From e9eb4c5d96aa7c239aad11aa4bf2888d42e96a8c Mon Sep 17 00:00:00 2001 From: Daniel Date: Mon, 10 Mar 2025 11:48:51 +0100 Subject: [PATCH 01/15] Weigh positions at merge by exponential score. --- media/RESULTS.md | 1154 +++++++++++++++++++++--------------------- rpt/triangulator.cpp | 27 +- 2 files changed, 592 insertions(+), 589 deletions(-) diff --git a/media/RESULTS.md b/media/RESULTS.md index 8611354..8388b66 100644 --- a/media/RESULTS.md +++ b/media/RESULTS.md @@ -7,26 +7,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0209406, - "demosaicing": 0.00061778, - "avg_time_2d": 0.0081745, - "avg_time_3d": 3.67151e-05, - "fps": 113.263 + "img_loading": 0.0206385, + "demosaicing": 0.000598167, + "avg_time_2d": 0.00822345, + "avg_time_3d": 3.54813e-05, + "fps": 112.904 } { "triangulator_calls": 600, - "init_time": 2.64651e-06, - "undistort_time": 3.72878e-06, - "project_time": 7.91012e-07, - "match_time": 1.3786e-06, - "pairs_time": 2.28007e-07, - "pair_scoring_time": 6.05516e-06, - "grouping_time": 1.00762e-06, - "full_time": 7.78534e-06, - "merge_time": 3.16104e-06, - "post_time": 4.67212e-06, - "convert_time": 6.287e-08, - "total_time": 3.17519e-05 + "init_time": 2.62541e-06, + "undistort_time": 3.73739e-06, + "project_time": 7.60795e-07, + "match_time": 1.39969e-06, + "pairs_time": 2.26192e-07, + "pair_scoring_time": 5.79049e-06, + "grouping_time": 9.75042e-07, + "full_time": 7.44867e-06, + "merge_time": 3.51708e-06, + "post_time": 4.28027e-06, + "convert_time": 5.8175e-08, + "total_time": 3.1055e-05 } { "person_nums": { @@ -45,52 +45,52 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 600, - "mean": 0.06137, - "median": 0.052692, - "std": 0.028754, - "sem": 0.001175, - "min": 0.036336, - "max": 0.189303, + "mean": 0.060962, + "median": 0.052484, + "std": 0.028624, + "sem": 0.00117, + "min": 0.036311, + "max": 0.188858, "recall-0.025": 0.0, - "recall-0.05": 0.341667, + "recall-0.05": 0.366667, "recall-0.1": 0.936667, "recall-0.15": 0.95, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 600, "ap-0.025": 0.0, - "ap-0.05": 0.198349, - "ap-0.1": 0.89113, - "ap-0.15": 0.911895, + "ap-0.05": 0.215605, + "ap-0.1": 0.891161, + "ap-0.15": 0.911559, "ap-0.25": 1.0, "ap-0.5": 1.0 }, "nose": { "count": 600, - "mean": 0.106588, - "median": 0.094594, - "std": 0.037095, - "sem": 0.001516, - "min": 0.025522, - "max": 0.26498, - "recall-0.025": 0.0, + "mean": 0.105757, + "median": 0.094634, + "std": 0.035993, + "sem": 0.001471, + "min": 0.024489, + "max": 0.260746, + "recall-0.025": 0.001667, "recall-0.05": 0.021667, - "recall-0.1": 0.57, - "recall-0.15": 0.883333, - "recall-0.25": 0.995, + "recall-0.1": 0.576667, + "recall-0.15": 0.89, + "recall-0.25": 0.998333, "recall-0.5": 1.0, "num_labels": 600 }, "shoulder_left": { "count": 600, - "mean": 0.035858, - "median": 0.026326, - "std": 0.033789, - "sem": 0.001381, - "min": 0.002501, - "max": 0.171365, - "recall-0.025": 0.456667, - "recall-0.05": 0.82, + "mean": 0.035821, + "median": 0.026476, + "std": 0.033776, + "sem": 0.00138, + "min": 0.002473, + "max": 0.171514, + "recall-0.025": 0.46, + "recall-0.05": 0.816667, "recall-0.1": 0.941667, "recall-0.15": 0.963333, "recall-0.25": 1.0, @@ -99,30 +99,30 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 600, - "mean": 0.044725, - "median": 0.033151, - "std": 0.040415, - "sem": 0.001651, - "min": 0.004892, - "max": 0.214426, - "recall-0.025": 0.333333, - "recall-0.05": 0.773333, - "recall-0.1": 0.911667, - "recall-0.15": 0.941667, - "recall-0.25": 1.0, + "mean": 0.044875, + "median": 0.032878, + "std": 0.041356, + "sem": 0.00169, + "min": 0.004517, + "max": 0.26572, + "recall-0.025": 0.331667, + "recall-0.05": 0.776667, + "recall-0.1": 0.913333, + "recall-0.15": 0.94, + "recall-0.25": 0.998333, "recall-0.5": 1.0, "num_labels": 600 }, "elbow_left": { "count": 600, - "mean": 0.044885, - "median": 0.035671, - "std": 0.036139, + "mean": 0.044585, + "median": 0.035103, + "std": 0.036154, "sem": 0.001477, - "min": 0.00282, - "max": 0.19274, - "recall-0.025": 0.258333, - "recall-0.05": 0.78, + "min": 0.002754, + "max": 0.192778, + "recall-0.025": 0.261667, + "recall-0.05": 0.786667, "recall-0.1": 0.933333, "recall-0.15": 0.953333, "recall-0.25": 1.0, @@ -131,14 +131,14 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 600, - "mean": 0.042779, - "median": 0.0314, - "std": 0.037255, - "sem": 0.001522, - "min": 0.003931, - "max": 0.305834, + "mean": 0.042661, + "median": 0.031367, + "std": 0.037706, + "sem": 0.001541, + "min": 0.004304, + "max": 0.322234, "recall-0.025": 0.266667, - "recall-0.05": 0.816667, + "recall-0.05": 0.821667, "recall-0.1": 0.928333, "recall-0.15": 0.943333, "recall-0.25": 0.996667, @@ -147,15 +147,15 @@ Results of the model in various experiments on different datasets. \ }, "wrist_left": { "count": 600, - "mean": 0.041456, - "median": 0.024274, - "std": 0.045842, - "sem": 0.001873, - "min": 0.000691, - "max": 0.309356, - "recall-0.025": 0.516667, - "recall-0.05": 0.758333, - "recall-0.1": 0.895, + "mean": 0.040793, + "median": 0.024225, + "std": 0.04538, + "sem": 0.001854, + "min": 0.000836, + "max": 0.326313, + "recall-0.025": 0.521667, + "recall-0.05": 0.77, + "recall-0.1": 0.898333, "recall-0.15": 0.943333, "recall-0.25": 0.996667, "recall-0.5": 1.0, @@ -163,31 +163,31 @@ Results of the model in various experiments on different datasets. \ }, "wrist_right": { "count": 599, - "mean": 0.045939, - "median": 0.027958, - "std": 0.052067, - "sem": 0.002129, - "min": 0.002464, - "max": 0.457433, - "recall-0.025": 0.443333, - "recall-0.05": 0.775, - "recall-0.1": 0.89, - "recall-0.15": 0.908333, - "recall-0.25": 0.99, + "mean": 0.044678, + "median": 0.02687, + "std": 0.050652, + "sem": 0.002071, + "min": 0.002472, + "max": 0.457708, + "recall-0.025": 0.456667, + "recall-0.05": 0.783333, + "recall-0.1": 0.893333, + "recall-0.15": 0.911667, + "recall-0.25": 0.991667, "recall-0.5": 0.998333, "num_labels": 600 }, "hip_left": { "count": 600, - "mean": 0.068231, - "median": 0.057583, - "std": 0.035521, - "sem": 0.001451, - "min": 0.02502, - "max": 0.215663, + "mean": 0.068763, + "median": 0.057992, + "std": 0.035423, + "sem": 0.001447, + "min": 0.025544, + "max": 0.215642, "recall-0.025": 0.0, - "recall-0.05": 0.268333, - "recall-0.1": 0.89, + "recall-0.05": 0.258333, + "recall-0.1": 0.885, "recall-0.15": 0.948333, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -195,14 +195,14 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 600, - "mean": 0.0855, - "median": 0.082345, - "std": 0.028363, - "sem": 0.001159, - "min": 0.019272, - "max": 0.210242, - "recall-0.025": 0.01, - "recall-0.05": 0.051667, + "mean": 0.085671, + "median": 0.082582, + "std": 0.028486, + "sem": 0.001164, + "min": 0.019417, + "max": 0.210131, + "recall-0.025": 0.008333, + "recall-0.05": 0.056667, "recall-0.1": 0.871667, "recall-0.15": 0.95, "recall-0.25": 1.0, @@ -211,82 +211,82 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 600, - "mean": 0.058052, - "median": 0.042191, - "std": 0.059265, - "sem": 0.002422, - "min": 0.014301, - "max": 0.42908, - "recall-0.025": 0.078333, - "recall-0.05": 0.688333, - "recall-0.1": 0.91, - "recall-0.15": 0.921667, + "mean": 0.057169, + "median": 0.041844, + "std": 0.056709, + "sem": 0.002317, + "min": 0.014337, + "max": 0.41337, + "recall-0.025": 0.076667, + "recall-0.05": 0.695, + "recall-0.1": 0.911667, + "recall-0.15": 0.923333, "recall-0.25": 0.981667, "recall-0.5": 1.0, "num_labels": 600 }, "knee_right": { "count": 600, - "mean": 0.04728, - "median": 0.034285, - "std": 0.041791, - "sem": 0.001708, - "min": 0.010508, - "max": 0.306515, - "recall-0.025": 0.116667, - "recall-0.05": 0.813333, - "recall-0.1": 0.921667, + "mean": 0.046846, + "median": 0.034283, + "std": 0.041108, + "sem": 0.00168, + "min": 0.010455, + "max": 0.30709, + "recall-0.025": 0.121667, + "recall-0.05": 0.82, + "recall-0.1": 0.923333, "recall-0.15": 0.94, "recall-0.25": 0.996667, "recall-0.5": 1.0, "num_labels": 600 }, "ankle_left": { - "count": 597, - "mean": 0.091182, - "median": 0.082607, - "std": 0.042222, - "sem": 0.001729, - "min": 0.047413, - "max": 0.496033, + "count": 598, + "mean": 0.091286, + "median": 0.0826, + "std": 0.040637, + "sem": 0.001663, + "min": 0.047469, + "max": 0.482805, "recall-0.025": 0.0, "recall-0.05": 0.003333, "recall-0.1": 0.868333, "recall-0.15": 0.936667, - "recall-0.25": 0.985, - "recall-0.5": 0.995, + "recall-0.25": 0.988333, + "recall-0.5": 0.996667, "num_labels": 600 }, "ankle_right": { "count": 599, - "mean": 0.080985, - "median": 0.066827, - "std": 0.049871, - "sem": 0.002039, - "min": 0.03166, - "max": 0.394442, + "mean": 0.080017, + "median": 0.066851, + "std": 0.04699, + "sem": 0.001922, + "min": 0.02973, + "max": 0.386174, "recall-0.025": 0.0, "recall-0.05": 0.031667, "recall-0.1": 0.898333, "recall-0.15": 0.916667, - "recall-0.25": 0.973333, + "recall-0.25": 0.976667, "recall-0.5": 0.998333, "num_labels": 600 }, "joint_recalls": { "num_labels": 7800, - "recall-0.025": 0.19026, - "recall-0.05": 0.50692, - "recall-0.1": 0.87859, - "recall-0.15": 0.93372, - "recall-0.25": 0.99333, - "recall-0.5": 0.9991 + "recall-0.025": 0.19269, + "recall-0.05": 0.51026, + "recall-0.1": 0.87923, + "recall-0.15": 0.93462, + "recall-0.25": 0.99385, + "recall-0.5": 0.99923 } } { "total_parts": 8400, - "correct_parts": 8122, - "pcp": 0.966905 + "correct_parts": 8128, + "pcp": 0.967619 } ``` @@ -294,26 +294,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.042598, - "demosaicing": 0.000728448, - "avg_time_2d": 0.0148339, - "avg_time_3d": 0.000117913, - "fps": 63.7744 + "img_loading": 0.0424233, + "demosaicing": 0.000707093, + "avg_time_2d": 0.0148645, + "avg_time_3d": 0.000118507, + "fps": 63.7344 } { "triangulator_calls": 301, - "init_time": 2.94566e-06, - "undistort_time": 1.44382e-05, - "project_time": 2.17405e-06, - "match_time": 8.54757e-06, - "pairs_time": 4.47237e-06, - "pair_scoring_time": 2.70306e-05, - "grouping_time": 4.83738e-06, - "full_time": 2.72554e-05, - "merge_time": 1.0399e-05, - "post_time": 6.79547e-06, - "convert_time": 1.24645e-07, - "total_time": 0.000109261 + "init_time": 2.85759e-06, + "undistort_time": 1.44325e-05, + "project_time": 2.22079e-06, + "match_time": 8.5159e-06, + "pairs_time": 4.48548e-06, + "pair_scoring_time": 2.66844e-05, + "grouping_time": 4.66512e-06, + "full_time": 2.71001e-05, + "merge_time": 1.16277e-05, + "post_time": 6.86999e-06, + "convert_time": 1.24289e-07, + "total_time": 0.000109822 } { "person_nums": { @@ -332,12 +332,12 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 477, - "mean": 0.048001, - "median": 0.042569, - "std": 0.014925, - "sem": 0.000684, - "min": 0.03012, - "max": 0.116311, + "mean": 0.048033, + "median": 0.042733, + "std": 0.014947, + "sem": 0.000685, + "min": 0.030195, + "max": 0.118375, "recall-0.025": 0.0, "recall-0.05": 0.70021, "recall-0.1": 0.983229, @@ -346,22 +346,22 @@ Results of the model in various experiments on different datasets. \ "recall-0.5": 1.0, "num_labels": 477, "ap-0.025": 0.0, - "ap-0.05": 0.389107, - "ap-0.1": 0.731078, - "ap-0.15": 0.74682, - "ap-0.25": 0.74682, - "ap-0.5": 0.74682 + "ap-0.05": 0.388387, + "ap-0.1": 0.728904, + "ap-0.15": 0.746165, + "ap-0.25": 0.746165, + "ap-0.5": 0.746165 }, "head": { "count": 477, - "mean": 0.054217, - "median": 0.050158, - "std": 0.024847, - "sem": 0.001139, - "min": 0.005598, - "max": 0.180564, - "recall-0.025": 0.081761, - "recall-0.05": 0.496855, + "mean": 0.054103, + "median": 0.050002, + "std": 0.024914, + "sem": 0.001142, + "min": 0.005111, + "max": 0.189881, + "recall-0.025": 0.083857, + "recall-0.05": 0.498952, "recall-0.1": 0.937107, "recall-0.15": 0.995807, "recall-0.25": 1.0, @@ -370,14 +370,14 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_left": { "count": 477, - "mean": 0.042429, - "median": 0.037021, - "std": 0.020584, - "sem": 0.000943, - "min": 0.004311, - "max": 0.136587, - "recall-0.025": 0.161426, - "recall-0.05": 0.727463, + "mean": 0.042381, + "median": 0.036815, + "std": 0.020658, + "sem": 0.000947, + "min": 0.004383, + "max": 0.136638, + "recall-0.025": 0.159329, + "recall-0.05": 0.733753, "recall-0.1": 0.985325, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -386,14 +386,14 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 477, - "mean": 0.049623, - "median": 0.045796, - "std": 0.02312, - "sem": 0.00106, - "min": 0.005348, - "max": 0.147448, - "recall-0.025": 0.100629, - "recall-0.05": 0.561845, + "mean": 0.049767, + "median": 0.046023, + "std": 0.023191, + "sem": 0.001063, + "min": 0.005303, + "max": 0.148245, + "recall-0.025": 0.102725, + "recall-0.05": 0.553459, "recall-0.1": 0.955975, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -402,13 +402,13 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 477, - "mean": 0.04078, - "median": 0.032063, - "std": 0.029273, - "sem": 0.001342, - "min": 0.003449, - "max": 0.326226, - "recall-0.025": 0.316562, + "mean": 0.040733, + "median": 0.032118, + "std": 0.029137, + "sem": 0.001336, + "min": 0.003472, + "max": 0.317898, + "recall-0.025": 0.314465, "recall-0.05": 0.756813, "recall-0.1": 0.953878, "recall-0.15": 0.997904, @@ -418,62 +418,62 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 477, - "mean": 0.053274, - "median": 0.044357, - "std": 0.040895, - "sem": 0.001874, - "min": 0.003528, - "max": 0.244052, - "recall-0.025": 0.257862, + "mean": 0.053374, + "median": 0.04436, + "std": 0.041187, + "sem": 0.001888, + "min": 0.003346, + "max": 0.244557, + "recall-0.025": 0.253669, "recall-0.05": 0.561845, "recall-0.1": 0.901468, - "recall-0.15": 0.958071, + "recall-0.15": 0.955975, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "wrist_left": { "count": 477, - "mean": 0.059994, - "median": 0.053953, - "std": 0.038609, - "sem": 0.00177, - "min": 0.002051, - "max": 0.322481, + "mean": 0.060176, + "median": 0.053848, + "std": 0.0399, + "sem": 0.001829, + "min": 0.001754, + "max": 0.323708, "recall-0.025": 0.132075, "recall-0.05": 0.404612, "recall-0.1": 0.907757, "recall-0.15": 0.960168, - "recall-0.25": 0.991614, + "recall-0.25": 0.989518, "recall-0.5": 1.0, "num_labels": 477 }, "wrist_right": { "count": 477, - "mean": 0.059427, - "median": 0.054405, - "std": 0.034224, - "sem": 0.001569, - "min": 0.009618, - "max": 0.371666, - "recall-0.025": 0.113208, - "recall-0.05": 0.415094, - "recall-0.1": 0.899371, - "recall-0.15": 0.979036, + "mean": 0.059361, + "median": 0.055175, + "std": 0.033884, + "sem": 0.001553, + "min": 0.008828, + "max": 0.397712, + "recall-0.025": 0.115304, + "recall-0.05": 0.417191, + "recall-0.1": 0.897275, + "recall-0.15": 0.983229, "recall-0.25": 0.997904, "recall-0.5": 1.0, "num_labels": 477 }, "hip_left": { "count": 477, - "mean": 0.048028, - "median": 0.042252, - "std": 0.026459, - "sem": 0.001213, - "min": 0.006475, - "max": 0.145904, - "recall-0.025": 0.190776, - "recall-0.05": 0.618449, + "mean": 0.048156, + "median": 0.042413, + "std": 0.026697, + "sem": 0.001224, + "min": 0.006344, + "max": 0.145946, + "recall-0.025": 0.178197, + "recall-0.05": 0.620545, "recall-0.1": 0.951782, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -482,14 +482,14 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 477, - "mean": 0.058447, - "median": 0.05753, - "std": 0.0237, - "sem": 0.001086, - "min": 0.005137, - "max": 0.132317, - "recall-0.025": 0.098532, - "recall-0.05": 0.39413, + "mean": 0.058574, + "median": 0.057474, + "std": 0.023713, + "sem": 0.001087, + "min": 0.006138, + "max": 0.132298, + "recall-0.025": 0.100629, + "recall-0.05": 0.356394, "recall-0.1": 0.945493, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -498,14 +498,14 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 477, - "mean": 0.040484, - "median": 0.038079, - "std": 0.024499, - "sem": 0.001123, - "min": 0.004927, - "max": 0.190068, - "recall-0.025": 0.257862, - "recall-0.05": 0.748428, + "mean": 0.040531, + "median": 0.037938, + "std": 0.024607, + "sem": 0.001128, + "min": 0.00514, + "max": 0.190129, + "recall-0.025": 0.255765, + "recall-0.05": 0.750524, "recall-0.1": 0.972746, "recall-0.15": 0.989518, "recall-0.25": 1.0, @@ -514,14 +514,14 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 477, - "mean": 0.040167, - "median": 0.036232, - "std": 0.023115, - "sem": 0.001059, - "min": 0.00733, - "max": 0.184932, - "recall-0.025": 0.310273, - "recall-0.05": 0.708595, + "mean": 0.040093, + "median": 0.036127, + "std": 0.023149, + "sem": 0.001061, + "min": 0.00727, + "max": 0.185049, + "recall-0.025": 0.308176, + "recall-0.05": 0.710692, "recall-0.1": 0.976939, "recall-0.15": 0.997904, "recall-0.25": 1.0, @@ -530,15 +530,15 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 477, - "mean": 0.036403, - "median": 0.028172, - "std": 0.03066, - "sem": 0.001405, - "min": 0.004789, - "max": 0.223748, - "recall-0.025": 0.433962, + "mean": 0.03635, + "median": 0.028051, + "std": 0.030627, + "sem": 0.001404, + "min": 0.004936, + "max": 0.223785, + "recall-0.025": 0.431866, "recall-0.05": 0.81761, - "recall-0.1": 0.947589, + "recall-0.1": 0.945493, "recall-0.15": 0.983229, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -546,12 +546,12 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 477, - "mean": 0.040745, - "median": 0.030898, - "std": 0.03726, - "sem": 0.001708, - "min": 0.003323, - "max": 0.270118, + "mean": 0.040826, + "median": 0.030921, + "std": 0.03751, + "sem": 0.001719, + "min": 0.00301, + "max": 0.288243, "recall-0.025": 0.301887, "recall-0.05": 0.805031, "recall-0.1": 0.930818, @@ -562,18 +562,18 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 6201, - "recall-0.025": 0.21142, - "recall-0.05": 0.61538, + "recall-0.025": 0.20932, + "recall-0.05": 0.61313, "recall-0.1": 0.94275, - "recall-0.15": 0.98645, + "recall-0.15": 0.98678, "recall-0.25": 0.99871, "recall-0.5": 1.0 } } { "total_parts": 6678, - "correct_parts": 6619, - "pcp": 0.991165 + "correct_parts": 6620, + "pcp": 0.991315 } ``` @@ -1091,26 +1091,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0482825, - "demosaicing": 0.00104159, - "avg_time_2d": 0.0167446, - "avg_time_3d": 0.000146181, - "fps": 55.765 + "img_loading": 0.0469234, + "demosaicing": 0.00104152, + "avg_time_2d": 0.0167011, + "avg_time_3d": 0.000146036, + "fps": 55.9013 } { "triangulator_calls": 420, - "init_time": 3.17105e-06, - "undistort_time": 