crosstyan/RapidPoseTriangulation
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Small updates.

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This commit is contained in:
Daniel
2025-04-22 17:13:30 +02:00
parent ff735759f7
commit 98399cc00e
4 changed files with 277 additions and 264 deletions
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33
scripts/test_skelda_dataset.cpp
View File

@ -130,12 +130,11 @@ int main(int argc, char **argv)
std::make_unique<utils_2d_pose::PosePredictor>(
use_wb, min_bbox_score, min_bbox_area, batch_poses);
// Load 3D model
// Load 3D models
std::unique_ptr<Triangulator> tri_model = std::make_unique<Triangulator>(
min_match_score, min_group_size);
const float max_distance = 0.3 + 2.0 / ifps;
std::unique_ptr<PoseTracker> pose_tracker = std::make_unique<PoseTracker>(
max_distance);
ifps);
// Timers
size_t time_count = dataset.size();
@ -249,18 +248,26 @@ int main(int argc, char **argv)
elapsed = std::chrono::high_resolution_clock::now() - stime;
times_pose3d.push_back(elapsed.count());
stime = std::chrono::high_resolution_clock::now();
double ts = ((int)item["index"]) / ifps;
auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names_2d, ts);
std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
for (size_t j = 0; j < pose_tracks.size(); j++)
if (ifps < 1)
{
auto &pose = std::get<1>(pose_tracks[j]);
poses_3d_refined.push_back(pose);
// Disable pose tracking if frame rate is too low
times_tracks.push_back(0.0);
}
else
{
stime = std::chrono::high_resolution_clock::now();
double ts = ((int)item["index"]) / ifps;
auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names_2d, ts);
std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
for (size_t j = 0; j < pose_tracks.size(); j++)
{
auto &pose = std::get<1>(pose_tracks[j]);
poses_3d_refined.push_back(pose);
}
poses_3d = poses_3d_refined;
elapsed = std::chrono::high_resolution_clock::now() - stime;
times_tracks.push_back(elapsed.count());
}
poses_3d = poses_3d_refined;
elapsed = std::chrono::high_resolution_clock::now() - stime;
times_tracks.push_back(elapsed.count());
all_poses_3d.push_back(std::move(poses_3d));
all_ids.push_back(item["id"].get<std::string>());

4
scripts/test_skelda_dataset.py
View File

@ -85,7 +85,7 @@ datasets = {
},
"campus": {
"path": "/datasets/campus/skelda/test.json",
"fps": 20,
"fps": 25,
"take_interval": 1,
"min_match_score": 0.92,
"min_bbox_score": 0.5,
@ -93,7 +93,7 @@ datasets = {
"shelf": {
"path": "/datasets/shelf/skelda/test.json",
"take_interval": 1,
"fps": 20,
"fps": 25,
"min_match_score": 0.95,
"min_group_size": 2,
},