crosstyan/RapidPoseTriangulation
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Slightly improved tracker.

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This commit is contained in:
Daniel
2025-10-21 16:20:51 +02:00
parent eafa178e26
commit 8fdf0d4096
4 changed files with 691 additions and 683 deletions
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38
rpt/tracker.hpp
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@ -156,7 +156,7 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
}
}
// Remove old tracks
// Remove old track entries
timestamps.push_back(timestamp);
if (timestamps.size() > history_size)
{
@ -166,8 +166,21 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
for (size_t i = 0; i < pose_tracks.size();)
{
auto &track = pose_tracks[i];
double last_timestamp = track.timestamps.back();
if (last_timestamp < max_age)
for (size_t j = 0; j < track.timestamps.size();)
{
double ts = track.timestamps[j];
if (ts < max_age)
{
track.core_poses.erase(track.core_poses.begin() + j);
track.full_poses.erase(track.full_poses.begin() + j);
track.timestamps.erase(track.timestamps.begin() + j);
}
else
{
j++;
}
}
if (track.timestamps.size() == 0)
{
pose_tracks.erase(pose_tracks.begin() + i);
}
@ -177,23 +190,15 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
}
}
// Remove old poses from tracks
for (auto &track : pose_tracks)
{
while (track.core_poses.size() > history_size)
{
track.core_poses.erase(track.core_poses.begin());
track.full_poses.erase(track.full_poses.begin());
track.timestamps.erase(track.timestamps.begin());
}
}
// Refine poses
std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> tracked_poses;
for (size_t i = 0; i < pose_tracks.size(); ++i)
{
auto &track = pose_tracks[i];
if (track.core_poses.size() > 0)
// Create a refined pose for current tracks, or old tracks with a bit history,
// to avoid continuing tracks of flickering persons
if (track.core_poses.size() >= std::ceil(history_size / 2.0) ||
track.timestamps.back() == timestamps.back())
{
std::vector<std::array<float, 4>> refined_pose = refine_pose(track);
tracked_poses.emplace_back(track.id, refined_pose);
@ -205,7 +210,8 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
// =================================================================================================
std::tuple<int, float> PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d)
std::tuple<int, float> PoseTracker::match_to_track(
const std::vector<std::array<float, 4>> &core_pose_3d)
{
int best_track = -1;
float best_distance_sq = max_distance * max_distance;