1.647e-05, - "project_time": 2.89848e-06, - "match_time": 1.27852e-05, - "pairs_time": 9.45822e-06, - "pair_scoring_time": 3.475e-05, - "grouping_time": 6.01286e-06, - "full_time": 3.0067e-05, - "merge_time": 1.21614e-05, - "post_time": 7.53575e-06, - "convert_time": 1.57498e-07, - "total_time": 0.000135705 + "init_time": 2.97937e-06, + "undistort_time": 1.63641e-05, + "project_time": 2.85499e-06, + "match_time": 1.26216e-05, + "pairs_time": 9.3965e-06, + "pair_scoring_time": 3.47372e-05, + "grouping_time": 5.82066e-06, + "full_time": 2.98699e-05, + "merge_time": 1.3583e-05, + "post_time": 7.56396e-06, + "convert_time": 1.56833e-07, + "total_time": 0.000136184 } { "person_nums": { @@ -1129,36 +1129,36 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 1462, - "mean": 0.03241, - "median": 0.029552, - "std": 0.014503, - "sem": 0.000379, - "min": 0.010083, - "max": 0.135322, - "recall-0.025": 0.332196, - "recall-0.05": 0.899727, + "mean": 0.031793, + "median": 0.029086, + "std": 0.014062, + "sem": 0.000368, + "min": 0.009935, + "max": 0.125083, + "recall-0.025": 0.341064, + "recall-0.05": 0.908595, "recall-0.1": 0.99045, "recall-0.15": 0.997271, "recall-0.25": 0.997271, "recall-0.5": 0.997271, "num_labels": 1466, - 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"recall-0.1": 0.988396, + "mean": 0.022007, + "median": 0.016468, + "std": 0.019558, + "sem": 0.000512, + "min": 0.000766, + "max": 0.231621, + "recall-0.025": 0.74471, + "recall-0.05": 0.917406, + "recall-0.1": 0.989078, "recall-0.15": 0.995904, "recall-0.25": 0.99727, "recall-0.5": 0.99727, @@ -1215,14 +1215,14 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 1461, - "mean": 0.021041, - "median": 0.015958, - "std": 0.016596, - "sem": 0.000434, - "min": 0.001491, + "mean": 0.020631, + "median": 0.015763, + "std": 0.016009, + "sem": 0.000419, + "min": 0.001514, "max": 0.161231, - "recall-0.025": 0.784005, - "recall-0.05": 0.926179, + "recall-0.025": 0.794258, + "recall-0.05": 0.935065, "recall-0.1": 0.997266, "recall-0.15": 0.997949, "recall-0.25": 0.998633, @@ -1231,47 +1231,47 @@ Results of the model in various experiments on different datasets. \ }, "wrist_left": { "count": 1432, - "mean": 0.036116, - "median": 0.016728, - "std": 0.055658, - "sem": 0.001471, - "min": 0.0012, - "max": 0.448766, - "recall-0.025": 0.672245, - "recall-0.05": 0.844491, - "recall-0.1": 0.907252, - "recall-0.15": 0.953278, - "recall-0.25": 0.974895, + "mean": 0.03502, + "median": 0.016617, + "std": 0.05351, + "sem": 0.001415, + "min": 0.000678, + "max": 0.450267, + "recall-0.025": 0.680614, + "recall-0.05": 0.843794, + "recall-0.1": 0.914226, + "recall-0.15": 0.956067, + "recall-0.25": 0.97629, "recall-0.5": 0.998605, "num_labels": 1434 }, "wrist_right": { "count": 1455, - "mean": 0.027038, - "median": 0.016832, - "std": 0.034034, - "sem": 0.000893, - "min": 0.001304, - "max": 0.280711, - "recall-0.025": 0.688874, - "recall-0.05": 0.885989, - "recall-0.1": 0.966346, - "recall-0.15": 0.980082, - "recall-0.25": 0.996566, + "mean": 0.026332, + "median": 0.016539, + "std": 0.032321, + "sem": 0.000848, + "min": 0.001381, + "max": 0.280031, + "recall-0.025": 0.697802, + "recall-0.05": 0.889423, + "recall-0.1": 0.969093, + "recall-0.15": 0.982143, + "recall-0.25": 0.99794, "recall-0.5": 0.999313, "num_labels": 1456 }, "hip_left": { "count": 1461, - "mean": 0.035007, - "median": 0.03159, - "std": 0.019639, - "sem": 0.000514, - "min": 0.002545, - "max": 0.180896, - "recall-0.025": 0.32901, - "recall-0.05": 0.840273, - "recall-0.1": 0.988396, + "mean": 0.034996, + "median": 0.031238, + "std": 0.02016, + "sem": 0.000528, + "min": 0.002441, + "max": 0.195158, + "recall-0.025": 0.339932, + "recall-0.05": 0.830034, + "recall-0.1": 0.985666, "recall-0.15": 0.995904, "recall-0.25": 0.99727, "recall-0.5": 0.99727, @@ -1279,98 +1279,98 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 1462, - "mean": 0.037709, - "median": 0.033372, - "std": 0.024133, - "sem": 0.000631, - "min": 0.003302, + "mean": 0.037438, + "median": 0.032873, + "std": 0.023989, + "sem": 0.000628, + "min": 0.003165, "max": 0.27157, - "recall-0.025": 0.313779, - "recall-0.05": 0.803547, + "recall-0.025": 0.316508, + "recall-0.05": 0.806276, "recall-0.1": 0.974079, "recall-0.15": 0.993861, - "recall-0.25": 0.995907, + "recall-0.25": 0.996589, "recall-0.5": 0.997271, "num_labels": 1466 }, "knee_left": { "count": 1461, - 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"count": 1458, - "mean": 0.056218, - "median": 0.033814, - "std": 0.062192, - "sem": 0.001629, - "min": 0.002519, - "max": 0.432285, - "recall-0.025": 0.350649, - "recall-0.05": 0.669856, - "recall-0.1": 0.851675, - "recall-0.15": 0.914559, - "recall-0.25": 0.971292, - "recall-0.5": 0.996582, + "count": 1459, + "mean": 0.054133, + "median": 0.033108, + "std": 0.060269, + "sem": 0.001578, + "min": 0.001995, + "max": 0.44695, + "recall-0.025": 0.354067, + "recall-0.05": 0.683527, + "recall-0.1": 0.867396, + "recall-0.15": 0.920027, + "recall-0.25": 0.97676, + "recall-0.5": 0.997266, "num_labels": 1463 }, "ankle_right": { - "count": 1445, - "mean": 0.053677, - "median": 0.031035, - "std": 0.067345, - "sem": 0.001772, - "min": 0.001539, - "max": 0.490198, - "recall-0.025": 0.382192, - "recall-0.05": 0.738356, - "recall-0.1": 0.853425, - "recall-0.15": 0.905479, - "recall-0.25": 0.962329, - "recall-0.5": 0.989726, + "count": 1446, + "mean": 0.051927, + "median": 0.030794, + "std": 0.064938, + "sem": 0.001708, + "min": 0.001857, + "max": 0.493842, + "recall-0.025": 0.386301, + "recall-0.05": 0.742466, + "recall-0.1": 0.871233, + "recall-0.15": 0.910274, + "recall-0.25": 0.961644, + "recall-0.5": 0.990411, "num_labels": 1460 }, "joint_recalls": { "num_labels": 18990, - "recall-0.025": 0.57341, - "recall-0.05": 0.85445, - "recall-0.1": 0.95808, - "recall-0.15": 0.97694, - "recall-0.25": 0.98999, - "recall-0.5": 0.99674 + "recall-0.025": 0.57925, + "recall-0.05": 0.85692, + "recall-0.1": 0.96114, + "recall-0.15": 0.97825, + "recall-0.25": 0.99052, + "recall-0.5": 0.99695 } } { "total_parts": 20444, - "correct_parts": 20199, - "pcp": 0.988016 + "correct_parts": 20215, + "pcp": 0.988799 } ``` @@ -5325,26 +5325,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.280666, - "demosaicing": 0.0112621, - "avg_time_2d": 0.023852, - "avg_time_3d": 0.000235742, - "fps": 28.2886 + "img_loading": 0.278237, + "demosaicing": 0.0110612, + "avg_time_2d": 0.0240154, + "avg_time_3d": 0.000242046, + "fps": 28.3137 } { "triangulator_calls": 121, - "init_time": 3.87942e-06, - "undistort_time": 1.88965e-05, - "project_time": 3.84835e-06, - "match_time": 1.2984e-05, - "pairs_time": 1.01412e-05, - "pair_scoring_time": 6.05492e-05, - "grouping_time": 1.17203e-05, - "full_time": 7.05481e-05, - "merge_time": 2.97129e-05, - "post_time": 7.14949e-06, - "convert_time": 1.34868e-07, - "total_time": 0.000229801 + "init_time": 3.4108e-06, + "undistort_time": 1.9004e-05, + "project_time": 3.96777e-06, + "match_time": 1.33092e-05, + "pairs_time": 1.08128e-05, + "pair_scoring_time": 6.1806e-05, + "grouping_time": 1.16601e-05, + "full_time": 7.14101e-05, + "merge_time": 3.26368e-05, + "post_time": 7.33497e-06, + "convert_time": 1.39355e-07, + "total_time": 0.00023573 } { "person_nums": { @@ -5363,21 +5363,21 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 363, - "mean": 0.025726, - "median": 0.024997, - "std": 0.00724, - "sem": 0.000381, - "min": 0.011774, - "max": 0.052562, - "recall-0.025": 0.501377, + "mean": 0.025709, + "median": 0.024834, + "std": 0.007209, + "sem": 0.000379, + "min": 0.011746, + "max": 0.051988, + "recall-0.025": 0.515152, "recall-0.05": 0.997245, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 363, - "ap-0.025": 0.271699, - "ap-0.05": 0.996479, + "ap-0.025": 0.282931, + "ap-0.05": 0.996426, "ap-0.1": 1.0, "ap-0.15": 1.0, "ap-0.25": 1.0, @@ -5385,14 +5385,14 @@ Results of the model in various experiments on different datasets. \ }, "head": { "count": 363, - "mean": 0.027328, - "median": 0.022736, - "std": 0.01683, - "sem": 0.000885, - "min": 0.00115, - "max": 0.085467, + "mean": 0.027303, + "median": 0.023105, + "std": 0.016677, + "sem": 0.000877, + "min": 0.001375, + "max": 0.086144, "recall-0.025": 0.573003, - "recall-0.05": 0.895317, + "recall-0.05": 0.900826, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5401,30 +5401,30 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_left": { "count": 363, - "mean": 0.027044, - "median": 0.021957, - "std": 0.02084, - "sem": 0.001095, - "min": 0.002793, - "max": 0.149897, - "recall-0.025": 0.589532, - "recall-0.05": 0.887052, + "mean": 0.027108, + "median": 0.022, + "std": 0.020752, + "sem": 0.001091, + "min": 0.002767, + "max": 0.150529, + "recall-0.025": 0.592287, + "recall-0.05": 0.892562, "recall-0.1": 0.986226, - "recall-0.15": 1.0, + "recall-0.15": 0.997245, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 363 }, "shoulder_right": { "count": 363, - "mean": 0.022957, - "median": 0.020511, - "std": 0.012804, - "sem": 0.000673, - "min": 0.003064, - "max": 0.101875, - "recall-0.025": 0.628099, - "recall-0.05": 0.961433, + "mean": 0.02312, + "median": 0.020238, + "std": 0.012706, + "sem": 0.000668, + "min": 0.002849, + "max": 0.10193, + "recall-0.025": 0.62259, + "recall-0.05": 0.966942, "recall-0.1": 0.997245, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5433,13 +5433,13 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 363, - "mean": 0.022517, - "median": 0.019538, - "std": 0.015673, - "sem": 0.000824, - "min": 0.001254, - "max": 0.207405, - "recall-0.025": 0.680441, + "mean": 0.022561, + "median": 0.019468, + "std": 0.015633, + "sem": 0.000822, + "min": 0.001582, + "max": 0.207353, + "recall-0.025": 0.68595, "recall-0.05": 0.961433, "recall-0.1": 0.997245, "recall-0.15": 0.997245, @@ -5449,14 +5449,14 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 363, - "mean": 0.018557, - "median": 0.016702, - "std": 0.010298, - "sem": 0.000541, - "min": 0.002522, - "max": 0.082821, + "mean": 0.018544, + "median": 0.016655, + "std": 0.010242, + "sem": 0.000538, + "min": 0.002603, + "max": 0.082689, "recall-0.025": 0.807163, - "recall-0.05": 0.991736, + "recall-0.05": 0.988981, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5465,14 +5465,14 @@ Results of the model in various experiments on different datasets. \ }, "wrist_left": { "count": 363, - "mean": 0.023647, - "median": 0.018944, - "std": 0.018362, - "sem": 0.000965, - "min": 0.002721, - "max": 0.199952, - "recall-0.025": 0.68595, - "recall-0.05": 0.928375, + "mean": 0.023435, + "median": 0.018811, + "std": 0.018148, + "sem": 0.000954, + "min": 0.0023, + "max": 0.200226, + "recall-0.025": 0.688705, + "recall-0.05": 0.933884, "recall-0.1": 0.991736, "recall-0.15": 0.997245, "recall-0.25": 1.0, @@ -5481,14 +5481,14 @@ Results of the model in various experiments on different datasets. \ }, "wrist_right": { "count": 363, - "mean": 0.019782, - "median": 0.017758, - "std": 0.011189, - "sem": 0.000588, - "min": 0.001634, - "max": 0.076393, - "recall-0.025": 0.757576, - "recall-0.05": 0.975207, + "mean": 0.019636, + "median": 0.017778, + "std": 0.011098, + "sem": 0.000583, + "min": 0.003242, + "max": 0.077536, + "recall-0.025": 0.76584, + "recall-0.05": 0.980716, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5497,14 +5497,14 @@ Results of the model in various experiments on different datasets. \ }, "hip_left": { "count": 363, - "mean": 0.031192, - "median": 0.026563, - "std": 0.017009, - "sem": 0.000894, - "min": 0.005051, - "max": 0.116967, - "recall-0.025": 0.438017, - "recall-0.05": 0.848485, + "mean": 0.031051, + "median": 0.026439, + "std": 0.016983, + "sem": 0.000893, + "min": 0.005104, + "max": 0.117092, + "recall-0.025": 0.446281, + "recall-0.05": 0.853994, "recall-0.1": 0.997245, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5513,14 +5513,14 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 363, - "mean": 0.031175, - "median": 0.028448, - "std": 0.017051, - "sem": 0.000896, - "min": 0.003029, - "max": 0.138279, - "recall-0.025": 0.371901, - "recall-0.05": 0.900826, + "mean": 0.031582, + "median": 0.028644, + "std": 0.017376, + "sem": 0.000913, + "min": 0.003061, + "max": 0.138503, + "recall-0.025": 0.366391, + "recall-0.05": 0.892562, "recall-0.1": 0.991736, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5529,15 +5529,15 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 363, - "mean": 0.028398, - "median": 0.020711, - "std": 0.023128, - "sem": 0.001216, - "min": 0.001921, - "max": 0.12193, - "recall-0.025": 0.633609, - "recall-0.05": 0.856749, - "recall-0.1": 0.977961, + "mean": 0.028515, + "median": 0.021075, + "std": 0.023189, + "sem": 0.001219, + "min": 0.00224, + "max": 0.123462, + "recall-0.025": 0.61708, + "recall-0.05": 0.853994, + "recall-0.1": 0.972452, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -5545,13 +5545,13 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 363, - "mean": 0.023753, - "median": 0.020598, - "std": 0.013656, - "sem": 0.000718, - "min": 0.002869, - "max": 0.067651, - "recall-0.025": 0.595041, + "mean": 0.023905, + "median": 0.020469, + "std": 0.013552, + "sem": 0.000712, + "min": 0.00231, + "max": 0.067798, + "recall-0.025": 0.586777, "recall-0.05": 0.939394, "recall-0.1": 1.0, "recall-0.15": 1.0, @@ -5561,14 +5561,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 363, - "mean": 0.028378, - "median": 0.022211, - "std": 0.022536, - "sem": 0.001184, - "min": 0.002738, - "max": 0.179868, - "recall-0.025": 0.570248, - "recall-0.05": 0.895317, + "mean": 0.028076, + "median": 0.022154, + "std": 0.022505, + "sem": 0.001183, + "min": 0.002848, + "max": 0.178544, + "recall-0.025": 0.575758, + "recall-0.05": 0.900826, "recall-0.1": 0.980716, "recall-0.15": 0.99449, "recall-0.25": 1.0, @@ -5577,15 +5577,15 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 363, - "mean": 0.029714, - "median": 0.022134, - "std": 0.026933, + "mean": 0.029383, + "median": 0.022253, + "std": 0.026946, "sem": 0.001416, - "min": 0.003345, - "max": 0.265506, + "min": 0.003171, + "max": 0.279154, "recall-0.025": 0.573003, - "recall-0.05": 0.865014, - "recall-0.1": 0.969697, + "recall-0.05": 0.870523, + "recall-0.1": 0.975207, "recall-0.15": 0.99449, "recall-0.25": 0.997245, "recall-0.5": 1.0, @@ -5593,10 +5593,10 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 4719, - "recall-0.025": 0.60733, - "recall-0.05": 0.91524, - "recall-0.1": 0.99046, - "recall-0.15": 0.99788, + "recall-0.025": 0.60691, + "recall-0.05": 0.91651, + "recall-0.1": 0.99068, + "recall-0.15": 0.99746, "recall-0.25": 0.99958, "recall-0.5": 1.0 } diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index 1d9b049..f60fbb9 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -1787,7 +1787,7 @@ std::vector> TriangulatorInternal::merge_group( // Merge poses to create initial pose // Use only those triangulations with a high score std::vector> sum_poses(num_joints, {0.0, 0.0, 0.0, 0.0}); - std::vector sum_mask1(num_joints, 0); + std::vector sum_mask1(num_joints, 0); for (size_t i = 0; i < num_poses; ++i) { const auto &pose = poses_3d[i]; @@ -1797,11 +1797,12 @@ std::vector> TriangulatorInternal::merge_group( float score = pose[j][3]; if (score > min_score) { - sum_poses[j][0] += pose[j][0]; - sum_poses[j][1] += pose[j][1]; - sum_poses[j][2] += pose[j][2]; - sum_poses[j][3] += score; - sum_mask1[j]++; + float weight = std::pow(score, 2); + sum_poses[j][0] += pose[j][0] * weight; + sum_poses[j][1] += pose[j][1] * weight; + sum_poses[j][2] += pose[j][2] * weight; + sum_poses[j][3] += score * weight; + sum_mask1[j] += weight; } } } @@ -1915,7 +1916,7 @@ std::vector> TriangulatorInternal::merge_group( // Compute the final pose std::vector> sum_poses2(num_joints, {0.0, 0.0, 0.0, 0.0}); - std::vector sum_mask2(num_joints, 0); + std::vector sum_mask2(num_joints, 0); for (size_t i = 0; i < num_poses; ++i) { const auto &pose = poses_3d[i]; @@ -1924,11 +1925,13 @@ std::vector> TriangulatorInternal::merge_group( { if (mask[i][j]) { - sum_poses2[j][0] += pose[j][0]; - sum_poses2[j][1] += pose[j][1]; - sum_poses2[j][2] += pose[j][2]; - sum_poses2[j][3] += pose[j][3]; - sum_mask2[j]++; + // Use an exponential weighting to give more importance to higher scores + float weight = std::pow(pose[j][3], 4); + sum_poses2[j][0] += pose[j][0] * weight; + sum_poses2[j][1] += pose[j][1] * weight; + sum_poses2[j][2] += pose[j][2] * weight; + sum_poses2[j][3] += pose[j][3] * weight; + sum_mask2[j] += weight; } } } From 5de7764e6811113bfb6294867c97d592d27682ad Mon Sep 17 00:00:00 2001 From: Daniel Date: Mon, 17 Mar 2025 12:57:19 +0100 Subject: [PATCH 02/15] Initial steps. --- extras/mmpose/README.md | 25 +++++++++++++++++++++++++ extras/mmpose/run_container.sh | 11 +++++++++++ 2 files changed, 36 insertions(+) create mode 100644 extras/mmpose/README.md create mode 100755 extras/mmpose/run_container.sh diff --git a/extras/mmpose/README.md b/extras/mmpose/README.md new file mode 100644 index 0000000..13b2a49 --- /dev/null +++ b/extras/mmpose/README.md @@ -0,0 +1,25 @@ +# Finetuning MMPose models + +See: + +
+ +```bash +docker build --progress=plain -f extras/mmdeploy/dockerfile -t rpt_mmdeploy . + +./extras/mmpose/run_container.sh +``` + +```bash +cd /mmpose/ + +pip3 install "albumentations<1.4" + +python3 ./tools/train.py \ + /mmpose/projects/rtmpose/rtmpose/body_2d_keypoint/rtmpose-m_8xb256-420e_coco-384x288.py \ + --amp \ + --cfg-options \ + load_from=https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-m_simcc-body7_pt-body7_420e-384x288-65e718c4_20230504.pth \ + train_batch_size=16 val_batch_size=16 + +``` diff --git a/extras/mmpose/run_container.sh b/extras/mmpose/run_container.sh new file mode 100755 index 0000000..2b138c8 --- /dev/null +++ b/extras/mmpose/run_container.sh @@ -0,0 +1,11 @@ +#! /bin/bash + +xhost + +docker run --privileged --rm --network host -it \ + --gpus all --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \ + --volume "$(pwd)"/:/RapidPoseTriangulation/ \ + --volume "$(pwd)"/../datasets/coco2017/annotations/:/mmpose/data/coco/annotations/ \ + --volume "$(pwd)"/../datasets/coco2017/images/:/mmpose/data/coco/ \ + --volume /tmp/.X11-unix:/tmp/.X11-unix \ + --env DISPLAY --env QT_X11_NO_MITSHM=1 \ + rpt_mmdeploy From dff0f7130975a18252edb801b8668d5ff696ce7a Mon Sep 17 00:00:00 2001 From: Daniel Date: Mon, 17 Mar 2025 16:05:26 +0100 Subject: [PATCH 03/15] Create custom dockerfile as well. --- extras/mmpose/README.md | 12 +- ...ose-l_8xb32-270e_coco-wholebody-384x288.py | 235 ++++++++++++++++++ extras/mmpose/dockerfile | 9 + extras/mmpose/run_container.sh | 2 +- 4 files changed, 250 insertions(+), 8 deletions(-) create mode 100644 extras/mmpose/configs/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py create mode 100644 extras/mmpose/dockerfile diff --git a/extras/mmpose/README.md b/extras/mmpose/README.md index 13b2a49..c731136 100644 --- a/extras/mmpose/README.md +++ b/extras/mmpose/README.md @@ -5,21 +5,19 @@ See:
