDown model3(model_path1, model_path2, 0.3, 0.1 * 0.1, 30);
// for (size_t i = 0; i < img_paths.size(); i++)
// {
// cv::Mat img = cv::imread(img_paths[i]);
// cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
// std::cout << "\nTesting TopDown" << std::endl;
// TopDown model3(model_path1, model_path2, 0.3, 0.1 * 0.1, false, 30);
// for (size_t i = 0; i < img_paths.size(); i++)
// {
// cv::Mat img = cv::imread(img_paths[i]);
// cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
// auto outputs3 = model3.predict(img);
// std::cout << "Model3 outputs: " << outputs3[0][0][0] << " " << outputs3[0][0][1] << " "
// << outputs3[0][0][2] << " " << std::endl;
// auto outputs3 = model3.predict(img);
// std::cout << "Model3 outputs: " << outputs3[0][0][0] << " "
// << outputs3[0][0][1] << " " << outputs3[0][0][2] << " " << std::endl;
// }
// }
PosePredictor model4(false, 0.3, 0.1 * 0.1, false);
std::vector<cv::Mat> images;
for (size_t i = 0; i < img_paths.size(); i++)
{
cv::Mat img = cv::imread(img_paths[i]);
cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
images.push_back(img);
std::cout << "\nTesting PosePredictor 1" << std::endl;
PosePredictor model4(false, 0.3, 0.1 * 0.1, false);
std::vector<cv::Mat> images;
for (size_t i = 0; i < img_paths.size(); i++)
{
cv::Mat img = cv::imread(img_paths[i]);
cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
images.push_back(img);
}
auto outputs4 = model4.predict(images);
std::cout << "Model4 outputs: " << outputs4[0][0][0][0] << " "
<< outputs4[0][0][0][1] << " " << outputs4[0][0][0][2] << " " << std::endl;
}
auto outputs4 = model4.predict(images);
std::cout << "Model4 outputs: " << outputs4[0][0][0][0] << " " << outputs4[0][0][0][1] << " "
<< outputs4[0][0][0][2] << " " << std::endl;
{
std::cout << "\nTesting PosePredictor 2" << std::endl;
PosePredictor model5(false, 0.3, 0.1 * 0.1, true);
std::vector<cv::Mat> images;
for (size_t i = 0; i < img_paths.size(); i++)
{
cv::Mat img = cv::imread(img_paths[i]);
cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
images.push_back(img);
}
auto outputs5 = model5.predict(images);
std::cout << "Model5 outputs: " << outputs5[0][0][0][0] << " "
<< outputs5[0][0][0][1] << " " << outputs5[0][0][0][2] << " " << std::endl;
}
return 0;
}