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Simplify triangulation API with config struct

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crosstyan
2026-03-12 00:08:56 +08:00
parent 7df34b18c3
commit c23f25f871
6 changed files with 158 additions and 198 deletions
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tests/test_interface.py
+37 -36
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@@ -39,8 +39,15 @@ def load_case(camera_path: str, pose_path: str):
pose_data = json.load(file)
poses_2d, person_counts = rpt.pack_poses_2d(pose_data["2D"], joint_count=len(JOINT_NAMES))
cameras = rpt.convert_cameras(camera_data["cameras"])
return poses_2d, person_counts, cameras
return poses_2d, person_counts, camera_data["cameras"]
def make_config(cameras, roomparams) -> rpt.TriangulationConfig:
return rpt.make_triangulation_config(
cameras,
np.asarray(roomparams, dtype=np.float32),
JOINT_NAMES,
)
def test_camera_structure_repr():
@@ -69,14 +76,8 @@ def test_camera_structure_repr():
)
def test_triangulate_samples(camera_path: str, pose_path: str, roomparams):
poses_2d, person_counts, cameras = load_case(camera_path, pose_path)
poses_3d = rpt.triangulate_poses(
poses_2d,
person_counts,
cameras,
np.asarray(roomparams, dtype=np.float32),
JOINT_NAMES,
min_match_score=0.95,
)
config = make_config(cameras, roomparams)
poses_3d = rpt.triangulate_poses(poses_2d, person_counts, config)
assert isinstance(poses_3d, np.ndarray)
assert poses_3d.dtype == np.float32
@@ -88,14 +89,10 @@ def test_triangulate_samples(camera_path: str, pose_path: str, roomparams):
def test_triangulate_repeatability():
poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
roomparams = np.asarray([[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]], dtype=np.float32)
config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
first = rpt.triangulate_poses(
poses_2d, person_counts, cameras, roomparams, JOINT_NAMES, min_match_score=0.95
)
second = rpt.triangulate_poses(
poses_2d, person_counts, cameras, roomparams, JOINT_NAMES, min_match_score=0.95
)
first = rpt.triangulate_poses(poses_2d, person_counts, config)
second = rpt.triangulate_poses(poses_2d, person_counts, config)
np.testing.assert_allclose(first, second, rtol=1e-5, atol=1e-5)
@@ -119,28 +116,21 @@ def test_build_pair_candidates_exposes_cartesian_view_pairs():
def test_triangulate_accepts_empty_previous_poses():
poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
roomparams = np.asarray([[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]], dtype=np.float32)
config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
empty_previous = np.zeros((0, len(JOINT_NAMES), 4), dtype=np.float32)
baseline = rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
with_previous = rpt.triangulate_poses(
poses_2d,
person_counts,
cameras,
roomparams,
JOINT_NAMES,
empty_previous,
)
baseline = rpt.triangulate_poses(poses_2d, person_counts, config)
with_previous = rpt.triangulate_poses(poses_2d, person_counts, config, empty_previous)
np.testing.assert_allclose(with_previous, baseline, rtol=1e-5, atol=1e-5)
def test_triangulate_debug_matches_final_output():
poses_2d, person_counts, cameras = load_case("data/h1/sample.json", "tests/poses_h1.json")
roomparams = np.asarray([[4.8, 6.0, 2.0], [0.0, 0.0, 1.0]], dtype=np.float32)
config = make_config(cameras, [[4.8, 6.0, 2.0], [0.0, 0.0, 1.0]])
final_poses = rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
trace = rpt.triangulate_debug(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
final_poses = rpt.triangulate_poses(poses_2d, person_counts, config)
trace = rpt.triangulate_debug(poses_2d, person_counts, config)
np.testing.assert_allclose(trace.final_poses, final_poses, rtol=1e-5, atol=1e-5)
assert len(trace.pairs) >= len(trace.core_proposals)
@@ -152,14 +142,13 @@ def test_triangulate_debug_matches_final_output():
def test_filter_pairs_with_previous_poses_returns_debug_matches():
poses_2d, person_counts, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
roomparams = np.asarray([[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]], dtype=np.float32)
previous_poses = rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
previous_poses = rpt.triangulate_poses(poses_2d, person_counts, config)
debug = rpt.filter_pairs_with_previous_poses(
poses_2d,
person_counts,
cameras,
JOINT_NAMES,
config,
previous_poses,
)
@@ -171,12 +160,12 @@ def test_filter_pairs_with_previous_poses_returns_debug_matches():
def test_triangulate_does_not_mutate_inputs():
poses_2d, person_counts, cameras = load_case("data/h1/sample.json", "tests/poses_h1.json")
roomparams = np.asarray([[4.8, 6.0, 2.0], [0.0, 0.0, 1.0]], dtype=np.float32)
config = make_config(cameras, [[4.8, 6.0, 2.0], [0.0, 0.0, 1.0]])
poses_before = poses_2d.copy()
counts_before = person_counts.copy()
rpt.triangulate_poses(poses_2d, person_counts, cameras, roomparams, JOINT_NAMES)
rpt.triangulate_poses(poses_2d, person_counts, config)
np.testing.assert_array_equal(poses_2d, poses_before)
np.testing.assert_array_equal(person_counts, counts_before)
@@ -219,3 +208,15 @@ def test_pack_poses_2d_rejects_inconsistent_joint_count():
def test_pack_poses_2d_rejects_invalid_last_dimension():
with pytest.raises(ValueError, match="shape"):
rpt.pack_poses_2d([np.zeros((1, 2, 2), dtype=np.float32)])
def test_make_triangulation_config_builds_bound_struct():
_, _, cameras = load_case("data/p1/sample.json", "tests/poses_p1.json")
config = make_config(cameras, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
assert isinstance(config, rpt.TriangulationConfig)
assert len(config.cameras) > 0
np.testing.assert_allclose(config.roomparams, [[5.6, 6.4, 2.4], [0.0, -0.5, 1.2]])
assert config.joint_names == JOINT_NAMES
assert config.options.min_match_score == pytest.approx(0.95)
assert config.options.min_group_size == 1