```bash -docker build --progress=plain -f extras/mmdeploy/dockerfile -t rpt_mmdeploy . +docker build --progress=plain -f extras/mmpose/dockerfile -t rpt_mmpose . ./extras/mmpose/run_container.sh ``` ```bash cd /mmpose/ - -pip3 install "albumentations<1.4" +export CUDA_VISIBLE_DEVICES=0 python3 ./tools/train.py \ - /mmpose/projects/rtmpose/rtmpose/body_2d_keypoint/rtmpose-m_8xb256-420e_coco-384x288.py \ + /RapidPoseTriangulation/extras/mmpose/configs/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py \ --amp \ --cfg-options \ - load_from=https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-m_simcc-body7_pt-body7_420e-384x288-65e718c4_20230504.pth \ - train_batch_size=16 val_batch_size=16 - + load_from=https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-coco-wholebody_pt-aic-coco_270e-384x288-eaeb96c8_20230125.pth \ + base_lr=0.00004 ``` diff --git a/extras/mmpose/configs/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py b/extras/mmpose/configs/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py new file mode 100644 index 0000000..9af4ae2 --- /dev/null +++ b/extras/mmpose/configs/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py @@ -0,0 +1,235 @@ +_base_ = ['mmpose::_base_/default_runtime.py'] + +val_interval=1 +max_epochs = 3 + +# common setting +num_keypoints = 133 +input_size = (288, 384) + +# runtime +stage2_num_epochs = 30 +base_lr = 4e-3 +train_batch_size = 32 +val_batch_size = 32 + +train_cfg = dict(max_epochs=max_epochs, val_interval=val_interval) +randomness = dict(seed=21) + +# optimizer +optim_wrapper = dict( + type='OptimWrapper', + optimizer=dict(type='AdamW', lr=base_lr, weight_decay=0.05), + clip_grad=dict(max_norm=35, norm_type=2), + paramwise_cfg=dict( + norm_decay_mult=0, bias_decay_mult=0, bypass_duplicate=True)) + +# learning rate +param_scheduler = [ + dict( + type='LinearLR', + start_factor=1.0e-5, + by_epoch=False, + begin=0, + end=1000), + dict( + type='CosineAnnealingLR', + eta_min=base_lr * 0.05, + begin=max_epochs // 2, + end=max_epochs, + T_max=max_epochs // 2, + by_epoch=True, + convert_to_iter_based=True), +] + +# automatically scaling LR based on the actual training batch size +auto_scale_lr = dict(base_batch_size=512) + +# codec settings +codec = dict( + type='SimCCLabel', + input_size=input_size, + sigma=(6., 6.93), + simcc_split_ratio=2.0, + normalize=False, + use_dark=False) + +# model settings +model = dict( + type='TopdownPoseEstimator', + data_preprocessor=dict( + type='PoseDataPreprocessor', + mean=[123.675, 116.28, 103.53], + std=[58.395, 57.12, 57.375], + bgr_to_rgb=True), + backbone=dict( + _scope_='mmdet', + type='CSPNeXt', + arch='P5', + expand_ratio=0.5, + deepen_factor=1., + widen_factor=1., + out_indices=(4, ), + channel_attention=True, + norm_cfg=dict(type='SyncBN'), + act_cfg=dict(type='SiLU'), + init_cfg=dict( + type='Pretrained', + prefix='backbone.', + checkpoint='https://download.openmmlab.com/mmpose/v1/projects/' + 'rtmposev1/cspnext-l_udp-aic-coco_210e-256x192-273b7631_20230130.pth' # noqa + )), + head=dict( + type='RTMCCHead', + in_channels=1024, + out_channels=num_keypoints, + input_size=codec['input_size'], + in_featuremap_size=tuple([s // 32 for s in codec['input_size']]), + simcc_split_ratio=codec['simcc_split_ratio'], + final_layer_kernel_size=7, + gau_cfg=dict( + hidden_dims=256, + s=128, + expansion_factor=2, + dropout_rate=0., + drop_path=0., + act_fn='SiLU', + use_rel_bias=False, + pos_enc=False), + loss=dict( + type='KLDiscretLoss', + use_target_weight=True, + beta=10., + label_softmax=True), + decoder=codec), + test_cfg=dict(flip_test=True, )) + +# base dataset settings +dataset_type = 'CocoWholeBodyDataset' +data_mode = 'topdown' +data_root = 'data/coco/' + +backend_args = dict(backend='local') + +# pipelines +train_pipeline = [ + dict(type='LoadImage', backend_args=backend_args), + dict(type='GetBBoxCenterScale'), + dict(type='RandomFlip', direction='horizontal'), + dict(type='RandomHalfBody'), + dict( + type='RandomBBoxTransform', scale_factor=[0.6, 1.4], rotate_factor=80), + dict(type='TopdownAffine', input_size=codec['input_size']), + dict(type='mmdet.YOLOXHSVRandomAug'), + dict( + type='Albumentation', + transforms=[ + dict(type='Blur', p=0.1), + dict(type='MedianBlur', p=0.1), + dict( + type='CoarseDropout', + max_holes=1, + max_height=0.4, + max_width=0.4, + min_holes=1, + min_height=0.2, + min_width=0.2, + p=1.0), + ]), + dict(type='GenerateTarget', encoder=codec), + dict(type='PackPoseInputs') +] +val_pipeline = [ + dict(type='LoadImage', backend_args=backend_args), + dict(type='GetBBoxCenterScale'), + dict(type='TopdownAffine', input_size=codec['input_size']), + dict(type='PackPoseInputs') +] + +train_pipeline_stage2 = [ + dict(type='LoadImage', backend_args=backend_args), + dict(type='GetBBoxCenterScale'), + dict(type='RandomFlip', direction='horizontal'), + dict(type='RandomHalfBody'), + dict( + type='RandomBBoxTransform', + shift_factor=0., + scale_factor=[0.75, 1.25], + rotate_factor=60), + dict(type='TopdownAffine', input_size=codec['input_size']), + dict(type='mmdet.YOLOXHSVRandomAug'), + dict( + type='Albumentation', + transforms=[ + dict(type='Blur', p=0.1), + dict(type='MedianBlur', p=0.1), + dict( + type='CoarseDropout', + max_holes=1, + max_height=0.4, + max_width=0.4, + min_holes=1, + min_height=0.2, + min_width=0.2, + p=0.5), + ]), + dict(type='GenerateTarget', encoder=codec), + dict(type='PackPoseInputs') +] + +# data loaders +train_dataloader = dict( + batch_size=train_batch_size, + num_workers=10, + persistent_workers=True, + sampler=dict(type='DefaultSampler', shuffle=True), + dataset=dict( + type=dataset_type, + data_root=data_root, + data_mode=data_mode, + ann_file='annotations/coco_wholebody_train_v1.0.json', + data_prefix=dict(img='train2017/'), + pipeline=train_pipeline, + )) +val_dataloader = dict( + batch_size=val_batch_size, + num_workers=10, + persistent_workers=True, + drop_last=False, + sampler=dict(type='DefaultSampler', shuffle=False, round_up=False), + dataset=dict( + type=dataset_type, + data_root=data_root, + data_mode=data_mode, + ann_file='annotations/coco_wholebody_val_v1.0.json', + data_prefix=dict(img='val2017/'), + test_mode=True, + # bbox_file='data/coco/person_detection_results/' + # 'COCO_val2017_detections_AP_H_56_person.json', + pipeline=val_pipeline, + )) +test_dataloader = val_dataloader + +# hooks +default_hooks = dict( + checkpoint=dict( + save_best='coco-wholebody/AP', rule='greater', max_keep_ckpts=1)) + +custom_hooks = [ + dict( + type='EMAHook', + ema_type='ExpMomentumEMA', + momentum=0.0002, + update_buffers=True, + priority=49), + dict( + type='mmdet.PipelineSwitchHook', + switch_epoch=max_epochs - stage2_num_epochs, + switch_pipeline=train_pipeline_stage2) +] + +# evaluators +val_evaluator = dict( + type='CocoWholeBodyMetric', + ann_file=data_root + 'annotations/coco_wholebody_val_v1.0.json') +test_evaluator = val_evaluator diff --git a/extras/mmpose/dockerfile b/extras/mmpose/dockerfile new file mode 100644 index 0000000..455ba87 --- /dev/null +++ b/extras/mmpose/dockerfile @@ -0,0 +1,9 @@ +FROM rpt_mmdeploy + +RUN apt-get update && apt-get install -y --no-install-recommends nano +RUN pip3 install --upgrade --no-cache-dir "albumentations<1.4" + +RUN sed -i '94i\ self.runner.val_loop.run()' /usr/local/lib/python3.8/dist-packages/mmengine/runner/loops.py + +WORKDIR /mmpose/ +CMD ["/bin/bash"] diff --git a/extras/mmpose/run_container.sh b/extras/mmpose/run_container.sh index 2b138c8..2b0ed92 100755 --- a/extras/mmpose/run_container.sh +++ b/extras/mmpose/run_container.sh @@ -8,4 +8,4 @@ docker run --privileged --rm --network host -it \ --volume "$(pwd)"/../datasets/coco2017/images/:/mmpose/data/coco/ \ --volume /tmp/.X11-unix:/tmp/.X11-unix \ --env DISPLAY --env QT_X11_NO_MITSHM=1 \ - rpt_mmdeploy + rpt_mmpose From ccc7f832c4c8c11fe05d61e91c9dbb364846eb39 Mon Sep 17 00:00:00 2001 From: Daniel Date: Wed, 19 Mar 2025 14:11:28 +0100 Subject: [PATCH 04/15] Fixed missing fingers. --- media/RESULTS.md | 698 +++++++++++++++++++++++++++++++++++-- scripts/utils_pipeline.hpp | 80 ++--- 2 files changed, 709 insertions(+), 69 deletions(-) diff --git a/media/RESULTS.md b/media/RESULTS.md index 8388b66..d68dc51 100644 --- a/media/RESULTS.md +++ b/media/RESULTS.md @@ -3427,23 +3427,23 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 200, - "mean": 0.043132, - "median": 0.039387, - "std": 0.014072, - "sem": 0.000998, - "min": 0.021117, - "max": 0.085964, - "recall-0.025": 0.045, - "recall-0.05": 0.74, - "recall-0.1": 1.0, - "recall-0.15": 1.0, + "mean": 0.045026, + "median": 0.040714, + "std": 0.01859, + "sem": 0.001318, + "min": 0.019398, + "max": 0.162254, + "recall-0.025": 0.04, + "recall-0.05": 0.73, + "recall-0.1": 0.985, + "recall-0.15": 0.995, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200, - "ap-0.025": 0.003962, - "ap-0.05": 0.655422, - "ap-0.1": 1.0, - "ap-0.15": 1.0, + "ap-0.025": 0.005434, + "ap-0.05": 0.66356, + "ap-0.1": 0.979258, + "ap-0.15": 0.994125, "ap-0.25": 1.0, "ap-0.5": 1.0 }, @@ -4919,6 +4919,326 @@ Results of the model in various experiments on different datasets. \ "recall-0.5": 1.0, "num_labels": 200 }, + "hand_finger_thumb_left_1": { + "count": 200, + "mean": 0.037059, + "median": 0.020657, + "std": 0.042628, + "sem": 0.003022, + "min": 0.002558, + "max": 0.245249, + "recall-0.025": 0.605, + "recall-0.05": 0.81, + "recall-0.1": 0.905, + "recall-0.15": 0.975, + "recall-0.25": 1.0, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_thumb_left_2": { + "count": 200, + "mean": 0.039645, + "median": 0.025198, + "std": 0.042396, + "sem": 0.003005, + "min": 0.002481, + "max": 0.27647, + "recall-0.025": 0.495, + "recall-0.05": 0.795, + "recall-0.1": 0.915, + "recall-0.15": 0.97, + "recall-0.25": 0.99, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_thumb_left_3": { + "count": 200, + "mean": 0.044175, + "median": 0.029577, + "std": 0.053516, + "sem": 0.003794, + "min": 0.004249, + "max": 0.357192, + "recall-0.025": 0.46, + "recall-0.05": 0.775, + "recall-0.1": 0.905, + "recall-0.15": 0.945, + "recall-0.25": 0.975, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_thumb_left_4": { + "count": 200, + "mean": 0.046549, + "median": 0.029265, + "std": 0.05335, + "sem": 0.003782, + "min": 0.003338, + "max": 0.359118, + "recall-0.025": 0.405, + "recall-0.05": 0.74, + "recall-0.1": 0.89, + "recall-0.15": 0.95, + "recall-0.25": 0.98, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_index_left_1": { + "count": 200, + "mean": 0.043418, + "median": 0.024557, + "std": 0.051356, + "sem": 0.003641, + "min": 0.004116, + "max": 0.367431, + "recall-0.025": 0.51, + "recall-0.05": 0.77, + "recall-0.1": 0.9, + "recall-0.15": 0.95, + "recall-0.25": 0.99, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_index_left_2": { + "count": 200, + "mean": 0.042698, + "median": 0.024947, + "std": 0.051937, + "sem": 0.003682, + "min": 0.003625, + "max": 0.399144, + "recall-0.025": 0.5, + "recall-0.05": 0.79, + "recall-0.1": 0.895, + "recall-0.15": 0.96, + "recall-0.25": 0.98, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_index_left_3": { + "count": 200, + "mean": 0.043568, + "median": 0.027028, + "std": 0.050493, + "sem": 0.003579, + "min": 0.001798, + "max": 0.35802, + "recall-0.025": 0.46, + "recall-0.05": 0.76, + "recall-0.1": 0.905, + "recall-0.15": 0.965, + "recall-0.25": 0.985, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_index_left_4": { + "count": 200, + "mean": 0.045993, + "median": 0.027498, + "std": 0.053734, + "sem": 0.003809, + "min": 0.001294, + "max": 0.378386, + "recall-0.025": 0.45, + "recall-0.05": 0.73, + "recall-0.1": 0.9, + "recall-0.15": 0.955, + "recall-0.25": 0.98, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_middle_left_1": { + "count": 200, + "mean": 0.038966, + "median": 0.023688, + "std": 0.044621, + "sem": 0.003163, + "min": 0.004456, + "max": 0.326086, + "recall-0.025": 0.545, + "recall-0.05": 0.785, + "recall-0.1": 0.91, + "recall-0.15": 0.97, + "recall-0.25": 0.995, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_middle_left_2": { + "count": 200, + "mean": 0.039511, + "median": 0.024488, + "std": 0.048316, + "sem": 0.003425, + "min": 0.001217, + "max": 0.371994, + "recall-0.025": 0.51, + "recall-0.05": 0.82, + "recall-0.1": 0.915, + "recall-0.15": 0.96, + "recall-0.25": 0.99, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_middle_left_3": { + "count": 200, + "mean": 0.044906, + "median": 0.025517, + "std": 0.060107, + "sem": 0.004261, + "min": 0.002243, + "max": 0.425188, + "recall-0.025": 0.49, + "recall-0.05": 0.77, + "recall-0.1": 0.895, + "recall-0.15": 0.94, + "recall-0.25": 0.98, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_middle_left_4": { + "count": 200, + "mean": 0.048177, + "median": 0.027257, + "std": 0.061809, + "sem": 0.004382, + "min": 0.003696, + "max": 0.462592, + "recall-0.025": 0.455, + "recall-0.05": 0.75, + "recall-0.1": 0.875, + "recall-0.15": 0.935, + "recall-0.25": 0.975, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_ring_left_1": { + "count": 200, + "mean": 0.038598, + "median": 0.020798, + "std": 0.045174, + "sem": 0.003202, + "min": 0.003204, + "max": 0.288194, + "recall-0.025": 0.565, + "recall-0.05": 0.77, + "recall-0.1": 0.915, + "recall-0.15": 0.965, + "recall-0.25": 0.995, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_ring_left_2": { + "count": 200, + "mean": 0.040999, + "median": 0.02254, + "std": 0.050631, + "sem": 0.003589, + "min": 0.002915, + "max": 0.309224, + "recall-0.025": 0.55, + "recall-0.05": 0.79, + "recall-0.1": 0.92, + "recall-0.15": 0.945, + "recall-0.25": 0.99, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_ring_left_3": { + "count": 200, + "mean": 0.043322, + "median": 0.023567, + "std": 0.058744, + "sem": 0.004164, + "min": 0.001432, + "max": 0.4849, + "recall-0.025": 0.52, + "recall-0.05": 0.77, + "recall-0.1": 0.915, + "recall-0.15": 0.945, + "recall-0.25": 0.98, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_ring_left_4": { + "count": 200, + "mean": 0.048833, + "median": 0.026172, + "std": 0.063535, + "sem": 0.004504, + "min": 0.002421, + "max": 0.493566, + "recall-0.025": 0.465, + "recall-0.05": 0.73, + "recall-0.1": 0.89, + "recall-0.15": 0.94, + "recall-0.25": 0.98, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_pinky_left_1": { + "count": 200, + "mean": 0.040188, + "median": 0.023976, + "std": 0.045863, + "sem": 0.003251, + "min": 0.001856, + "max": 0.281224, + "recall-0.025": 0.52, + "recall-0.05": 0.775, + "recall-0.1": 0.915, + "recall-0.15": 0.96, + "recall-0.25": 0.995, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_pinky_left_2": { + "count": 200, + "mean": 0.042905, + "median": 0.024076, + "std": 0.049577, + "sem": 0.003514, + "min": 0.002857, + "max": 0.290081, + "recall-0.025": 0.51, + "recall-0.05": 0.765, + "recall-0.1": 0.91, + "recall-0.15": 0.94, + "recall-0.25": 0.99, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_pinky_left_3": { + "count": 200, + "mean": 0.043186, + "median": 0.025093, + "std": 0.048377, + "sem": 0.003429, + "min": 0.002309, + "max": 0.29929, + "recall-0.025": 0.495, + "recall-0.05": 0.735, + "recall-0.1": 0.92, + "recall-0.15": 0.96, + "recall-0.25": 0.985, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_pinky_left_4": { + "count": 199, + "mean": 0.045392, + "median": 0.028752, + "std": 0.048023, + "sem": 0.003413, + "min": 0.004236, + "max": 0.32002, + "recall-0.025": 0.43, + "recall-0.05": 0.715, + "recall-0.1": 0.905, + "recall-0.15": 0.95, + "recall-0.25": 0.985, + "recall-0.5": 0.995, + "num_labels": 200 + }, "hand_wrist_right": { "count": 200, "mean": 0.045111, @@ -4935,6 +5255,326 @@ Results of the model in various experiments on different datasets. \ "recall-0.5": 1.0, "num_labels": 200 }, + "hand_finger_thumb_right_1": { + "count": 200, + "mean": 0.045256, + "median": 0.024469, + "std": 0.063754, + "sem": 0.004519, + "min": 0.003114, + "max": 0.384693, + "recall-0.025": 0.515, + "recall-0.05": 0.795, + "recall-0.1": 0.91, + "recall-0.15": 0.94, + "recall-0.25": 0.97, + "recall-0.5": 1.0, + "num_labels": 200 + }, + "hand_finger_thumb_right_2": { + "count": 199, + "mean": 0.047831, + "median": 0.027503, + "std": 0.061242, + "sem": 0.004352, + "min": 0.001136, + "max": 0.415991, + "recall-0.025": 0.455, + "recall-0.05": 0.74, + "recall-0.1": 0.905, + "recall-0.15": 0.945, + "recall-0.25": 0.97, + "recall-0.5": 0.995, + "num_labels": 200 + }, + "hand_finger_thumb_right_3": { + "count": 198, + "mean": 0.052004, + "median": 0.032636, + "std": 0.066854, + "sem": 0.004763, + "min": 0.002705, + "max": 0.445459, + "recall-0.025": 0.365, + "recall-0.05": 0.71, + "recall-0.1": 0.9, + "recall-0.15": 0.93, + "recall-0.25": 0.96, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_thumb_right_4": { + "count": 199, + "mean": 0.056127, + "median": 0.034566, + "std": 0.068213, + "sem": 0.004848, + "min": 0.003784, + "max": 0.395205, + "recall-0.025": 0.37, + "recall-0.05": 0.665, + "recall-0.1": 0.88, + "recall-0.15": 0.92, + "recall-0.25": 0.96, + "recall-0.5": 0.995, + "num_labels": 200 + }, + "hand_finger_index_right_1": { + "count": 198, + "mean": 0.04914, + "median": 0.029182, + "std": 0.0605, + "sem": 0.00431, + "min": 0.005533, + "max": 0.399041, + "recall-0.025": 0.42, + "recall-0.05": 0.75, + "recall-0.1": 0.91, + "recall-0.15": 0.93, + "recall-0.25": 0.96, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_index_right_2": { + "count": 198, + "mean": 0.050299, + "median": 0.030605, + "std": 0.063323, + "sem": 0.004512, + "min": 0.005615, + "max": 0.439086, + "recall-0.025": 