Renamed project.

rpt/triangulator.hpp

@@ -0,0 +1,133 @@
+#pragma once
+
+#include <array>
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include <opencv2/opencv.hpp>
+
+#include "camera.hpp"
+
+// =================================================================================================
+
+class CameraInternal
+{
+public:
+    CameraInternal(const Camera &cam);
+
+    Camera cam;
+    cv::Mat K;
+    cv::Mat DC;
+    cv::Mat R;
+    cv::Mat T;
+    cv::Mat P;
+
+    void update_projection_matrix();
+};
+
+// =================================================================================================
+
+class TriangulatorInternal
+{
+public:
+    TriangulatorInternal(float min_score, size_t min_group_size);
+
+    std::vector<std::vector<std::array<float, 4>>> triangulate_poses(
+        const std::vector<std::vector<std::vector<std::array<float, 3>>>> &poses_2d,
+        const std::vector<Camera> &cameras,
+        const std::array<std::array<float, 3>, 2> &roomparams,
+        const std::vector<std::string> &joint_names);
+
+    void reset();
+    void print_stats();
+
+private:
+    float min_score;
+    float min_group_size;
+
+    const std::vector<std::string> core_joints = {
+        "shoulder_left",
+        "shoulder_right",
+        "hip_left",
+        "hip_right",
+        "elbow_left",
+        "elbow_right",
+        "knee_left",
+        "knee_right",
+        "wrist_left",
+        "wrist_right",
+        "ankle_left",
+        "ankle_right",
+    };
+    const std::vector<std::pair<std::string, std::string>> core_limbs = {
+        {"knee_left", "ankle_left"},
+        {"hip_left", "knee_left"},
+        {"hip_right", "knee_right"},
+        {"knee_right", "ankle_right"},
+        {"elbow_left", "wrist_left"},
+        {"elbow_right", "wrist_right"},
+        {"shoulder_left", "elbow_left"},
+        {"shoulder_right", "elbow_right"},
+    };
+    std::vector<cv::Mat> last_poses_3d;
+
+    void undistort_poses(std::vector<cv::Mat> &poses, CameraInternal &icam);
+
+    std::tuple<std::vector<cv::Mat>, std::vector<cv::Mat>> project_poses(
+        const std::vector<cv::Mat> &bodies3D, const CameraInternal &icam, bool calc_dists);
+
+    float calc_pose_score(
+        const cv::Mat &pose1,
+        const cv::Mat &pose2,
+        const cv::Mat &dist1,
+        const CameraInternal &icam);
+
+    cv::Mat score_projection(
+        const cv::Mat &pose1,
+        const cv::Mat &repro1,
+        const cv::Mat &dists1,
+        const cv::Mat &mask,
+        float iscale);
+
+    std::pair<cv::Mat, float> triangulate_and_score(
+        const cv::Mat &pose1,
+        const cv::Mat &pose2,
+        const CameraInternal &cam1,
+        const CameraInternal &cam2,
+        const std::array<std::array<float, 3>, 2> &roomparams,
+        const std::vector<std::array<size_t, 2>> &core_limbs_idx);
+
+    std::vector<std::tuple<cv::Point3f, cv::Mat, std::vector<int>>> calc_grouping(
+        const std::vector<std::pair<std::tuple<int, int, int, int>, std::pair<int, int>>> &all_pairs,
+        const std::vector<std::pair<cv::Mat, float>> &all_scored_poses,
+        float min_score);
+
+    cv::Mat merge_group(const std::vector<cv::Mat> &poses_3d, float min_score);
+
+    void add_extra_joints(std::vector<cv::Mat> &poses, const std::vector<std::string> &joint_names);
+
+    void filter_poses(
+        std::vector<cv::Mat> &poses,
+        const std::array<std::array<float, 3>, 2> &roomparams,
+        const std::vector<size_t> &core_joint_idx,
+        const std::vector<std::array<size_t, 2>> &core_limbs_idx);
+
+    void add_missing_joints(
+        std::vector<cv::Mat> &poses, const std::vector<std::string> &joint_names);
+
+    // Statistics
+    float num_calls = 0;
+    float total_time = 0;
+    float init_time = 0;
+    float undistort_time = 0;
+    float project_time = 0;
+    float match_time = 0;
+    float pairs_time = 0;
+    float pair_scoring_time = 0;
+    float grouping_time = 0;
+    float full_time = 0;
+    float merge_time = 0;
+    float post_time = 0;
+    float convert_time = 0;
+};