Migrate Python bindings from SWIG to nanobind

2026-03-11 21:56:30 +08:00
parent 0ec6a85921
commit d7769794fb
20 changed files with 997 additions and 243 deletions
@@ -239,8 +239,9 @@ void Rpt3DWrapperNode::call_model()
    // Since the prediction is very fast, parallel callback threads only need to wait a short time
    cams_mutex.lock();
    pose_mutex.lock();
-    const auto poses_3d = tri_model->triangulate_poses(
-        all_poses, all_cameras, roomparams, joint_names);
+    PoseBatch2D pose_batch_2d = PoseBatch2D::from_nested(all_poses);
+    auto poses_3d = tri_model->triangulate_poses(
+        pose_batch_2d, all_cameras, roomparams, joint_names).to_nested();

    double min_ts = *std::min_element(all_timestamps.begin(), all_timestamps.end());
    this->all_poses_set = std::vector<bool>(cam_ids.size(), false);