0.41, + "recall-0.05": 0.71, + "recall-0.1": 0.88, + "recall-0.15": 0.92, + "recall-0.25": 0.97, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_index_right_3": { + "count": 198, + "mean": 0.054696, + "median": 0.03139, + "std": 0.071724, + "sem": 0.00511, + "min": 0.005219, + "max": 0.455523, + "recall-0.025": 0.4, + "recall-0.05": 0.69, + "recall-0.1": 0.875, + "recall-0.15": 0.925, + "recall-0.25": 0.955, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_index_right_4": { + "count": 198, + "mean": 0.055014, + "median": 0.032943, + "std": 0.068353, + "sem": 0.00487, + "min": 0.00535, + "max": 0.455602, + "recall-0.025": 0.365, + "recall-0.05": 0.685, + "recall-0.1": 0.885, + "recall-0.15": 0.925, + "recall-0.25": 0.96, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_middle_right_1": { + "count": 196, + "mean": 0.047485, + "median": 0.02662, + "std": 0.062008, + "sem": 0.004441, + "min": 0.002554, + "max": 0.413838, + "recall-0.025": 0.46, + "recall-0.05": 0.775, + "recall-0.1": 0.9, + "recall-0.15": 0.915, + 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"recall-0.25": 0.965, + "recall-0.5": 0.995, + "num_labels": 200 + }, + "hand_finger_ring_right_4": { + "count": 198, + "mean": 0.054414, + "median": 0.031793, + "std": 0.064524, + "sem": 0.004597, + "min": 0.00519, + "max": 0.43967, + "recall-0.025": 0.375, + "recall-0.05": 0.665, + "recall-0.1": 0.86, + "recall-0.15": 0.93, + "recall-0.25": 0.97, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_pinky_right_1": { + "count": 199, + "mean": 0.049704, + "median": 0.029558, + "std": 0.067525, + "sem": 0.004799, + "min": 0.002881, + "max": 0.491026, + "recall-0.025": 0.425, + "recall-0.05": 0.715, + "recall-0.1": 0.91, + "recall-0.15": 0.94, + "recall-0.25": 0.965, + "recall-0.5": 0.995, + "num_labels": 200 + }, + "hand_finger_pinky_right_2": { + "count": 198, + "mean": 0.048376, + "median": 0.03046, + "std": 0.061096, + "sem": 0.004353, + "min": 0.003316, + "max": 0.45742, + "recall-0.025": 0.39, + "recall-0.05": 0.71, + "recall-0.1": 0.905, + "recall-0.15": 0.94, + "recall-0.25": 0.975, + "recall-0.5": 0.99, + "num_labels": 200 + }, + "hand_finger_pinky_right_3": { + "count": 199, + "mean": 0.049176, + "median": 0.029339, + "std": 0.064938, + "sem": 0.004615, + "min": 0.002493, + "max": 0.496659, + "recall-0.025": 0.415, + "recall-0.05": 0.705, + "recall-0.1": 0.905, + "recall-0.15": 0.945, + "recall-0.25": 0.975, + "recall-0.5": 0.995, + "num_labels": 200 + }, + "hand_finger_pinky_right_4": { + "count": 197, + "mean": 0.048137, + "median": 0.032354, + "std": 0.049112, + "sem": 0.003508, + "min": 0.00184, + "max": 0.31696, + "recall-0.025": 0.4, + "recall-0.05": 0.67, + "recall-0.1": 0.905, + "recall-0.15": 0.94, + "recall-0.25": 0.97, + "recall-0.5": 0.985, + "num_labels": 200 + }, "hip_middle": { "count": 200, "mean": 0.029545, @@ -5005,24 +5645,24 @@ Results of the model in various experiments on different datasets. \ "num_labels": 13600 }, "hand": { - "count": 400, - "mean": 0.039954, - "median": 0.02301, - "std": 0.049753, - "sem": 0.003527, - "min": 0.002332, - "max": 0.284113, - "num_labels": 400 + "count": 8362, + "mean": 0.046332, + "median": 0.027182, + "std": 0.057654, + "sem": 0.004097, + "min": 0.002976, + "max": 0.389182, + "num_labels": 8400 } }, "joint_recalls": { - "num_labels": 19200, - "recall-0.025": 0.3799, - "recall-0.05": 0.7, - "recall-0.1": 0.92828, - "recall-0.15": 0.97974, - "recall-0.25": 0.99823, - "recall-0.5": 0.99984 + "num_labels": 27200, + "recall-0.025": 0.40309, + "recall-0.05": 0.7118, + "recall-0.1": 0.9196, + "recall-0.15": 0.96868, + "recall-0.25": 0.99143, + "recall-0.5": 0.99849 } } { diff --git a/scripts/utils_pipeline.hpp b/scripts/utils_pipeline.hpp index 436e041..8744c2a 100644 --- a/scripts/utils_pipeline.hpp +++ b/scripts/utils_pipeline.hpp @@ -139,47 +139,47 @@ namespace utils_pipeline joint_names_2d.end(), { "hand_wrist_left", - "finger_thumb_left_1", - "finger_thumb_left_2", - "finger_thumb_left_3", - "finger_thumb_left_4", - "finger_index_left_1", - "finger_index_left_2", - "finger_index_left_3", - "finger_index_left_4", - "finger_middle_left_1", - "finger_middle_left_2", - "finger_middle_left_3", - "finger_middle_left_4", - "finger_ring_left_1", - "finger_ring_left_2", - "finger_ring_left_3", - "finger_ring_left_4", - "finger_pinky_left_1", - "finger_pinky_left_2", - "finger_pinky_left_3", - "finger_pinky_left_4", + "hand_finger_thumb_left_1", + "hand_finger_thumb_left_2", + "hand_finger_thumb_left_3", + "hand_finger_thumb_left_4", + "hand_finger_index_left_1", + "hand_finger_index_left_2", + "hand_finger_index_left_3", + "hand_finger_index_left_4", + "hand_finger_middle_left_1", + "hand_finger_middle_left_2", + "hand_finger_middle_left_3", + "hand_finger_middle_left_4", + "hand_finger_ring_left_1", + "hand_finger_ring_left_2", + "hand_finger_ring_left_3", + "hand_finger_ring_left_4", + "hand_finger_pinky_left_1", + "hand_finger_pinky_left_2", + "hand_finger_pinky_left_3", + "hand_finger_pinky_left_4", "hand_wrist_right", - "finger_thumb_right_1", - "finger_thumb_right_2", - "finger_thumb_right_3", - "finger_thumb_right_4", - "finger_index_right_1", - "finger_index_right_2", - "finger_index_right_3", - "finger_index_right_4", - "finger_middle_right_1", - "finger_middle_right_2", - "finger_middle_right_3", - "finger_middle_right_4", - "finger_ring_right_1", - "finger_ring_right_2", - "finger_ring_right_3", - "finger_ring_right_4", - "finger_pinky_right_1", - "finger_pinky_right_2", - "finger_pinky_right_3", - "finger_pinky_right_4", + "hand_finger_thumb_right_1", + "hand_finger_thumb_right_2", + "hand_finger_thumb_right_3", + "hand_finger_thumb_right_4", + "hand_finger_index_right_1", + "hand_finger_index_right_2", + "hand_finger_index_right_3", + "hand_finger_index_right_4", + "hand_finger_middle_right_1", + "hand_finger_middle_right_2", + "hand_finger_middle_right_3", + "hand_finger_middle_right_4", + "hand_finger_ring_right_1", + "hand_finger_ring_right_2", + "hand_finger_ring_right_3", + "hand_finger_ring_right_4", + "hand_finger_pinky_right_1", + "hand_finger_pinky_right_2", + "hand_finger_pinky_right_3", + "hand_finger_pinky_right_4", }); } From 6e68dcdf348b32fbe7d807f0d81363f1db353458 Mon Sep 17 00:00:00 2001 From: Daniel Date: Wed, 19 Mar 2025 14:37:15 +0100 Subject: [PATCH 05/15] Filter only by corejoints outside room. --- rpt/triangulator.cpp | 27 +++++++++++++++++++++++---- 1 file changed, 23 insertions(+), 4 deletions(-) diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index f60fbb9..89ce0fb 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -1996,15 +1996,17 @@ void TriangulatorInternal::filter_poses( for (size_t i = 0; i < poses.size(); ++i) { auto &pose = poses[i]; - size_t num_joints = pose.size(); + size_t num_core_joints = core_joint_idx.size(); + size_t num_full_joints = pose.size(); // Collect valid joint indices std::vector valid_joint_idx; - for (size_t j = 0; j < num_joints; ++j) + for (size_t j = 0; j < num_core_joints; ++j) { - if (pose[j][3] > min_score) + size_t idx = core_joint_idx[j]; + if (pose[idx][3] > min_score) { - valid_joint_idx.push_back(j); + valid_joint_idx.push_back(idx); } } @@ -2102,6 +2104,23 @@ void TriangulatorInternal::filter_poses( continue; } + // Set joint scores outside the room to a low value + for (size_t j = 0; j < num_full_joints; ++j) + { + if (pose[j][3] > min_score) + { + for (int k = 0; k < 3; ++k) + { + if (pose[j][k] > room_half_size[k] + room_center[k] + wdist || + pose[j][k] < -room_half_size[k] + room_center[k] - wdist) + { + pose[j][3] = 0.001; + break; + } + } + } + } + // Calculate total limb length and average limb length const float max_avg_length = 0.5; const float min_avg_length = 0.1; From 6ed93260601ee2295aac85253e24c7ff81cdf3e0 Mon Sep 17 00:00:00 2001 From: Daniel Date: Thu, 20 Mar 2025 15:13:55 +0100 Subject: [PATCH 06/15] Reduced whole-body fp16 degradation. --- extras/mmdeploy/README.md | 4 +- media/RESULTS.md | 3410 ++++++++++++++++++------------------- scripts/utils_2d_pose.hpp | 4 +- 3 files changed, 1709 insertions(+), 1709 deletions(-) diff --git a/extras/mmdeploy/README.md b/extras/mmdeploy/README.md index 5267815..ab35740 100644 --- a/extras/mmdeploy/README.md +++ b/extras/mmdeploy/README.md @@ -61,7 +61,7 @@ mv /mmdeploy/work_dir/end2end.onnx /RapidPoseTriangulation/extras/mmdeploy/expor python3 ./tools/deploy.py \ configs/mmpose/pose-detection_simcc_onnxruntime_static-384x288"$withFP16".py \ /mmpose/projects/rtmpose/rtmpose/wholebody_2d_keypoint/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py \ - https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-coco-wholebody_pt-aic-coco_270e-384x288-eaeb96c8_20230125.pth \ + https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-ucoco_dw-ucoco_270e-384x288-2438fd99_20230728.pth \ /mmpose/projects/rtmpose/examples/onnxruntime/human-pose.jpeg \ --work-dir work_dir \ --show @@ -70,7 +70,7 @@ mv /mmdeploy/work_dir/end2end.onnx /RapidPoseTriangulation/extras/mmdeploy/expor python3 ./tools/deploy.py \ configs/mmpose/pose-detection_simcc_onnxruntime_dynamic-384x288"$withFP16".py \ /mmpose/projects/rtmpose/rtmpose/wholebody_2d_keypoint/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py \ - https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-coco-wholebody_pt-aic-coco_270e-384x288-eaeb96c8_20230125.pth \ + https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-ucoco_dw-ucoco_270e-384x288-2438fd99_20230728.pth \ /mmpose/projects/rtmpose/examples/onnxruntime/human-pose.jpeg \ --work-dir work_dir \ --show diff --git a/media/RESULTS.md b/media/RESULTS.md index d68dc51..2ac8533 100644 --- a/media/RESULTS.md +++ b/media/RESULTS.md @@ -3389,26 +3389,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0234424, - "demosaicing": 0.000597094, - "avg_time_2d": 0.0198536, - "avg_time_3d": 0.000112059, - "fps": 48.6316 + "img_loading": 0.0246942, + "demosaicing": 0.000556762, + "avg_time_2d": 0.0115013, + "avg_time_3d": 0.00011838, + "fps": 82.1256 } { "triangulator_calls": 200, - "init_time": 2.70115e-06, - "undistort_time": 2.53665e-05, - "project_time": 1.6065e-08, - "match_time": 1.628e-08, - "pairs_time": 1.9413e-07, - "pair_scoring_time": 5.7196e-06, - "grouping_time": 1.00915e-06, - "full_time": 4.30448e-05, - "merge_time": 1.30653e-05, - "post_time": 1.55649e-05, - "convert_time": 5.80455e-07, - "total_time": 0.000107512 + "init_time": 3.10138e-06, + "undistort_time": 2.52871e-05, + "project_time": 1.612e-08, + "match_time": 1.613e-08, + "pairs_time": 2.02095e-07, + "pair_scoring_time": 6.11526e-06, + "grouping_time": 9.92025e-07, + "full_time": 4.40553e-05, + "merge_time": 1.63145e-05, + "post_time": 1.70945e-05, + "convert_time": 2.7205e-07, + "total_time": 0.000113703 } { "person_nums": { @@ -3427,101 +3427,101 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 200, - "mean": 0.045026, - "median": 0.040714, - "std": 0.01859, - "sem": 0.001318, - "min": 0.019398, - "max": 0.162254, - "recall-0.025": 0.04, - "recall-0.05": 0.73, - "recall-0.1": 0.985, + "mean": 0.048935, + "median": 0.044219, + "std": 0.02025, + "sem": 0.001435, + "min": 0.020904, + "max": 0.195611, + "recall-0.025": 0.015, + "recall-0.05": 0.615, + "recall-0.1": 0.98, "recall-0.15": 0.995, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200, - "ap-0.025": 0.005434, - "ap-0.05": 0.66356, - "ap-0.1": 0.979258, - "ap-0.15": 0.994125, + "ap-0.025": 0.010476, + "ap-0.05": 0.548446, + "ap-0.1": 0.974128, + "ap-0.15": 0.995, "ap-0.25": 1.0, "ap-0.5": 1.0 }, "nose": { "count": 200, - "mean": 0.049915, - "median": 0.042015, - "std": 0.036385, - "sem": 0.002579, - "min": 0.005973, - "max": 0.236845, - "recall-0.025": 0.275, - "recall-0.05": 0.64, - "recall-0.1": 0.9, + "mean": 0.044854, + "median": 0.036683, + "std": 0.036162, + "sem": 0.002563, + "min": 0.005663, + "max": 0.254887, + "recall-0.025": 0.35, + "recall-0.05": 0.705, + "recall-0.1": 0.925, "recall-0.15": 0.985, - "recall-0.25": 1.0, + "recall-0.25": 0.995, "recall-0.5": 1.0, "num_labels": 200 }, "eye_left": { "count": 200, - "mean": 0.044397, - "median": 0.036978, - "std": 0.029256, - "sem": 0.002074, - "min": 0.00171, - "max": 0.167538, - "recall-0.025": 0.325, - "recall-0.05": 0.63, - "recall-0.1": 0.955, - "recall-0.15": 0.995, + "mean": 0.038532, + "median": 0.031219, + "std": 0.028798, + "sem": 0.002041, + "min": 0.007601, + "max": 0.213061, + "recall-0.025": 0.38, + "recall-0.05": 0.8, + "recall-0.1": 0.96, + "recall-0.15": 0.985, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "eye_right": { "count": 200, - "mean": 0.056037, - "median": 0.045882, - "std": 0.039378, - "sem": 0.002791, - "min": 0.005924, - "max": 0.237486, - "recall-0.025": 0.215, - "recall-0.05": 0.535, - "recall-0.1": 0.875, - "recall-0.15": 0.98, + "mean": 0.044413, + "median": 0.036253, + "std": 0.031086, + "sem": 0.002204, + "min": 0.001933, + "max": 0.175637, + "recall-0.025": 0.305, + "recall-0.05": 0.69, + "recall-0.1": 0.95, + "recall-0.15": 0.985, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "ear_left": { "count": 200, - "mean": 0.034489, - "median": 0.028142, - "std": 0.025642, - "sem": 0.001818, - "min": 0.002823, - "max": 0.175177, - "recall-0.025": 0.42, - "recall-0.05": 0.805, - "recall-0.1": 0.975, - "recall-0.15": 0.99, + "mean": 0.028345, + "median": 0.022361, + "std": 0.022021, + "sem": 0.001561, + "min": 0.002982, + "max": 0.181813, + "recall-0.025": 0.58, + "recall-0.05": 0.9, + "recall-0.1": 0.98, + "recall-0.15": 0.995, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "ear_right": { "count": 200, - "mean": 0.042828, - "median": 0.037726, - "std": 0.026903, - "sem": 0.001907, - "min": 0.003675, - "max": 0.128287, - "recall-0.025": 0.295, - "recall-0.05": 0.645, - "recall-0.1": 0.97, + "mean": 0.039076, + "median": 0.034787, + "std": 0.023893, + "sem": 0.001694, + "min": 0.005643, + "max": 0.139566, + "recall-0.025": 0.345, + "recall-0.05": 0.725, + "recall-0.1": 0.98, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -3529,15 +3529,15 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_left": { "count": 200, - "mean": 0.020004, - "median": 0.016985, - "std": 0.012169, - "sem": 0.000863, - "min": 0.001094, - "max": 0.095807, - "recall-0.025": 0.755, - "recall-0.05": 0.955, - "recall-0.1": 1.0, + "mean": 0.021471, + "median": 0.017631, + "std": 0.015244, + "sem": 0.001081, + "min": 0.0019, + "max": 0.124622, + "recall-0.025": 0.7, + "recall-0.05": 0.965, + "recall-0.1": 0.99, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -3545,13 +3545,13 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 200, - "mean": 0.025171, - "median": 0.022359, - "std": 0.013883, - "sem": 0.000984, - "min": 0.004821, - "max": 0.080711, - "recall-0.025": 0.565, + "mean": 0.025142, + "median": 0.021927, + "std": 0.014393, + "sem": 0.00102, + "min": 0.002425, + "max": 0.063598, + "recall-0.025": 0.56, "recall-0.05": 0.935, "recall-0.1": 1.0, "recall-0.15": 1.0, @@ -3561,79 +3561,79 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 200, - "mean": 0.020148, - "median": 0.014986, - "std": 0.01749, - "sem": 0.00124, - "min": 0.002167, - "max": 0.105529, - "recall-0.025": 0.765, - "recall-0.05": 0.95, + "mean": 0.020627, + "median": 0.016792, + "std": 0.02017, + "sem": 0.00143, + "min": 0.0007, + "max": 0.16463, + "recall-0.025": 0.77, + "recall-0.05": 0.945, "recall-0.1": 0.985, - "recall-0.15": 1.0, + "recall-0.15": 0.99, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "elbow_right": { "count": 200, - "mean": 0.02539, - "median": 0.016821, - "std": 0.026118, - "sem": 0.001851, - "min": 0.003005, - "max": 0.20572, - "recall-0.025": 0.69, - "recall-0.05": 0.885, - "recall-0.1": 0.975, - 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"num_labels": 200 }, "hip_middle": { "count": 200, - "mean": 0.029545, - "median": 0.026042, - "std": 0.015188, - "sem": 0.001077, - "min": 0.003985, - "max": 0.099106, + "mean": 0.029419, + "median": 0.025802, + "std": 0.015024, + "sem": 0.001065, + "min": 0.002918, + "max": 0.084958, "recall-0.025": 0.46, - "recall-0.05": 0.88, + "recall-0.05": 0.92, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5593,14 +5593,14 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_middle": { "count": 200, - "mean": 0.018895, - "median": 0.017164, - "std": 0.009273, - "sem": 0.000657, - "min": 0.002107, - "max": 0.053975, - "recall-0.025": 0.77, - "recall-0.05": 0.995, + "mean": 0.019468, + "median": 0.017132, + "std": 0.010311, + "sem": 0.000731, + "min": 0.002019, + "max": 0.049696, + "recall-0.025": 0.73, + "recall-0.05": 1.0, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5609,15 +5609,15 @@ Results of the model in various experiments on different datasets. \ }, "head": { "count": 200, - "mean": 0.031599, - "median": 0.028287, - "std": 0.018928, - "sem": 0.001342, - "min": 0.002955, - "max": 0.112382, - "recall-0.025": 0.455, - "recall-0.05": 0.845, - "recall-0.1": 0.99, + "mean": 0.029332, + "median": 0.027096, + "std": 0.016628, + "sem": 0.001179, + "min": 0.004265, + "max": 0.099312, + "recall-0.025": 0.445, + "recall-0.05": 0.895, + "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -5625,50 +5625,50 @@ Results of the model in various experiments on different datasets. \ }, "body_errors": { "body": { - "count": 5200, - "mean": 0.029837, - "median": 0.023603, - "std": 0.02493, - "sem": 0.001767, - "min": 0.002892, - "max": 0.176457, + "count": 5198, + "mean": 0.028141, + "median": 0.021959, + "std": 0.025216, + "sem": 0.001788, + "min": 0.002768, + "max": 0.194931, "num_labels": 5200 }, "face": { - "count": 13597, - "mean": 0.048196, - "median": 0.039482, - "std": 0.032806, - "sem": 0.002326, - "min": 0.005402, - "max": 0.220999, + "count": 13598, + "mean": 0.052245, + "median": 0.041889, + "std": 0.037544, + "sem": 0.002662, + "min": 0.006481, + "max": 0.26744, "num_labels": 13600 }, "hand": { - "count": 8362, - "mean": 0.046332, - "median": 0.027182, - "std": 0.057654, - "sem": 0.004097, - "min": 0.002976, - "max": 0.389182, + "count": 8310, + "mean": 0.048298, + "median": 0.02652, + "std": 0.061397, + "sem": 0.004378, + "min": 0.00274, + "max": 0.402275, "num_labels": 8400 } }, "joint_recalls": { "num_labels": 27200, - "recall-0.025": 0.40309, - "recall-0.05": 0.7118, - "recall-0.1": 0.9196, - "recall-0.15": 0.96868, - "recall-0.25": 0.99143, - "recall-0.5": 0.99849 + "recall-0.025": 0.3964, + "recall-0.05": 0.70114, + "recall-0.1": 0.89996, + "recall-0.15": 0.95963, + "recall-0.25": 0.9871, + "recall-0.5": 0.99654 } } { "total_parts": 2800, - "correct_parts": 2791, - "pcp": 0.996786 + "correct_parts": 2792, + "pcp": 0.997143 } ``` diff --git a/scripts/utils_2d_pose.hpp b/scripts/utils_2d_pose.hpp index 6be1d45..2fd98c5 100644 --- a/scripts/utils_2d_pose.hpp +++ b/scripts/utils_2d_pose.hpp @@ -1079,8 +1079,8 @@ namespace utils_2d_pose std::string path_pose_m1 = base_path + "rtmpose-m_1x384x288x3_fp16_extra-steps.onnx"; std::string path_pose_mb = base_path + "rtmpose-m_Bx384x288x3_fp16_extra-steps.onnx"; - std::string path_pose_w1 = base_path + "rtmpose-l_wb_1x384x288x3_extra-steps.onnx"; - std::string path_pose_wb = base_path + "rtmpose-l_wb_Bx384x288x3_extra-steps.onnx"; + std::string path_pose_w1 = base_path + "rtmpose-l_wb_1x384x288x3_fp16_extra-steps.onnx"; + std::string path_pose_wb = base_path + "rtmpose-l_wb_Bx384x288x3_fp16_extra-steps.onnx"; this->num_joints = whole_body ? 