Run skelda tests with new implementation.

scripts/test_skelda_dataset.py

@@ -1,5 +1,6 @@
 import json
 import os
+import sys
 import time
 
 import cv2
@@ -8,10 +9,12 @@ import numpy as np
 import tqdm
 
 import test_triangulate
-import triangulate_poses
 import utils_2d_pose
 from skelda import evals, utils_pose
 
+sys.path.append("/SimplePoseTriangulation/swig/")
+import spt
+
 # ==================================================================================================
 
 # dataset_use = "panoptic"
@@ -316,12 +319,27 @@ def main():
     # Print a dataset sample for debugging
     print(labels[0])
 
+    minscores = {
+        # Choose this depending on the fraction of invalid/missing persons
+        # A higher value reduces the number of proposals
+        "panoptic": 0.94,
+        "human36m": 0.94,
+        "mvor": 0.86,
+        "campus": 0.96,
+        "shelf": 0.96,
+        "ikeaasm": 0.89,
+        "tsinghua": 0.96,
+        "human36m_wb": 0.94,
+        "koarob": 0.91,
+    }
+    minscore = minscores.get(dataset_use, 0.95)
+
     print("\nRunning predictions ...")
     all_poses = []
     all_ids = []
     all_paths = []
     times = []
-    last_poses_3d = np.array([])
+    triangulator = spt.Triangulator(min_score=minscore)
     old_scene = ""
     for label in tqdm.tqdm(labels):
         images_2d = []
@@ -329,7 +347,7 @@ def main():
         if old_scene != label.get("scene", ""):
             # Reset last poses if scene changes
             old_scene = label.get("scene", "")
-            last_poses_3d = np.array([])
+            triangulator.reset()
 
         try:
             start = time.time()
@@ -366,28 +384,20 @@ def main():
         time_2d = time.time() - start
         print("2D time:", time_2d)
 
-        minscores = {
-            # Choose this depending on the fraction of invalid/missing persons
-            # A higher value reduces the number of proposals
-            "panoptic": 0.94,
-            "human36m": 0.94,
-            "mvor": 0.86,
-            "campus": 0.96,
-            "shelf": 0.96,
-            "ikeaasm": 0.89,
-            "tsinghua": 0.96,
-            "human36m_wb": 0.94,
-        }
-        minscore = minscores.get(dataset_use, 0.95)
-
         start = time.time()
         if sum(np.sum(p) for p in poses_2d) == 0:
             poses3D = np.zeros([1, len(joint_names_3d), 4])
             poses2D = np.zeros([len(images_2d), 1, len(joint_names_3d), 3])
         else:
-            poses3D = triangulate_poses.get_3d_pose(
+            cameras = spt.convert_cameras(label["cameras"])
-                poses_2d, label["cameras"], roomparams, joint_names_2d, last_poses_3d, minscore
+            roomp = [roomparams["room_center"], roomparams["room_size"]]
+            poses_3d = triangulator.triangulate_poses(
+                poses_2d, cameras, roomp, joint_names_2d
             )
+            poses3D = np.array(poses_3d)
+            if len(poses3D) == 0:
+                poses3D = np.zeros([1, len(joint_names_3d), 4])
+
             poses2D = []
             for cam in label["cameras"]:
                 poses_2d, _ = utils_pose.project_poses(poses3D, cam)
@@ -401,7 +411,6 @@ def main():
                 drop_few_limbs=(dataset_use != "mvor"),
             )
             poses3D = add_missing_joints(poses3D, joint_names_3d)
-        last_poses_3d = poses3D
 
         time_3d = time.time() - start
         print("3D time:", time_3d)

scripts/test_triangulate.py

@@ -1,6 +1,7 @@
 import copy
 import json
 import os
+import sys
 import time
 from typing import List
 
@@ -9,10 +10,12 @@ import matplotlib
 import numpy as np
 
 import draw_utils
-import triangulate_poses
 import utils_2d_pose
 from skelda import utils_pose
 
+sys.path.append("/SimplePoseTriangulation/swig/")
+import spt
+
 # ==================================================================================================
 
 filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
@@ -437,7 +440,7 @@ def main():
         poses_2d = utils_2d_pose.get_2d_pose(kpt_model, images_2d)
         poses_2d = update_keypoints(poses_2d, joint_names_2d)
         print("2D time:", time.time() - stime)
-        # print(np.array(poses_2d).round(3).tolist())
+        # print([np.array(p).round(6).tolist() for p in poses_2d])
 
         fig1 = draw_utils.show_poses2d(
             poses_2d, np.array(images_2d), joint_names_2d, "2D detections"
@@ -454,11 +457,19 @@ def main():
             poses3D = np.zeros([1, len(joint_names_3d), 4])
             poses2D = np.zeros([len(images_2d), 1, len(joint_names_3d), 3])
         else:
+            cameras = spt.convert_cameras(camparams)
+            roomp = [roomparams["room_center"], roomparams["room_size"]]
+            triangulator = spt.Triangulator(min_score=0.95)
+
             stime = time.time()
-            poses3D = triangulate_poses.get_3d_pose(
+            poses_3d = triangulator.triangulate_poses(
-                poses_2d, camparams, roomparams, joint_names_2d
+                poses_2d, cameras, roomp, joint_names_2d
             )
+            poses3D = np.array(poses_3d)
+            if len(poses3D) == 0:
+                poses3D = np.zeros([1, len(joint_names_3d), 4])
             print("3D time:", time.time() - stime)
+
             poses2D = []
             for cam in camparams:
                 poses_2d, _ = utils_pose.project_poses(poses3D, cam)