133 : 17; std::string path_det; From 4c214e1935ea48b575acd43da2f62b2f8fe5887a Mon Sep 17 00:00:00 2001 From: Daniel Date: Thu, 20 Mar 2025 17:00:35 +0100 Subject: [PATCH 07/15] Scale 3d score with 2d scores. --- media/RESULTS.md | 3624 ++++++++++++++++---------------- rpt/triangulator.cpp | 8 +- scripts/test_skelda_dataset.py | 19 +- scripts/test_triangulate.py | 2 +- 4 files changed, 1829 insertions(+), 1824 deletions(-) diff --git a/media/RESULTS.md b/media/RESULTS.md index 2ac8533..b275b88 100644 --- a/media/RESULTS.md +++ b/media/RESULTS.md @@ -294,91 +294,91 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0424233, - "demosaicing": 0.000707093, - "avg_time_2d": 0.0148645, - "avg_time_3d": 0.000118507, - "fps": 63.7344 + "img_loading": 0.042184, + "demosaicing": 0.000678806, + "avg_time_2d": 0.0147901, + "avg_time_3d": 0.000119385, + "fps": 64.1505 } { "triangulator_calls": 301, - "init_time": 2.85759e-06, - "undistort_time": 1.44325e-05, - "project_time": 2.22079e-06, - "match_time": 8.5159e-06, - "pairs_time": 4.48548e-06, - "pair_scoring_time": 2.66844e-05, - "grouping_time": 4.66512e-06, - "full_time": 2.71001e-05, - "merge_time": 1.16277e-05, - "post_time": 6.86999e-06, - "convert_time": 1.24289e-07, - "total_time": 0.000109822 + "init_time": 2.93031e-06, + "undistort_time": 1.43119e-05, + "project_time": 2.3093e-06, + "match_time": 8.56559e-06, + "pairs_time": 4.58829e-06, + "pair_scoring_time": 2.63603e-05, + "grouping_time": 4.53817e-06, + "full_time": 2.74936e-05, + "merge_time": 1.15484e-05, + "post_time": 6.9437e-06, + "convert_time": 1.26757e-07, + "total_time": 0.000109953 } { "person_nums": { "total_frames": 301, "total_labels": 477, - "total_preds": 827, + "total_preds": 832, "considered_empty": 0, "valid_preds": 477, - "invalid_preds": 350, + "invalid_preds": 355, "missing": 0, - "invalid_fraction": 0.42322, - "precision": 0.57678, + "invalid_fraction": 0.42668, + "precision": 0.57332, "recall": 1.0, - "f1": 0.7316, - "non_empty": 827 + "f1": 0.7288, + "non_empty": 832 }, "mpjpe": { "count": 477, - "mean": 0.048033, - "median": 0.042733, - "std": 0.014947, - "sem": 0.000685, - "min": 0.030195, - "max": 0.118375, + "mean": 0.047771, + "median": 0.04252, + "std": 0.014668, + "sem": 0.000672, + "min": 0.029325, + "max": 0.105412, "recall-0.025": 0.0, - "recall-0.05": 0.70021, - "recall-0.1": 0.983229, + "recall-0.05": 0.702306, + "recall-0.1": 0.987421, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477, "ap-0.025": 0.0, - "ap-0.05": 0.388387, - "ap-0.1": 0.728904, - "ap-0.15": 0.746165, - "ap-0.25": 0.746165, - "ap-0.5": 0.746165 + "ap-0.05": 0.429122, + "ap-0.1": 0.750799, + "ap-0.15": 0.760584, + "ap-0.25": 0.760584, + "ap-0.5": 0.760584 }, "head": { "count": 477, - "mean": 0.054103, - "median": 0.050002, - "std": 0.024914, - "sem": 0.001142, - "min": 0.005111, - "max": 0.189881, - "recall-0.025": 0.083857, - "recall-0.05": 0.498952, - "recall-0.1": 0.937107, - "recall-0.15": 0.995807, + "mean": 0.053874, + "median": 0.04981, + "std": 0.024502, + "sem": 0.001123, + "min": 0.005023, + "max": 0.171118, + "recall-0.025": 0.090147, + "recall-0.05": 0.505241, + "recall-0.1": 0.939203, + "recall-0.15": 0.997904, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "shoulder_left": { "count": 477, - "mean": 0.042381, - "median": 0.036815, - "std": 0.020658, - "sem": 0.000947, - "min": 0.004383, - "max": 0.136638, - "recall-0.025": 0.159329, - "recall-0.05": 0.733753, - "recall-0.1": 0.985325, + "mean": 0.042207, + "median": 0.036661, + "std": 0.020587, + "sem": 0.000944, + "min": 0.004368, + "max": 0.136632, + "recall-0.025": 0.165618, + "recall-0.05": 0.740042, + "recall-0.1": 0.983229, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -386,14 +386,14 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 477, - "mean": 0.049767, - "median": 0.046023, - "std": 0.023191, - "sem": 0.001063, - "min": 0.005303, - "max": 0.148245, - "recall-0.025": 0.102725, - "recall-0.05": 0.553459, + "mean": 0.049707, + "median": 0.046776, + "std": 0.022703, + "sem": 0.001041, + "min": 0.005334, + "max": 0.149673, + "recall-0.025": 0.096436, + "recall-0.05": 0.551363, "recall-0.1": 0.955975, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -402,15 +402,15 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 477, - "mean": 0.040733, - "median": 0.032118, - "std": 0.029137, - "sem": 0.001336, - "min": 0.003472, - "max": 0.317898, - "recall-0.025": 0.314465, - "recall-0.05": 0.756813, - "recall-0.1": 0.953878, + "mean": 0.040814, + "median": 0.032286, + "std": 0.029281, + "sem": 0.001342, + "min": 0.003459, + "max": 0.309844, + "recall-0.025": 0.318658, + "recall-0.05": 0.748428, + "recall-0.1": 0.951782, "recall-0.15": 0.997904, "recall-0.25": 0.997904, "recall-0.5": 1.0, @@ -418,79 +418,79 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 477, - "mean": 0.053374, - "median": 0.04436, - "std": 0.041187, - "sem": 0.001888, - "min": 0.003346, - "max": 0.244557, + "mean": 0.053474, + "median": 0.045174, + "std": 0.040287, + "sem": 0.001847, + "min": 0.00327, + "max": 0.244516, "recall-0.025": 0.253669, - "recall-0.05": 0.561845, - "recall-0.1": 0.901468, - "recall-0.15": 0.955975, + "recall-0.05": 0.553459, + "recall-0.1": 0.903564, + "recall-0.15": 0.960168, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "wrist_left": { "count": 477, - "mean": 0.060176, - "median": 0.053848, - "std": 0.0399, - "sem": 0.001829, - "min": 0.001754, - "max": 0.323708, - "recall-0.025": 0.132075, - "recall-0.05": 0.404612, + "mean": 0.060043, + "median": 0.054688, + "std": 0.038061, + "sem": 0.001745, + "min": 0.00164, + "max": 0.323995, + "recall-0.025": 0.134172, + "recall-0.05": 0.396226, "recall-0.1": 0.907757, - "recall-0.15": 0.960168, - "recall-0.25": 0.989518, + "recall-0.15": 0.964361, + "recall-0.25": 0.991614, "recall-0.5": 1.0, "num_labels": 477 }, "wrist_right": { "count": 477, - "mean": 0.059361, - "median": 0.055175, - "std": 0.033884, - "sem": 0.001553, - "min": 0.008828, - "max": 0.397712, - "recall-0.025": 0.115304, - "recall-0.05": 0.417191, - "recall-0.1": 0.897275, - "recall-0.15": 0.983229, - "recall-0.25": 0.997904, + "mean": 0.058016, + "median": 0.054634, + "std": 0.030706, + "sem": 0.001407, + "min": 0.008622, + "max": 0.238817, + "recall-0.025": 0.111111, + "recall-0.05": 0.421384, + "recall-0.1": 0.903564, + "recall-0.15": 0.985325, + "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "hip_left": { "count": 477, - "mean": 0.048156, - "median": 0.042413, - "std": 0.026697, - "sem": 0.001224, - "min": 0.006344, - "max": 0.145946, - "recall-0.025": 0.178197, - "recall-0.05": 0.620545, - "recall-0.1": 0.951782, - "recall-0.15": 1.0, + "mean": 0.048043, + "median": 0.042435, + "std": 0.025895, + "sem": 0.001187, + "min": 0.006314, + "max": 0.173228, + "recall-0.025": 0.159329, + "recall-0.05": 0.624738, + "recall-0.1": 0.955975, + "recall-0.15": 0.997904, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "hip_right": { "count": 477, - "mean": 0.058574, - "median": 0.057474, - "std": 0.023713, - "sem": 0.001087, - "min": 0.006138, - "max": 0.132298, - "recall-0.025": 0.100629, - "recall-0.05": 0.356394, - "recall-0.1": 0.945493, + "mean": 0.057878, + "median": 0.056579, + "std": 0.023899, + "sem": 0.001095, + "min": 0.006301, + "max": 0.132422, + "recall-0.025": 0.098532, + "recall-0.05": 0.352201, + "recall-0.1": 0.9413, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -498,15 +498,15 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 477, - "mean": 0.040531, - "median": 0.037938, - "std": 0.024607, - "sem": 0.001128, - "min": 0.00514, - "max": 0.190129, - "recall-0.025": 0.255765, - "recall-0.05": 0.750524, - "recall-0.1": 0.972746, + "mean": 0.040068, + "median": 0.036879, + "std": 0.02442, + "sem": 0.001119, + "min": 0.005242, + "max": 0.190112, + "recall-0.025": 0.257862, + "recall-0.05": 0.754717, + "recall-0.1": 0.974843, "recall-0.15": 0.989518, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -514,15 +514,15 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 477, - "mean": 0.040093, - "median": 0.036127, - "std": 0.023149, - "sem": 0.001061, - "min": 0.00727, - "max": 0.185049, - "recall-0.025": 0.308176, - "recall-0.05": 0.710692, - "recall-0.1": 0.976939, + "mean": 0.039748, + "median": 0.035762, + "std": 0.023, + "sem": 0.001054, + "min": 0.007276, + "max": 0.184978, + "recall-0.025": 0.316562, + "recall-0.05": 0.72956, + "recall-0.1": 0.974843, "recall-0.15": 0.997904, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -530,15 +530,15 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 477, - "mean": 0.03635, - "median": 0.028051, - "std": 0.030627, - "sem": 0.001404, - "min": 0.004936, - "max": 0.223785, - "recall-0.025": 0.431866, - "recall-0.05": 0.81761, - "recall-0.1": 0.945493, + "mean": 0.036387, + "median": 0.028113, + "std": 0.030604, + "sem": 0.001403, + "min": 0.004893, + "max": 0.223793, + "recall-0.025": 0.429769, + "recall-0.05": 0.819706, + "recall-0.1": 0.947589, "recall-0.15": 0.983229, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -546,14 +546,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 477, - "mean": 0.040826, - "median": 0.030921, - "std": 0.03751, - "sem": 0.001719, - "min": 0.00301, - "max": 0.288243, + "mean": 0.040761, + "median": 0.030879, + "std": 0.037437, + "sem": 0.001716, + "min": 0.003316, + "max": 0.28852, "recall-0.025": 0.301887, - "recall-0.05": 0.805031, + "recall-0.05": 0.809224, "recall-0.1": 0.930818, "recall-0.15": 0.968553, "recall-0.25": 0.997904, @@ -562,18 +562,18 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 6201, - "recall-0.025": 0.20932, - "recall-0.05": 0.61313, - "recall-0.1": 0.94275, - "recall-0.15": 0.98678, - "recall-0.25": 0.99871, + "recall-0.025": 0.20916, + "recall-0.05": 0.6149, + "recall-0.1": 0.94356, + "recall-0.15": 0.98774, + "recall-0.25": 0.99887, "recall-0.5": 1.0 } } { "total_parts": 6678, - "correct_parts": 6620, - "pcp": 0.991315 + "correct_parts": 6621, + "pcp": 0.991465 } ``` @@ -606,66 +606,66 @@ Results of the model in various experiments on different datasets. \ "person_nums": { "total_frames": 222, "total_labels": 376, - "total_preds": 446, + "total_preds": 444, "considered_empty": 0, "valid_preds": 376, - "invalid_preds": 70, + "invalid_preds": 68, "missing": 0, - "invalid_fraction": 0.15695, - "precision": 0.84305, + "invalid_fraction": 0.15315, + "precision": 0.84685, "recall": 1.0, - "f1": 0.91484, - "non_empty": 446 + "f1": 0.91707, + "non_empty": 444 }, "mpjpe": { "count": 376, - "mean": 0.078976, - "median": 0.075834, - "std": 0.019101, - "sem": 0.000986, + "mean": 0.078212, + "median": 0.074774, + "std": 0.019045, + "sem": 0.000983, "min": 0.039602, "max": 0.239068, 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@@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 376, - "mean": 0.091004, - "median": 0.074201, - "std": 0.053978, - "sem": 0.002787, - "min": 0.013639, + "mean": 0.089342, + "median": 0.073134, + "std": 0.052533, + "sem": 0.002713, + "min": 0.012803, "max": 0.347903, "recall-0.025": 0.026596, - "recall-0.05": 0.24734, - "recall-0.1": 0.638298, - "recall-0.15": 0.851064, + "recall-0.05": 0.255319, + "recall-0.1": 0.640957, + "recall-0.15": 0.869681, "recall-0.25": 0.986702, "recall-0.5": 1.0, "num_labels": 376 }, "elbow_right": { "count": 375, - "mean": 0.083686, - "median": 0.073562, - "std": 0.04521, - "sem": 0.002338, - "min": 0.003042, - "max": 0.220689, - "recall-0.025": 0.029255, - "recall-0.05": 0.268617, - "recall-0.1": 0.680851, - "recall-0.15": 0.898936, + "mean": 0.08092, + "median": 0.071898, + "std": 0.043058, + "sem": 0.002226, + "min": 0.001558, + "max": 0.226356, + "recall-0.025": 0.031915, + "recall-0.05": 0.284574, + 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+ "min": 0.011683, + "max": 0.226511, + "recall-0.025": 0.021277, + "recall-0.05": 0.202128, + "recall-0.1": 0.824468, "recall-0.15": 0.962766, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -785,15 +785,15 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 376, - "mean": 0.053683, - "median": 0.048544, - "std": 0.024844, - "sem": 0.001283, - "min": 0.009972, - "max": 0.144659, - "recall-0.025": 0.085106, + "mean": 0.053237, + "median": 0.048348, + "std": 0.02481, + "sem": 0.001281, + "min": 0.008217, + "max": 0.140796, + "recall-0.025": 0.098404, "recall-0.05": 0.531915, - "recall-0.1": 0.946809, + "recall-0.1": 0.954787, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -801,66 +801,66 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 376, - "mean": 0.054356, - "median": 0.047863, - "std": 0.031168, - "sem": 0.00161, - "min": 0.008234, - "max": 0.228228, - "recall-0.025": 0.12234, 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-3389,26 +3389,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0246942, - "demosaicing": 0.000556762, - "avg_time_2d": 0.0115013, - "avg_time_3d": 0.00011838, - "fps": 82.1256 + "img_loading": 0.0241492, + "demosaicing": 0.00057554, + "avg_time_2d": 0.0115831, + "avg_time_3d": 0.000118674, + "fps": 81.4512 } { "triangulator_calls": 200, - "init_time": 3.10138e-06, - "undistort_time": 2.52871e-05, - "project_time": 1.612e-08, - "match_time": 1.613e-08, - "pairs_time": 2.02095e-07, - "pair_scoring_time": 6.11526e-06, - "grouping_time": 9.92025e-07, - "full_time": 4.40553e-05, - "merge_time": 1.63145e-05, - "post_time": 1.70945e-05, - "convert_time": 2.7205e-07, - "total_time": 0.000113703 + "init_time": 2.77747e-06, + "undistort_time": 2.5475e-05, + "project_time": 1.637e-08, + "match_time": 1.6225e-08, + "pairs_time": 2.03795e-07, + "pair_scoring_time": 6.2579e-06, + "grouping_time": 1.07397e-06, + "full_time": 4.49342e-05, + "merge_time": 1.65571e-05, + "post_time": 1.6264e-05, + "convert_time": 3.41155e-07, + "total_time": 0.000114155 } { "person_nums": { @@ -3427,85 +3427,85 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 200, - "mean": 0.048935, - "median": 0.044219, - "std": 0.02025, - "sem": 0.001435, - "min": 0.020904, - "max": 0.195611, - "recall-0.025": 0.015, - "recall-0.05": 0.615, - "recall-0.1": 0.98, + "mean": 0.045839, + "median": 0.041044, + "std": 0.018224, + "sem": 0.001292, + "min": 0.018554, + "max": 0.177081, + "recall-0.025": 0.03, + "recall-0.05": 0.695, + "recall-0.1": 0.99, "recall-0.15": 0.995, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200, - "ap-0.025": 0.010476, - "ap-0.05": 0.548446, - "ap-0.1": 0.974128, - "ap-0.15": 0.995, + "ap-0.025": 0.012146, + "ap-0.05": 0.597844, + "ap-0.1": 0.989062, + "ap-0.15": 0.99495, "ap-0.25": 1.0, "ap-0.5": 1.0 }, "nose": { "count": 200, - "mean": 0.044854, - "median": 0.036683, - "std": 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"num_labels": 200 }, "hip_middle": { "count": 200, - "mean": 0.029419, - "median": 0.025802, - "std": 0.015024, - "sem": 0.001065, - "min": 0.002918, - "max": 0.084958, - "recall-0.025": 0.46, - "recall-0.05": 0.92, - "recall-0.1": 1.0, - "recall-0.15": 1.0, + "mean": 0.028475, + "median": 0.024507, + "std": 0.018169, + "sem": 0.001288, + "min": 0.003191, + "max": 0.171228, + "recall-0.025": 0.515, + "recall-0.05": 0.925, + "recall-0.1": 0.995, + "recall-0.15": 0.995, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "shoulder_middle": { "count": 200, - "mean": 0.019468, - "median": 0.017132, - "std": 0.010311, - "sem": 0.000731, - "min": 0.002019, - "max": 0.049696, - "recall-0.025": 0.73, - "recall-0.05": 1.0, + "mean": 0.019788, + "median": 0.017156, + "std": 0.010503, + "sem": 0.000745, + "min": 0.002025, + "max": 0.052918, + "recall-0.025": 0.725, + "recall-0.05": 0.99, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -5609,15 +5609,15 @@ Results of the model in various experiments on different datasets. \ }, "head": { "count": 200, - "mean": 0.029332, - "median": 0.027096, - "std": 0.016628, - "sem": 0.001179, - "min": 0.004265, - "max": 0.099312, - "recall-0.025": 0.445, - "recall-0.05": 0.895, - "recall-0.1": 1.0, + "mean": 0.029843, + "median": 0.027186, + "std": 0.018097, + "sem": 0.001283, + "min": 0.004274, + "max": 0.148442, + "recall-0.025": 0.455, + "recall-0.05": 0.89, + "recall-0.1": 0.995, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -5626,49 +5626,49 @@ Results of the model in various experiments on different datasets. \ "body_errors": { "body": { "count": 5198, - "mean": 0.028141, - "median": 0.021959, - "std": 0.025216, - "sem": 0.001788, - "min": 0.002768, - "max": 0.194931, + "mean": 0.027776, + "median": 0.021759, + "std": 0.024922, + "sem": 0.001767, + "min": 0.002272, + "max": 0.204089, "num_labels": 5200 }, "face": { - "count": 13598, - "mean": 0.052245, - "median": 0.041889, - "std": 0.037544, - "sem": 0.002662, - "min": 0.006481, - "max": 0.26744, + "count": 13594, + "mean": 0.049659, + "median": 0.038901, + "std": 0.039063, + "sem": 0.00277, + "min": 0.003193, + "max": 0.29403, "num_labels": 13600 }, "hand": { - "count": 8310, - "mean": 0.048298, - "median": 0.02652, - "std": 0.061397, - "sem": 0.004378, - "min": 0.00274, - "max": 0.402275, + "count": 8354, + "mean": 0.046081, + "median": 0.026044, + "std": 0.057092, + "sem": 0.004059, + "min": 0.002632, + "max": 0.378338, "num_labels": 8400 } }, "joint_recalls": { "num_labels": 27200, - "recall-0.025": 0.3964, - "recall-0.05": 0.70114, - "recall-0.1": 0.89996, - "recall-0.15": 0.95963, - "recall-0.25": 0.9871, - "recall-0.5": 0.99654 + "recall-0.025": 0.41246, + "recall-0.05": 0.72449, + "recall-0.1": 0.91199, + "recall-0.15": 0.96368, + "recall-0.25": 0.98846, + "recall-0.5": 0.99801 } } { "total_parts": 2800, - "correct_parts": 2792, - "pcp": 0.997143 + "correct_parts": 2791, + "pcp": 0.996786 } ``` diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index 89ce0fb..e0a4d58 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -1429,8 +1429,12 @@ std::pair>, float> TriangulatorInternal::triang { if (mask[i]) { - float score = 0.5 * (score1[i] + score2[i]); - pose3d[i][3] = score; + float scoreT = 0.5 * (score1[i] + score2[i]); + float scoreP = 0.5 * (pose1[i][2] + pose2[i][2]); + + // Since the triangulation score is less sensitive and generally higher, + // weight it stronger to balance the two scores. + pose3d[i][3] = 0.9 * scoreT + 0.1 * scoreP; } } diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py index e445f8a..0fff96c 100644 --- a/scripts/test_skelda_dataset.py +++ b/scripts/test_skelda_dataset.py @@ -41,7 +41,7 @@ default_min_bbox_score = 0.3 # Describes how good two 2D poses need to match each other to create a valid triangulation # If the quality of the 2D detections is poor, use a lower value -default_min_match_score = 0.94 +default_min_match_score = 0.91 # Describes the minimum number of camera pairs that need to detect the same person # If the number of cameras is high, and the views are not occluded, use a higher value @@ -55,7 +55,7 @@ datasets = { "human36m": { "path": "/datasets/human36m/skelda/pose_test.json", "take_interval": 5, - "min_match_score": 0.95, + "min_match_score": 0.92, "min_group_size": 1, "min_bbox_score": 0.4, "min_bbox_area": 0.1 * 0.1, @@ -68,7 +68,7 @@ datasets = { # "cams": ["00_03", "00_06", "00_12", "00_13", "00_23", "00_15", "00_10", "00_21", "00_09", "00_01"], # "cams": [], "take_interval": 3, - "min_match_score": 0.95, + "min_match_score": 0.92, "use_scenes": ["160906_pizza1", "160422_haggling1", "160906_ian5"], "min_group_size": 1, # "min_group_size": 4, @@ -79,25 +79,25 @@ datasets = { "path": "/datasets/mvor/skelda/all.json", "take_interval": 1, "with_depth": False, - "min_match_score": 0.85, + "min_match_score": 0.80, "min_bbox_score": 0.25, }, "campus": { "path": "/datasets/campus/skelda/test.json", "take_interval": 1, - "min_match_score": 0.92, + "min_match_score": 0.89, "min_bbox_score": 0.5, }, "shelf": { "path": "/datasets/shelf/skelda/test.json", "take_interval": 1, - "min_match_score": 0.95, + "min_match_score": 0.92, "min_group_size": 2, }, "ikeaasm": { "path": "/datasets/ikeaasm/skelda/test.json", "take_interval": 2, - "min_match_score": 0.92, + "min_match_score": 0.89, "min_bbox_score": 0.20, }, "chi3d": { @@ -107,20 +107,21 @@ datasets = { "tsinghua": { "path": "/datasets/tsinghua/skelda/test.json", "take_interval": 3, - "min_match_score": 0.95, + "min_match_score": 0.92, "min_group_size": 2, }, "human36m_wb": { "path": "/datasets/human36m/skelda/wb/test.json", "take_interval": 100, "min_bbox_score": 0.4, + "min_match_score": 0.93, "batch_poses": False, }, "egohumans_tagging": { "path": "/datasets/egohumans/skelda/all.json", "take_interval": 2, "subset": "tagging", - "min_match_score": 0.92, + "min_match_score": 0.89, "min_group_size": 2, "min_bbox_score": 0.2, "min_bbox_area": 0.05 * 0.05, diff --git a/scripts/test_triangulate.py b/scripts/test_triangulate.py index 04c3885..81d5c7a 100644 --- a/scripts/test_triangulate.py +++ b/scripts/test_triangulate.py @@ -19,7 +19,7 @@ whole_body = { "hands": False, } config = { - "min_match_score": 0.94, + "min_match_score": 0.91, "min_group_size": 1, "min_bbox_score": 0.3, "min_bbox_area": 0.1 * 0.1, From e6464f4614bd265279129c223e570af7c30c0ceb Mon Sep 17 00:00:00 2001 From: Daniel Date: Fri, 21 Mar 2025 12:52:54 +0100 Subject: [PATCH 08/15] Fix a warning. --- extras/jetson/docker-compose-2d.yml | 3 --- extras/ros/docker-compose-2d.yml | 3 --- extras/ros/docker-compose-3d.yml | 3 --- 3 files changed, 9 deletions(-) diff --git a/extras/jetson/docker-compose-2d.yml b/extras/jetson/docker-compose-2d.yml index 64f55be..d63f14d 100644 --- a/extras/jetson/docker-compose-2d.yml +++ b/extras/jetson/docker-compose-2d.yml @@ -1,6 +1,3 @@ -version: "2.3" -# runtime: nvidia needs version 2 else change standard runtime at host pc - services: test_node: diff --git a/extras/ros/docker-compose-2d.yml b/extras/ros/docker-compose-2d.yml index 2501950..db625fa 100644 --- a/extras/ros/docker-compose-2d.yml +++ b/extras/ros/docker-compose-2d.yml @@ -1,6 +1,3 @@ -version: "2.3" -# runtime: nvidia needs version 2 else change standard runtime at host pc - services: test_node: diff --git a/extras/ros/docker-compose-3d.yml b/extras/ros/docker-compose-3d.yml index f567b87..25fa279 100644 --- a/extras/ros/docker-compose-3d.yml +++ b/extras/ros/docker-compose-3d.yml @@ -1,6 +1,3 @@ -version: "2.3" -# runtime: nvidia needs version 2 else change standard runtime at host pc - services: test_node: From 4a64bd40ca59185c2ac07eedabb3eb23662c85d8 Mon Sep 17 00:00:00 2001 From: Daniel Date: Fri, 21 Mar 2025 12:59:05 +0100 Subject: [PATCH 09/15] Split ros wrapper into two docker images. --- extras/jetson/README.md | 2 +- extras/jetson/docker-compose-2d.yml | 4 +-- extras/ros/README.md | 5 +-- extras/ros/docker-compose-2d.yml | 8 ++--- extras/ros/docker-compose-3d.yml | 4 +-- extras/ros/{dockerfile => dockerfile_2d} | 3 -- extras/ros/dockerfile_3d | 44 ++++++++++++++++++++++++ 7 files changed, 56 insertions(+), 14 deletions(-) rename extras/ros/{dockerfile => dockerfile_2d} (94%) create mode 100644 extras/ros/dockerfile_3d diff --git a/extras/jetson/README.md b/extras/jetson/README.md index 06e8e39..aafb458 100644 --- a/extras/jetson/README.md +++ b/extras/jetson/README.md @@ -129,7 +129,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module. - Build docker container: ```bash - docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros . + docker build --progress=plain -f extras/ros/dockerfile_2d -t rapidposetriangulation_ros2d . ``` - Run and test: diff --git a/extras/jetson/docker-compose-2d.yml b/extras/jetson/docker-compose-2d.yml index d63f14d..3d44999 100644 --- a/extras/jetson/docker-compose-2d.yml +++ b/extras/jetson/docker-compose-2d.yml @@ -1,7 +1,7 @@ services: test_node: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros2d network_mode: "host" ipc: "host" runtime: nvidia @@ -18,7 +18,7 @@ services: command: /bin/bash -i -c 'sleep infinity' estimator: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros2d network_mode: "host" ipc: "host" runtime: nvidia diff --git a/extras/ros/README.md b/extras/ros/README.md index dda355f..757fbdd 100644 --- a/extras/ros/README.md +++ b/extras/ros/README.md @@ -7,10 +7,11 @@ Run pose estimator with ros topics as inputs and publish detected poses. - Build container: ```bash - docker build --progress=plain -t rapidposetriangulation_ros -f extras/ros/dockerfile . + docker build --progress=plain -t rapidposetriangulation_ros2d -f extras/ros/dockerfile_2d . + docker build --progress=plain -t rapidposetriangulation_ros3d -f extras/ros/dockerfile_3d . ``` -- Update or remove the `ROS_DOMAIN_ID` in `docker-compose.yml` to fit your environment +- Update or remove the `ROS_DOMAIN_ID` in the `docker-compose.yml` files to fit your environment - Run and test: diff --git a/extras/ros/docker-compose-2d.yml b/extras/ros/docker-compose-2d.yml index db625fa..2c12a57 100644 --- a/extras/ros/docker-compose-2d.yml +++ b/extras/ros/docker-compose-2d.yml @@ -1,7 +1,7 @@ services: test_node: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros2d network_mode: "host" ipc: "host" runtime: nvidia @@ -18,7 +18,7 @@ services: command: /bin/bash -i -c 'sleep infinity' estimator: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros2d network_mode: "host" ipc: "host" runtime: nvidia @@ -36,7 +36,7 @@ services: command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper' pose_visualizer: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros2d network_mode: "host" ipc: "host" runtime: nvidia @@ -54,7 +54,7 @@ services: command: /bin/bash -i -c 'sleep 2 && export ROS_DOMAIN_ID=18 && ros2 run pose2d_visualizer pose2d_visualizer $CAMID' pose_viewer: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros2d network_mode: "host" ipc: "host" runtime: nvidia diff --git a/extras/ros/docker-compose-3d.yml b/extras/ros/docker-compose-3d.yml index 25fa279..750168b 100644 --- a/extras/ros/docker-compose-3d.yml +++ b/extras/ros/docker-compose-3d.yml @@ -1,7 +1,7 @@ services: test_node: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros3d network_mode: "host" ipc: "host" runtime: nvidia @@ -18,7 +18,7 @@ services: command: /bin/bash -i -c 'sleep infinity' triangulator: - image: rapidposetriangulation_ros + image: rapidposetriangulation_ros3d network_mode: "host" ipc: "host" runtime: nvidia diff --git a/extras/ros/dockerfile b/extras/ros/dockerfile_2d similarity index 94% rename from extras/ros/dockerfile rename to extras/ros/dockerfile_2d index 3def5aa..fe72c48 100644 --- a/extras/ros/dockerfile +++ b/extras/ros/dockerfile_2d @@ -45,17 +45,14 @@ RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc # Copy modules COPY ./extras/include/ /RapidPoseTriangulation/extras/include/ COPY ./scripts/ /RapidPoseTriangulation/scripts/ -COPY ./rpt/ /RapidPoseTriangulation/rpt/ COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/ COPY ./extras/ros/pose2d_visualizer/ /RapidPoseTriangulation/extras/ros/pose2d_visualizer/ COPY ./extras/ros/rpt2d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ -COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ # Link and build as ros package RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/ RUN ln -s /RapidPoseTriangulation/extras/ros/pose2d_visualizer/ /project/dev_ws/src/ RUN ln -s /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/ -RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/ RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release' # Update ros packages -> autocompletion and check diff --git a/extras/ros/dockerfile_3d b/extras/ros/dockerfile_3d new file mode 100644 index 0000000..273d278 --- /dev/null +++ b/extras/ros/dockerfile_3d @@ -0,0 +1,44 @@ +FROM ros:humble-ros-base-jammy +ARG DEBIAN_FRONTEND=noninteractive + +# Set the working directory to /project +WORKDIR /project/ + +# Update and install basic tools +RUN apt-get update && apt-get upgrade -y +RUN apt-get update && apt-get install -y --no-install-recommends git nano wget +RUN apt-get update && apt-get install -y --no-install-recommends python3-pip +RUN pip3 install --upgrade pip + +# Fix ros package building error +RUN pip3 install --no-cache-dir "setuptools<=58.2.0" + +# Add ROS2 sourcing by default +RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc + +# Create ROS2 workspace for project packages +RUN mkdir -p /project/dev_ws/src/ +RUN cd /project/dev_ws/; colcon build +RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc + +# Copy modules +COPY ./extras/include/ /RapidPoseTriangulation/extras/include/ +COPY ./rpt/ /RapidPoseTriangulation/rpt/ +COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/ +COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ + +# Link and build as ros package +RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/ +RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/ +RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# Update ros packages -> autocompletion and check +RUN /bin/bash -i -c 'ros2 pkg list' + +# Clear cache to save space, only has an effect if image is squashed +RUN apt-get autoremove -y \ + && apt-get clean \ + && rm -rf /var/lib/apt/lists/* + +WORKDIR /RapidPoseTriangulation/ +CMD ["/bin/bash"] From 7e3151530e95e4d1bd65a6a8ebc93250f4870f0a Mon Sep 17 00:00:00 2001 From: Daniel Date: Fri, 21 Mar 2025 17:44:36 +0100 Subject: [PATCH 10/15] Small updates. --- extras/jetson/docker-compose-2d.yml | 1 + extras/ros/docker-compose-2d.yml | 1 + extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp | 2 +- rpt/triangulator.cpp | 8 ++++---- 4 files changed, 7 insertions(+), 5 deletions(-) diff --git a/extras/jetson/docker-compose-2d.yml b/extras/jetson/docker-compose-2d.yml index 3d44999..2310d33 100644 --- a/extras/jetson/docker-compose-2d.yml +++ b/extras/jetson/docker-compose-2d.yml @@ -12,6 +12,7 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - /dev/shm:/dev/shm environment: + - CAMID - DISPLAY - QT_X11_NO_MITSHM=1 - "PYTHONUNBUFFERED=1" diff --git a/extras/ros/docker-compose-2d.yml b/extras/ros/docker-compose-2d.yml index 2c12a57..ba79b9f 100644 --- a/extras/ros/docker-compose-2d.yml +++ b/extras/ros/docker-compose-2d.yml @@ -12,6 +12,7 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix - /dev/shm:/dev/shm environment: + - CAMID - DISPLAY - QT_X11_NO_MITSHM=1 - "PYTHONUNBUFFERED=1" diff --git a/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp b/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp index b7e7638..b6314e4 100644 --- a/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp +++ b/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp @@ -36,7 +36,7 @@ static const std::string pose_in_topic = "/poses/{}"; static const std::string cam_info_topic = "/{}/calibration"; static const std::string pose_out_topic = "/poses/humans3d"; -static const float min_match_score = 0.95; +static const float min_match_score = 0.92; static const size_t min_group_size = 1; static const std::array, 2> roomparams = {{ diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index e0a4d58..b4fd512 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -781,10 +781,6 @@ std::vector>> TriangulatorInternal::triangulate all_scored_poses[i] = std::move(std::make_pair(pose3d, score)); } - elapsed = std::chrono::steady_clock::now() - stime; - pair_scoring_time += elapsed.count(); - stime = std::chrono::steady_clock::now(); - // Drop low scoring poses size_t num_poses = all_scored_poses.size(); for (size_t i = num_poses; i > 0; --i) @@ -796,6 +792,10 @@ std::vector>> TriangulatorInternal::triangulate } } + elapsed = std::chrono::steady_clock::now() - stime; + pair_scoring_time += elapsed.count(); + stime = std::chrono::steady_clock::now(); + // Group pairs that share a person std::vector, std::vector>, std::vector>> From 0841713e1a51e8f6a3a30945f8bbab540b349557 Mon Sep 17 00:00:00 2001 From: Daniel Date: Mon, 24 Mar 2025 14:16:08 +0100 Subject: [PATCH 11/15] Moved 2D confidence scaling to a later step. --- rpt/triangulator.cpp | 27 ++++++++++++++++++++++----- scripts/test_skelda_dataset.py | 19 +++++++++---------- scripts/test_triangulate.py | 2 +- 3 files changed, 32 insertions(+), 16 deletions(-) diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index b4fd512..0abccf6 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -828,6 +828,27 @@ std::vector>> TriangulatorInternal::triangulate auto [pose3d, score] = triangulate_and_score( pose1, pose2, cam1, cam2, roomparams, {}); + + // Scale scores with 2D confidences + // They can improve the merge weighting, but especially the earlier step of pair-filtering + // works better if only per-view consistency is used, so they are not included before. + for (size_t j = 0; j < pose3d.size(); ++j) + { + float score1 = pose1[j][2]; + float score2 = pose2[j][2]; + float min_score = 0.1; + + if (score1 > min_score && score2 > min_score) + { + float scoreP = (score1 + score2) * 0.5; + float scoreT = pose3d[j][3]; + + // Since the triangulation score is less sensitive and generally higher, + // weight it stronger to balance the two scores. + pose3d[j][3] = 0.9 * scoreT + 0.1 * scoreP; + } + } + all_full_poses[i] = std::move(pose3d); } @@ -1430,11 +1451,7 @@ std::pair>, float> TriangulatorInternal::triang if (mask[i]) { float scoreT = 0.5 * (score1[i] + score2[i]); - float scoreP = 0.5 * (pose1[i][2] + pose2[i][2]); - - // Since the triangulation score is less sensitive and generally higher, - // weight it stronger to balance the two scores. - pose3d[i][3] = 0.9 * scoreT + 0.1 * scoreP; + pose3d[i][3] = scoreT; } } diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py index 0fff96c..e445f8a 100644 --- a/scripts/test_skelda_dataset.py +++ b/scripts/test_skelda_dataset.py @@ -41,7 +41,7 @@ default_min_bbox_score = 0.3 # Describes how good two 2D poses need to match each other to create a valid triangulation # If the quality of the 2D detections is poor, use a lower value -default_min_match_score = 0.91 +default_min_match_score = 0.94 # Describes the minimum number of camera pairs that need to detect the same person # If the number of cameras is high, and the views are not occluded, use a higher value @@ -55,7 +55,7 @@ datasets = { "human36m": { "path": "/datasets/human36m/skelda/pose_test.json", "take_interval": 5, - "min_match_score": 0.92, + "min_match_score": 0.95, "min_group_size": 1, "min_bbox_score": 0.4, "min_bbox_area": 0.1 * 0.1, @@ -68,7 +68,7 @@ datasets = { # "cams": ["00_03", "00_06", "00_12", "00_13", "00_23", "00_15", "00_10", "00_21", "00_09", "00_01"], # "cams": [], "take_interval": 3, - "min_match_score": 0.92, + "min_match_score": 0.95, "use_scenes": ["160906_pizza1", "160422_haggling1", "160906_ian5"], "min_group_size": 1, # "min_group_size": 4, @@ -79,25 +79,25 @@ datasets = { "path": "/datasets/mvor/skelda/all.json", "take_interval": 1, "with_depth": False, - "min_match_score": 0.80, + "min_match_score": 0.85, "min_bbox_score": 0.25, }, "campus": { "path": "/datasets/campus/skelda/test.json", "take_interval": 1, - "min_match_score": 0.89, + "min_match_score": 0.92, "min_bbox_score": 0.5, }, "shelf": { "path": "/datasets/shelf/skelda/test.json", "take_interval": 1, - "min_match_score": 0.92, + "min_match_score": 0.95, "min_group_size": 2, }, "ikeaasm": { "path": "/datasets/ikeaasm/skelda/test.json", "take_interval": 2, - "min_match_score": 0.89, + "min_match_score": 0.92, "min_bbox_score": 0.20, }, "chi3d": { @@ -107,21 +107,20 @@ datasets = { "tsinghua": { "path": "/datasets/tsinghua/skelda/test.json", "take_interval": 3, - "min_match_score": 0.92, + "min_match_score": 0.95, "min_group_size": 2, }, "human36m_wb": { "path": "/datasets/human36m/skelda/wb/test.json", "take_interval": 100, "min_bbox_score": 0.4, - "min_match_score": 0.93, "batch_poses": False, }, "egohumans_tagging": { "path": "/datasets/egohumans/skelda/all.json", "take_interval": 2, "subset": "tagging", - "min_match_score": 0.89, + "min_match_score": 0.92, "min_group_size": 2, "min_bbox_score": 0.2, "min_bbox_area": 0.05 * 0.05, diff --git a/scripts/test_triangulate.py b/scripts/test_triangulate.py index 81d5c7a..04c3885 100644 --- a/scripts/test_triangulate.py +++ b/scripts/test_triangulate.py @@ -19,7 +19,7 @@ whole_body = { "hands": False, } config = { - "min_match_score": 0.91, + "min_match_score": 0.94, "min_group_size": 1, "min_bbox_score": 0.3, "min_bbox_area": 0.1 * 0.1, From fa0a4da72df9b09dc98dcad2b1d1654d1870b581 Mon Sep 17 00:00:00 2001 From: Daniel Date: Mon, 24 Mar 2025 18:10:04 +0100 Subject: [PATCH 12/15] Optimized adjacent joint mapping. --- rpt/triangulator.cpp | 186 ++++++++++++++++++++++--------------------- 1 file changed, 95 insertions(+), 91 deletions(-) diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index 0abccf6..098e6ed 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -2223,131 +2223,135 @@ void TriangulatorInternal::add_missing_joints( {"wrist_left", {"elbow_left"}}, {"nose", {"shoulder_middle", "shoulder_right", "shoulder_left"}}, {"head", {"shoulder_middle", "shoulder_right", "shoulder_left"}}, - {"foot_*_left_*", {"ankle_left"}}, - {"foot_*_right_*", {"ankle_right"}}, + {"foot_*_left", {"ankle_left"}}, + {"foot_*_right", {"ankle_right"}}, {"face_*", {"nose"}}, {"hand_*_left_*", {"wrist_left"}}, {"hand_*_right_*", {"wrist_right"}}}; + // Collect adjacent joint mappings + std::vector> adjacent_indices; + adjacent_indices.resize(joint_names.size()); + for (size_t j = 0; j < joint_names.size(); ++j) + { + std::string adname = ""; + const std::string &jname = joint_names[j]; + size_t nlen = jname.size(); + + // Determine adjacent joint based on name patterns + if (nlen >= 15 && jname.compare(0, 5, "hand_") == 0) + { + if (jname.find("_left") != std::string::npos) + { + adname = "hand_*_left_*"; + } + else if (jname.find("_right") != std::string::npos) + { + adname = "hand_*_right_*"; + } + } + else if (nlen >= 14 && jname.compare(0, 5, "foot_") == 0) + { + if (jname.find("_left") != std::string::npos) + { + adname = "foot_*_left"; + } + else if (jname.find("_right") != std::string::npos) + { + adname = "foot_*_right"; + } + } + else if (nlen >= 11 && jname.compare(0, 5, "face_") == 0) + { + adname = "face_*"; + } + else if (adjacents.find(jname) != adjacents.end()) + { + adname = jname; + } + + if (!adname.empty()) + { + auto it = adjacents.find(adname); + if (it != adjacents.end()) + { + for (const std::string &adj_name : it->second) + { + auto jt = joint_name_to_idx.find(adj_name); + if (jt != joint_name_to_idx.end()) + { + adjacent_indices[j].push_back(jt->second); + } + } + } + } + } + for (size_t i = 0; i < poses.size(); ++i) { auto &pose = poses[i]; size_t num_joints = pose.size(); - // Collect valid joint indices - std::vector valid_joint_idx; + // Compute body center as the mean of valid joints + std::array body_center = {0.0, 0.0, 0.0}; + size_t valid_count = 0; for (size_t j = 0; j < num_joints; ++j) { if (pose[j][3] > min_match_score) { - valid_joint_idx.push_back(j); + body_center[0] += pose[j][0]; + body_center[1] += pose[j][1]; + body_center[2] += pose[j][2]; + valid_count++; } } - - if (valid_joint_idx.empty()) + if (valid_count == 0) { continue; } - - // Compute body center as the mean of valid joints - std::array body_center = {0.0, 0.0, 0.0}; - for (size_t idx : valid_joint_idx) - { - body_center[0] += pose[idx][0]; - body_center[1] += pose[idx][1]; - body_center[2] += pose[idx][2]; - } + float inv_c = 1.0 / static_cast(valid_count); for (int j = 0; j < 3; ++j) { - body_center[j] /= static_cast(valid_joint_idx.size()); + body_center[j] *= inv_c; } // Iterate over each joint for (size_t j = 0; j < joint_names.size(); ++j) { - std::string adname = ""; - const std::string &jname = joint_names[j]; - - // Determine adjacent joint based on name patterns - if (jname.substr(0, 5) == "foot_" && jname.find("_left") != std::string::npos) - { - adname = "foot_*_left_*"; - } - else if (jname.substr(0, 5) == "foot_" && jname.find("_right") != std::string::npos) - { - adname = "foot_*_right_*"; - } - else if (jname.substr(0, 5) == "face_") - { - adname = "face_*"; - } - else if (jname.substr(0, 5) == "hand_" && jname.find("_left") != std::string::npos) - { - adname = "hand_*_left_*"; - } - else if (jname.substr(0, 5) == "hand_" && jname.find("_right") != std::string::npos) - { - adname = "hand_*_right_*"; - } - else if (adjacents.find(jname) != adjacents.end()) - { - adname = jname; - } - - if (adname == "") - { - // No adjacent joints defined for this joint - continue; - } - if (pose[j][3] == 0.0) { - if (adjacents.find(adname) != adjacents.end()) + // Joint is missing; attempt to estimate its position based on adjacent joints + const std::vector &adj_indices = adjacent_indices[j]; + std::array adjacent_position = {0.0, 0.0, 0.0}; + size_t adjacent_count = 0; + + for (size_t adj_idx : adj_indices) { - // Joint is missing; attempt to estimate its position based on adjacent joints - std::array adjacent_position = {0.0, 0.0, 0.0}; - size_t adjacent_count = 0; - - const std::vector &adjacent_joint_names = adjacents[adname]; - for (const std::string &adj_name : adjacent_joint_names) + if (adj_idx < pose.size() && pose[adj_idx][3] > 0.1) { - auto it = joint_name_to_idx.find(adj_name); - if (it != joint_name_to_idx.end()) - { - size_t adj_idx = it->second; - if (adj_idx < pose.size() && pose[adj_idx][3] > 0.1) - { - adjacent_position[0] += pose[adj_idx][0]; - adjacent_position[1] += pose[adj_idx][1]; - adjacent_position[2] += pose[adj_idx][2]; - ++adjacent_count; - } - } + adjacent_position[0] += pose[adj_idx][0]; + adjacent_position[1] += pose[adj_idx][1]; + adjacent_position[2] += pose[adj_idx][2]; + ++adjacent_count; + } + } + + if (adjacent_count > 0) + { + float inv_c = 1.0 / static_cast(adjacent_count); + for (size_t k = 0; k < 3; ++k) + { + adjacent_position[k] *= inv_c; } - if (adjacent_count > 0) - { - for (size_t k = 0; k < 3; ++k) - { - adjacent_position[k] /= static_cast(adjacent_count); - } - - // Update the missing joint's position - pose[j][0] = adjacent_position[0]; - pose[j][1] = adjacent_position[1]; - pose[j][2] = adjacent_position[2]; - } - else - { - // No valid adjacent joints, use body center - pose[j][0] = body_center[0]; - pose[j][1] = body_center[1]; - pose[j][2] = body_center[2]; - } + // Update the missing joint's position + pose[j][0] = adjacent_position[0]; + pose[j][1] = adjacent_position[1]; + pose[j][2] = adjacent_position[2]; } else { - // Adjacent joints not defined, use body center + // No valid adjacent joints, use body center pose[j][0] = body_center[0]; pose[j][1] = body_center[1]; pose[j][2] = body_center[2]; From 71968d06fd711e26be0dcedb8dbd684a1a763954 Mon Sep 17 00:00:00 2001 From: Daniel Date: Tue, 25 Mar 2025 10:26:09 +0100 Subject: [PATCH 13/15] Made some thresholds dynamic. --- media/RESULTS.md | 288 +++++++++++++++++++++---------------------- rpt/triangulator.cpp | 12 +- rpt/triangulator.hpp | 1 + 3 files changed, 152 insertions(+), 149 deletions(-) diff --git a/media/RESULTS.md b/media/RESULTS.md index b275b88..6cd94d0 100644 --- a/media/RESULTS.md +++ b/media/RESULTS.md @@ -294,91 +294,91 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.042184, - "demosaicing": 0.000678806, - "avg_time_2d": 0.0147901, - "avg_time_3d": 0.000119385, - "fps": 64.1505 + "img_loading": 0.0422866, + "demosaicing": 0.000699368, + "avg_time_2d": 0.014883, + "avg_time_3d": 0.00011746, + "fps": 63.6951 } { "triangulator_calls": 301, - "init_time": 2.93031e-06, - "undistort_time": 1.43119e-05, - "project_time": 2.3093e-06, - "match_time": 8.56559e-06, - "pairs_time": 4.58829e-06, - "pair_scoring_time": 2.63603e-05, - "grouping_time": 4.53817e-06, - "full_time": 2.74936e-05, - "merge_time": 1.15484e-05, - "post_time": 6.9437e-06, - "convert_time": 1.26757e-07, - "total_time": 0.000109953 + "init_time": 2.91101e-06, + "undistort_time": 1.43844e-05, + "project_time": 2.16363e-06, + "match_time": 8.39535e-06, + "pairs_time": 4.6119e-06, + "pair_scoring_time": 2.70302e-05, + "grouping_time": 4.49531e-06, + "full_time": 2.73468e-05, + "merge_time": 1.2003e-05, + "post_time": 5.09957e-06, + "convert_time": 1.25462e-07, + "total_time": 0.000108806 } { "person_nums": { "total_frames": 301, "total_labels": 477, - "total_preds": 832, + "total_preds": 827, "considered_empty": 0, "valid_preds": 477, - "invalid_preds": 355, + "invalid_preds": 350, "missing": 0, - "invalid_fraction": 0.42668, - "precision": 0.57332, + "invalid_fraction": 0.42322, + "precision": 0.57678, "recall": 1.0, - "f1": 0.7288, - "non_empty": 832 + "f1": 0.7316, + "non_empty": 827 }, "mpjpe": { "count": 477, - "mean": 0.047771, - "median": 0.04252, - "std": 0.014668, - "sem": 0.000672, - "min": 0.029325, - "max": 0.105412, + "mean": 0.047577, + "median": 0.042522, + "std": 0.014987, + "sem": 0.000687, + "min": 0.028778, + "max": 0.118939, "recall-0.025": 0.0, - "recall-0.05": 0.702306, + "recall-0.05": 0.72327, "recall-0.1": 0.987421, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477, "ap-0.025": 0.0, - "ap-0.05": 0.429122, - "ap-0.1": 0.750799, - "ap-0.15": 0.760584, - "ap-0.25": 0.760584, - "ap-0.5": 0.760584 + "ap-0.05": 0.45527, + "ap-0.1": 0.751931, + "ap-0.15": 0.761005, + "ap-0.25": 0.761005, + "ap-0.5": 0.761005 }, "head": { "count": 477, - "mean": 0.053874, - "median": 0.04981, - "std": 0.024502, - "sem": 0.001123, - "min": 0.005023, - "max": 0.171118, - "recall-0.025": 0.090147, - "recall-0.05": 0.505241, - "recall-0.1": 0.939203, - "recall-0.15": 0.997904, + "mean": 0.052991, + "median": 0.048986, + "std": 0.025142, + "sem": 0.001152, + "min": 0.006559, + "max": 0.183673, + "recall-0.025": 0.106918, + "recall-0.05": 0.522013, + "recall-0.1": 0.937107, + "recall-0.15": 0.993711, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "shoulder_left": { "count": 477, - "mean": 0.042207, - "median": 0.036661, - "std": 0.020587, - "sem": 0.000944, + "mean": 0.041956, + "median": 0.037041, + "std": 0.02074, + "sem": 0.000951, "min": 0.004368, - "max": 0.136632, - "recall-0.025": 0.165618, - "recall-0.05": 0.740042, - "recall-0.1": 0.983229, + "max": 0.132918, + "recall-0.025": 0.174004, + "recall-0.05": 0.754717, + "recall-0.1": 0.985325, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -386,14 +386,14 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 477, - "mean": 0.049707, - "median": 0.046776, - "std": 0.022703, - "sem": 0.001041, + "mean": 0.049604, + "median": 0.046469, + "std": 0.022881, + "sem": 0.001049, "min": 0.005334, - "max": 0.149673, - "recall-0.025": 0.096436, - "recall-0.05": 0.551363, + "max": 0.148157, + "recall-0.025": 0.100629, + "recall-0.05": 0.561845, "recall-0.1": 0.955975, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -402,15 +402,15 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 477, - "mean": 0.040814, - "median": 0.032286, - "std": 0.029281, - "sem": 0.001342, - "min": 0.003459, + "mean": 0.040574, + "median": 0.03197, + "std": 0.028864, + "sem": 0.001323, + "min": 0.003618, "max": 0.309844, - "recall-0.025": 0.318658, - "recall-0.05": 0.748428, - "recall-0.1": 0.951782, + "recall-0.025": 0.312369, + "recall-0.05": 0.754717, + "recall-0.1": 0.953878, "recall-0.15": 0.997904, "recall-0.25": 0.997904, "recall-0.5": 1.0, @@ -418,31 +418,31 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 477, - "mean": 0.053474, - "median": 0.045174, - "std": 0.040287, - "sem": 0.001847, - "min": 0.00327, - "max": 0.244516, - "recall-0.025": 0.253669, - "recall-0.05": 0.553459, - "recall-0.1": 0.903564, - "recall-0.15": 0.960168, + "mean": 0.053198, + "median": 0.043315, + "std": 0.040536, + "sem": 0.001858, + "min": 0.003567, + "max": 0.242994, + "recall-0.025": 0.27044, + "recall-0.05": 0.563941, + "recall-0.1": 0.897275, + "recall-0.15": 0.962264, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "wrist_left": { "count": 477, - "mean": 0.060043, - "median": 0.054688, - "std": 0.038061, - "sem": 0.001745, + "mean": 0.059301, + "median": 0.054034, + "std": 0.038637, + "sem": 0.001771, "min": 0.00164, - "max": 0.323995, - "recall-0.025": 0.134172, - "recall-0.05": 0.396226, - "recall-0.1": 0.907757, + "max": 0.32449, + "recall-0.025": 0.146751, + "recall-0.05": 0.412998, + "recall-0.1": 0.909853, "recall-0.15": 0.964361, "recall-0.25": 0.991614, "recall-0.5": 1.0, @@ -450,47 +450,47 @@ Results of the model in various experiments on different datasets. \ }, "wrist_right": { "count": 477, - "mean": 0.058016, - "median": 0.054634, - "std": 0.030706, - "sem": 0.001407, + "mean": 0.058286, + "median": 0.053472, + "std": 0.034178, + "sem": 0.001567, "min": 0.008622, - "max": 0.238817, - "recall-0.025": 0.111111, - "recall-0.05": 0.421384, - "recall-0.1": 0.903564, - "recall-0.15": 0.985325, - "recall-0.25": 1.0, + "max": 0.382984, + "recall-0.025": 0.113208, + "recall-0.05": 0.440252, + "recall-0.1": 0.90566, + "recall-0.15": 0.981132, + "recall-0.25": 0.997904, "recall-0.5": 1.0, "num_labels": 477 }, "hip_left": { "count": 477, - "mean": 0.048043, + "mean": 0.047666, "median": 0.042435, - "std": 0.025895, - "sem": 0.001187, - "min": 0.006314, - "max": 0.173228, - "recall-0.025": 0.159329, - "recall-0.05": 0.624738, - "recall-0.1": 0.955975, - "recall-0.15": 0.997904, + "std": 0.025966, + "sem": 0.00119, + "min": 0.008125, + "max": 0.145941, + "recall-0.025": 0.188679, + "recall-0.05": 0.628931, + "recall-0.1": 0.958071, + "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 477 }, "hip_right": { "count": 477, - "mean": 0.057878, - "median": 0.056579, - "std": 0.023899, + "mean": 0.057617, + "median": 0.058504, + "std": 0.023884, "sem": 0.001095, "min": 0.006301, "max": 0.132422, - "recall-0.025": 0.098532, - "recall-0.05": 0.352201, - "recall-0.1": 0.9413, + "recall-0.025": 0.102725, + "recall-0.05": 0.354298, + "recall-0.1": 0.943396, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -498,15 +498,15 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 477, - "mean": 0.040068, - "median": 0.036879, - "std": 0.02442, - "sem": 0.001119, - "min": 0.005242, + "mean": 0.040292, + "median": 0.037394, + "std": 0.024591, + "sem": 0.001127, + "min": 0.00468, "max": 0.190112, - "recall-0.025": 0.257862, - "recall-0.05": 0.754717, - "recall-0.1": 0.974843, + "recall-0.025": 0.264151, + "recall-0.05": 0.752621, + "recall-0.1": 0.972746, "recall-0.15": 0.989518, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -514,14 +514,14 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 477, - "mean": 0.039748, - "median": 0.035762, - "std": 0.023, - "sem": 0.001054, - "min": 0.007276, + "mean": 0.039685, + "median": 0.035562, + "std": 0.023057, + "sem": 0.001057, + "min": 0.005833, "max": 0.184978, - "recall-0.025": 0.316562, - "recall-0.05": 0.72956, + "recall-0.025": 0.318658, + "recall-0.05": 0.735849, "recall-0.1": 0.974843, "recall-0.15": 0.997904, "recall-0.25": 1.0, @@ -530,13 +530,13 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 477, - "mean": 0.036387, - "median": 0.028113, - "std": 0.030604, - "sem": 0.001403, + "mean": 0.036424, + "median": 0.027617, + "std": 0.030554, + "sem": 0.0014, "min": 0.004893, "max": 0.223793, - "recall-0.025": 0.429769, + "recall-0.025": 0.42348, "recall-0.05": 0.819706, "recall-0.1": 0.947589, "recall-0.15": 0.983229, @@ -546,14 +546,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 477, - "mean": 0.040761, - "median": 0.030879, - "std": 0.037437, - "sem": 0.001716, - "min": 0.003316, + "mean": 0.040909, + "median": 0.030845, + "std": 0.037585, + "sem": 0.001723, + "min": 0.003445, "max": 0.28852, "recall-0.025": 0.301887, - "recall-0.05": 0.809224, + "recall-0.05": 0.807128, "recall-0.1": 0.930818, "recall-0.15": 0.968553, "recall-0.25": 0.997904, @@ -562,18 +562,18 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 6201, - "recall-0.025": 0.20916, - "recall-0.05": 0.6149, - "recall-0.1": 0.94356, - "recall-0.15": 0.98774, - "recall-0.25": 0.99887, + "recall-0.025": 0.21609, + "recall-0.05": 0.62329, + "recall-0.1": 0.94291, + "recall-0.15": 0.9871, + "recall-0.25": 0.99871, "recall-0.5": 1.0 } } { "total_parts": 6678, - "correct_parts": 6621, - "pcp": 0.991465 + "correct_parts": 6623, + "pcp": 0.991764 } ``` diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index 098e6ed..a538e41 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -525,6 +525,7 @@ std::vector>> TriangulatorInternal::triangulate } // Convert inputs to internal formats + this->num_cams = cameras.size(); std::vector>>> i_poses_2d = poses_2d; std::vector internal_cameras; for (size_t i = 0; i < cameras.size(); ++i) @@ -1809,6 +1810,7 @@ std::vector> TriangulatorInternal::merge_group( // Use only those triangulations with a high score std::vector> sum_poses(num_joints, {0.0, 0.0, 0.0, 0.0}); std::vector sum_mask1(num_joints, 0); + float offset1 = (1.0 - min_score) / 2.0; for (size_t i = 0; i < num_poses; ++i) { const auto &pose = poses_3d[i]; @@ -1816,7 +1818,7 @@ std::vector> TriangulatorInternal::merge_group( for (size_t j = 0; j < num_joints; ++j) { float score = pose[j][3]; - if (score > min_score) + if (score > min_score - offset1) { float weight = std::pow(score, 2); sum_poses[j][0] += pose[j][0] * weight; @@ -1847,7 +1849,7 @@ std::vector> TriangulatorInternal::merge_group( for (size_t j = 0; j < num_joints; ++j) { float score = initial_pose_3d[j][3]; - if (score > min_score) + if (score > min_score - offset1) { jmask[j] = true; center[0] += initial_pose_3d[j][0]; @@ -1875,7 +1877,7 @@ std::vector> TriangulatorInternal::merge_group( } // Drop joints with low scores and filter outlying joints using distance threshold - float offset = 0.1; + float offset2 = (1.0 - min_score) * 2.0; float max_dist_sq = 1.2 * 1.2; std::vector> mask(num_poses, std::vector(num_joints, false)); std::vector> distances(num_poses, std::vector(num_joints, 0.0)); @@ -1891,7 +1893,7 @@ std::vector> TriangulatorInternal::merge_group( distances[i][j] = dist_sq; float score = pose[j][3]; - if (dist_sq <= max_dist_sq && score > (min_score - offset)) + if (dist_sq <= max_dist_sq && score > (min_score - offset2)) { mask[i][j] = true; } @@ -1899,7 +1901,7 @@ std::vector> TriangulatorInternal::merge_group( } // Select the best-k proposals for each joint that are closest to the initial pose - int keep_best = std::max(3, (int)num_poses / 3); + int keep_best = std::max((int)std::ceil(this->num_cams / 2.0), (int)std::ceil(num_poses / 3.0)); std::vector> best_k_mask(num_poses, std::vector(num_joints, false)); for (size_t j = 0; j < num_joints; ++j) { diff --git a/rpt/triangulator.hpp b/rpt/triangulator.hpp index 62c3615..b87aefa 100644 --- a/rpt/triangulator.hpp +++ b/rpt/triangulator.hpp @@ -54,6 +54,7 @@ public: private: float min_match_score; float min_group_size; + size_t num_cams; const std::vector core_joints = { "shoulder_left", From 49a8855e03eace292f248422d970a3c2b91ce8ae Mon Sep 17 00:00:00 2001 From: Daniel Date: Tue, 25 Mar 2025 13:39:03 +0100 Subject: [PATCH 14/15] Detect outliers by joint group distances. --- rpt/triangulator.cpp | 204 +++++++++++++++++++++++++++++++++++-------- rpt/triangulator.hpp | 4 + 2 files changed, 174 insertions(+), 34 deletions(-) diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp index a538e41..005bcb1 100644 --- a/rpt/triangulator.cpp +++ b/rpt/triangulator.cpp @@ -884,6 +884,7 @@ std::vector>> TriangulatorInternal::triangulate add_extra_joints(final_poses_3d, joint_names); filter_poses(final_poses_3d, roomparams, core_joint_idx, core_limbs_idx); add_missing_joints(final_poses_3d, joint_names); + replace_far_joints(final_poses_3d, joint_names); // Store final result for use in the next frame. last_poses_3d = final_poses_3d; @@ -2224,12 +2225,7 @@ void TriangulatorInternal::add_missing_joints( {"wrist_right", {"elbow_right"}}, {"wrist_left", {"elbow_left"}}, {"nose", {"shoulder_middle", "shoulder_right", "shoulder_left"}}, - {"head", {"shoulder_middle", "shoulder_right", "shoulder_left"}}, - {"foot_*_left", {"ankle_left"}}, - {"foot_*_right", {"ankle_right"}}, - {"face_*", {"nose"}}, - {"hand_*_left_*", {"wrist_left"}}, - {"hand_*_right_*", {"wrist_right"}}}; + {"head", {"shoulder_middle", "shoulder_right", "shoulder_left"}}}; // Collect adjacent joint mappings std::vector> adjacent_indices; @@ -2238,36 +2234,9 @@ void TriangulatorInternal::add_missing_joints( { std::string adname = ""; const std::string &jname = joint_names[j]; - size_t nlen = jname.size(); // Determine adjacent joint based on name patterns - if (nlen >= 15 && jname.compare(0, 5, "hand_") == 0) - { - if (jname.find("_left") != std::string::npos) - { - adname = "hand_*_left_*"; - } - else if (jname.find("_right") != std::string::npos) - { - adname = "hand_*_right_*"; - } - } - else if (nlen >= 14 && jname.compare(0, 5, "foot_") == 0) - { - if (jname.find("_left") != std::string::npos) - { - adname = "foot_*_left"; - } - else if (jname.find("_right") != std::string::npos) - { - adname = "foot_*_right"; - } - } - else if (nlen >= 11 && jname.compare(0, 5, "face_") == 0) - { - adname = "face_*"; - } - else if (adjacents.find(jname) != adjacents.end()) + if (adjacents.find(jname) != adjacents.end()) { adname = jname; } @@ -2365,3 +2334,170 @@ void TriangulatorInternal::add_missing_joints( } } } + +// ================================================================================================= + +void TriangulatorInternal::replace_far_joints( + std::vector>> &poses, + const std::vector &joint_names) +{ + for (size_t i = 0; i < poses.size(); ++i) + { + auto &pose = poses[i]; + size_t num_full_joints = pose.size(); + + // Calculate the average position of pose parts + std::array center_head = {0.0, 0.0, 0.0, 0}; + std::array center_foot_left = {0.0, 0.0, 0.0, 0}; + std::array center_foot_right = {0.0, 0.0, 0.0, 0}; + std::array center_hand_left = {0.0, 0.0, 0.0, 0}; + std::array center_hand_right = {0.0, 0.0, 0.0, 0}; + for (size_t j = 0; j < num_full_joints; ++j) + { + const std::string &jname = joint_names[j]; + float offset2 = (1.0 - min_match_score) * 2; + float min_score = this->min_match_score - offset2; + + if (pose[j][3] > min_score) + { + if (jname.compare(0, 4, "face_") == 0 || jname == "nose" || jname == "eye_left" || + jname == "eye_right" || jname == "ear_left" || jname == "ear_right") + { + center_head[0] += pose[j][0]; + center_head[1] += pose[j][1]; + center_head[2] += pose[j][2]; + center_head[3] += 1.0; + } + else if (jname.compare(0, 5, "foot_") == 0 || jname.compare(0, 6, "ankle_") == 0) + { + if (jname.find("_left") != std::string::npos) + { + center_foot_left[0] += pose[j][0]; + center_foot_left[1] += pose[j][1]; + center_foot_left[2] += pose[j][2]; + center_foot_left[3] += 1.0; + } + else if (jname.find("_right") != std::string::npos) + { + center_foot_right[0] += pose[j][0]; + center_foot_right[1] += pose[j][1]; + center_foot_right[2] += pose[j][2]; + center_foot_right[3] += 1.0; + } + } + else if (jname.compare(0, 5, "hand_") == 0 || jname.compare(0, 6, "wrist_") == 0) + { + if (jname.find("_left") != std::string::npos) + { + center_hand_left[0] += pose[j][0]; + center_hand_left[1] += pose[j][1]; + center_hand_left[2] += pose[j][2]; + center_hand_left[3] += 1.0; + } + else if (jname.find("_right") != std::string::npos) + { + center_hand_right[0] += pose[j][0]; + center_hand_right[1] += pose[j][1]; + center_hand_right[2] += pose[j][2]; + center_hand_right[3] += 1.0; + } + } + } + } + for (size_t k = 0; k < 3; k++) + { + center_head[k] /= center_head[3]; + center_foot_left[k] /= center_foot_left[3]; + center_foot_right[k] /= center_foot_right[3]; + center_hand_left[k] /= center_hand_left[3]; + center_hand_right[k] /= center_hand_right[3]; + } + + // Drop joints that are too far from the part center + const float max_dist_head_sq = 0.20 * 0.20; + const float max_dist_foot_sq = 0.25 * 0.25; + const float max_dist_hand_sq = 0.20 * 0.20; + for (size_t j = 0; j < num_full_joints; ++j) + { + const std::string &jname = joint_names[j]; + + if (jname.compare(0, 4, "face_") == 0 || jname == "nose" || jname == "eye_left" || + jname == "eye_right" || jname == "ear_left" || jname == "ear_right") + { + float dx = pose[j][0] - center_head[0]; + float dy = pose[j][1] - center_head[1]; + float dz = pose[j][2] - center_head[2]; + float dist_sq = dx * dx + dy * dy + dz * dz; + if ((pose[j][3] > 0.0 && dist_sq > max_dist_head_sq) || pose[j][3] == 0.0) + { + pose[j][0] = center_head[0]; + pose[j][1] = center_head[1]; + pose[j][2] = center_head[2]; + pose[j][3] = 0.1; + } + } + else if (jname.compare(0, 5, "foot_") == 0 || jname.compare(0, 6, "ankle_") == 0) + { + if (jname.find("_left") != std::string::npos) + { + float dx = pose[j][0] - center_foot_left[0]; + float dy = pose[j][1] - center_foot_left[1]; + float dz = pose[j][2] - center_foot_left[2]; + float dist_sq = dx * dx + dy * dy + dz * dz; + if ((pose[j][3] > 0.0 && dist_sq > max_dist_foot_sq) || pose[j][3] == 0.0) + { + pose[j][0] = center_foot_left[0]; + pose[j][1] = center_foot_left[1]; + pose[j][2] = center_foot_left[2]; + pose[j][3] = 0.1; + } + } + else if (jname.find("_right") != std::string::npos) + { + float dx = pose[j][0] - center_foot_right[0]; + float dy = pose[j][1] - center_foot_right[1]; + float dz = pose[j][2] - center_foot_right[2]; + float dist_sq = dx * dx + dy * dy + dz * dz; + if ((pose[j][3] > 0.0 && dist_sq > max_dist_foot_sq) || pose[j][3] == 0.0) + { + pose[j][0] = center_foot_right[0]; + pose[j][1] = center_foot_right[1]; + pose[j][2] = center_foot_right[2]; + pose[j][3] = 0.1; + } + } + } + else if (jname.compare(0, 5, "hand_") == 0 || jname.compare(0, 6, "wrist_") == 0) + { + if (jname.find("_left") != std::string::npos) + { + float dx = pose[j][0] - center_hand_left[0]; + float dy = pose[j][1] - center_hand_left[1]; + float dz = pose[j][2] - center_hand_left[2]; + float dist_sq = dx * dx + dy * dy + dz * dz; + if ((pose[j][3] > 0.0 && dist_sq > max_dist_hand_sq) || pose[j][3] == 0.0) + { + pose[j][0] = center_hand_left[0]; + pose[j][1] = center_hand_left[1]; + pose[j][2] = center_hand_left[2]; + pose[j][3] = 0.1; + } + } + else if (jname.find("_right") != std::string::npos) + { + float dx = pose[j][0] - center_hand_right[0]; + float dy = pose[j][1] - center_hand_right[1]; + float dz = pose[j][2] - center_hand_right[2]; + float dist_sq = dx * dx + dy * dy + dz * dz; + if ((pose[j][3] > 0.0 && dist_sq > max_dist_hand_sq) || pose[j][3] == 0.0) + { + pose[j][0] = center_hand_right[0]; + pose[j][1] = center_hand_right[1]; + pose[j][2] = center_hand_right[2]; + pose[j][3] = 0.1; + } + } + } + } + } +} diff --git a/rpt/triangulator.hpp b/rpt/triangulator.hpp index b87aefa..36b724a 100644 --- a/rpt/triangulator.hpp +++ b/rpt/triangulator.hpp @@ -138,6 +138,10 @@ private: std::vector>> &poses, const std::vector &joint_names); + void replace_far_joints( + std::vector>> &poses, + const std::vector &joint_names); + // Statistics double num_calls = 0; double total_time = 0; From 64c3f3d09a1fb7bba2f27eeb00292b6c9f1a778c Mon Sep 17 00:00:00 2001 From: Daniel Date: Tue, 25 Mar 2025 17:24:29 +0100 Subject: [PATCH 15/15] Updated results. --- media/RESULTS.md | 9092 +++++++++++++++++++++++----------------------- 1 file changed, 4546 insertions(+), 4546 deletions(-) diff --git a/media/RESULTS.md b/media/RESULTS.md index 6cd94d0..5d50642 100644 --- a/media/RESULTS.md +++ b/media/RESULTS.md @@ -7,26 +7,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0206385, - "demosaicing": 0.000598167, - "avg_time_2d": 0.00822345, - "avg_time_3d": 3.54813e-05, - "fps": 112.904 + "img_loading": 0.0209358, + "demosaicing": 0.000623902, + "avg_time_2d": 0.00826655, + "avg_time_3d": 3.62631e-05, + "fps": 112.023 } { "triangulator_calls": 600, - "init_time": 2.62541e-06, - "undistort_time": 3.73739e-06, - "project_time": 7.60795e-07, - "match_time": 1.39969e-06, - "pairs_time": 2.26192e-07, - "pair_scoring_time": 5.79049e-06, - "grouping_time": 9.75042e-07, - "full_time": 7.44867e-06, - "merge_time": 3.51708e-06, - "post_time": 4.28027e-06, - "convert_time": 5.8175e-08, - "total_time": 3.1055e-05 + "init_time": 2.52379e-06, + "undistort_time": 3.77125e-06, + "project_time": 7.14545e-07, + "match_time": 1.39503e-06, + "pairs_time": 2.26988e-07, + "pair_scoring_time": 6.00934e-06, + "grouping_time": 9.7774e-07, + "full_time": 7.75714e-06, + "merge_time": 3.23609e-06, + "post_time": 4.76986e-06, + "convert_time": 5.90583e-08, + "total_time": 3.1677e-05 } { "person_nums": { @@ -45,248 +45,248 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 600, - "mean": 0.060962, - "median": 0.052484, - "std": 0.028624, - "sem": 0.00117, - "min": 0.036311, - "max": 0.188858, + "mean": 0.060496, + "median": 0.053051, + "std": 0.028242, + "sem": 0.001154, + "min": 0.036391, + "max": 0.191685, "recall-0.025": 0.0, - "recall-0.05": 0.366667, - "recall-0.1": 0.936667, + "recall-0.05": 0.335, + "recall-0.1": 0.945, "recall-0.15": 0.95, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 600, "ap-0.025": 0.0, - "ap-0.05": 0.215605, - "ap-0.1": 0.891161, - "ap-0.15": 0.911559, + "ap-0.05": 0.189462, + "ap-0.1": 0.906596, + "ap-0.15": 0.914939, "ap-0.25": 1.0, "ap-0.5": 1.0 }, "nose": { "count": 600, - "mean": 0.105757, - "median": 0.094634, - "std": 0.035993, - "sem": 0.001471, - "min": 0.024489, - "max": 0.260746, - "recall-0.025": 0.001667, + "mean": 0.106551, + "median": 0.095236, + "std": 0.039752, + "sem": 0.001624, + "min": 0.014823, + "max": 0.277586, + "recall-0.025": 0.003333, "recall-0.05": 0.021667, - "recall-0.1": 0.576667, - "recall-0.15": 0.89, - "recall-0.25": 0.998333, + "recall-0.1": 0.585, + "recall-0.15": 0.855, + "recall-0.25": 0.988333, "recall-0.5": 1.0, "num_labels": 600 }, "shoulder_left": { "count": 600, - "mean": 0.035821, - "median": 0.026476, - "std": 0.033776, - "sem": 0.00138, - "min": 0.002473, - "max": 0.171514, - "recall-0.025": 0.46, - "recall-0.05": 0.816667, - "recall-0.1": 0.941667, - "recall-0.15": 0.963333, + "mean": 0.038602, + "median": 0.027579, + "std": 0.034741, + "sem": 0.001419, + "min": 0.001432, + "max": 0.172853, + "recall-0.025": 0.418333, + "recall-0.05": 0.811667, + "recall-0.1": 0.931667, + "recall-0.15": 0.965, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 600 }, "shoulder_right": { "count": 600, - "mean": 0.044875, - "median": 0.032878, - "std": 0.041356, - "sem": 0.00169, - "min": 0.004517, - "max": 0.26572, - "recall-0.025": 0.331667, - "recall-0.05": 0.776667, - "recall-0.1": 0.913333, - "recall-0.15": 0.94, - "recall-0.25": 0.998333, + "mean": 0.045855, 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"recall-0.25": 0.99385, + "recall-0.025": 0.18833, + "recall-0.05": 0.50474, + "recall-0.1": 0.88218, + "recall-0.15": 0.93577, + "recall-0.25": 0.99564, "recall-0.5": 0.99923 } } { "total_parts": 8400, - "correct_parts": 8128, - "pcp": 0.967619 + "correct_parts": 8133, + "pcp": 0.968214 } ``` @@ -294,26 +294,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0422866, - "demosaicing": 0.000699368, - "avg_time_2d": 0.014883, - "avg_time_3d": 0.00011746, - "fps": 63.6951 + "img_loading": 0.0419149, + "demosaicing": 0.000725168, + "avg_time_2d": 0.0149013, + "avg_time_3d": 0.000116565, + "fps": 63.5203 } { "triangulator_calls": 301, - "init_time": 2.91101e-06, - "undistort_time": 1.43844e-05, - "project_time": 2.16363e-06, - "match_time": 8.39535e-06, - "pairs_time": 4.6119e-06, - "pair_scoring_time": 2.70302e-05, - "grouping_time": 4.49531e-06, - "full_time": 2.73468e-05, - "merge_time": 1.2003e-05, - "post_time": 5.09957e-06, - 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experiments on different datasets. \ }, "joint_recalls": { "num_labels": 4888, - "recall-0.025": 0.05094, - "recall-0.05": 0.30401, - "recall-0.1": 0.76944, - "recall-0.15": 0.9243, - "recall-0.25": 0.98711, + "recall-0.025": 0.03948, + "recall-0.05": 0.29869, + "recall-0.1": 0.7993, + "recall-0.15": 0.93412, + "recall-0.25": 0.98773, "recall-0.5": 0.99959 } } { "total_parts": 5264, - "correct_parts": 4940, - "pcp": 0.93845 + "correct_parts": 5000, + "pcp": 0.949848 } ``` @@ -868,222 +868,222 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0112714, - "demosaicing": 0.000325633, - "avg_time_2d": 0.00810187, - "avg_time_3d": 4.53592e-05, - "fps": 118.024 + "img_loading": 0.0113278, + "demosaicing": 0.000281113, + "avg_time_2d": 0.00811287, + "avg_time_3d": 4.96537e-05, + "fps": 118.432 } { "triangulator_calls": 629, - "init_time": 3.2222e-06, - "undistort_time": 6.07305e-06, - "project_time": 1.05136e-06, - "match_time": 2.86138e-06, - 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+ }, "hip_right": { - "count": 798, - "mean": 0.187704, - "median": 0.172561, - "std": 0.077497, - "sem": 0.002745, - "min": 0.033974, - "max": 0.496836, + "count": 795, + "mean": 0.185922, + "median": 0.171498, + "std": 0.078034, + "sem": 0.002769, + "min": 0.033064, + "max": 0.498964, "recall-0.025": 0.0, "recall-0.05": 0.002828, - "recall-0.1": 0.06409, - "recall-0.15": 0.264844, - "recall-0.25": 0.621112, - "recall-0.5": 0.752121, + "recall-0.1": 0.072573, + "recall-0.15": 0.27804, + "recall-0.25": 0.62017, + "recall-0.5": 0.749293, "num_labels": 1061 }, "joint_recalls": { "num_labels": 9549, - "recall-0.025": 0.07959, - "recall-0.05": 0.24955, - "recall-0.1": 0.43963, - "recall-0.15": 0.54927, - "recall-0.25": 0.68562, - "recall-0.5": 0.76259 + "recall-0.025": 0.08147, + "recall-0.05": 0.25332, + "recall-0.1": 0.43785, + "recall-0.15": 0.54885, + "recall-0.25": 0.67934, + "recall-0.5": 0.75505 } } { "total_parts": 10610, - "correct_parts": 6187, - "pcp": 0.583129 + "correct_parts": 6153, + "pcp": 0.579925 } ``` @@ -1091,74 +1091,74 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0469234, - "demosaicing": 0.00104152, - "avg_time_2d": 0.0167011, - "avg_time_3d": 0.000146036, - "fps": 55.9013 + "img_loading": 0.0488755, + "demosaicing": 0.00102805, + "avg_time_2d": 0.0167614, + "avg_time_3d": 0.000149111, + "fps": 55.7457 } { "triangulator_calls": 420, - "init_time": 2.97937e-06, - "undistort_time": 1.63641e-05, - "project_time": 2.85499e-06, - "match_time": 1.26216e-05, - "pairs_time": 9.3965e-06, - "pair_scoring_time": 3.47372e-05, - "grouping_time": 5.82066e-06, - "full_time": 2.98699e-05, - "merge_time": 1.3583e-05, - "post_time": 7.56396e-06, - "convert_time": 1.56833e-07, - "total_time": 0.000136184 + "init_time": 3.20279e-06, + "undistort_time": 1.65561e-05, + "project_time": 2.89792e-06, + "match_time": 1.28535e-05, + "pairs_time": 9.50892e-06, + "pair_scoring_time": 3.51314e-05, + 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0.002089, "max": 0.499606, - "recall-0.025": 0.170548, - "recall-0.05": 0.372603, - "recall-0.1": 0.55137, - "recall-0.15": 0.628767, - "recall-0.25": 0.74726, - "recall-0.5": 0.876712, + "recall-0.025": 0.174658, + "recall-0.05": 0.428767, + "recall-0.1": 0.588356, + "recall-0.15": 0.643836, + "recall-0.25": 0.744521, + "recall-0.5": 0.878767, "num_labels": 1460 }, "joint_recalls": { "num_labels": 18990, - "recall-0.025": 0.36124, - "recall-0.05": 0.64587, - "recall-0.1": 0.8218, - "recall-0.15": 0.85998, - "recall-0.25": 0.89658, - "recall-0.5": 0.92338 + "recall-0.025": 0.39242, + "recall-0.05": 0.66114, + "recall-0.1": 0.82923, + "recall-0.15": 0.86577, + "recall-0.25": 0.89631, + "recall-0.5": 0.92333 } } { "total_parts": 20444, - "correct_parts": 18308, - "pcp": 0.895519 + "correct_parts": 18292, + "pcp": 0.894737 } ``` @@ -1665,26 +1665,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0936901, - "demosaicing": 0.00227633, - "avg_time_2d": 0.0320164, - "avg_time_3d": 0.000489574, - "fps": 28.7502 + "img_loading": 0.0945663, + "demosaicing": 0.00225085, + "avg_time_2d": 0.0322207, + "avg_time_3d": 0.000495859, + "fps": 28.5981 } { "triangulator_calls": 420, - "init_time": 4.90951e-06, - "undistort_time": 3.21224e-05, - "project_time": 5.83368e-06, - "match_time": 2.63441e-05, - "pairs_time": 4.63646e-05, - "pair_scoring_time": 0.000145143, - "grouping_time": 2.75832e-05, - "full_time": 0.000114867, - "merge_time": 5.18741e-05, - "post_time": 8.52941e-06, - "convert_time": 1.74767e-07, - "total_time": 0.000464042 + "init_time": 4.95276e-06, + "undistort_time": 3.20265e-05, + "project_time": 5.7527e-06, + "match_time": 2.61525e-05, + "pairs_time": 4.63728e-05, + "pair_scoring_time": 0.000151685, + "grouping_time": 1.98509e-05, + "full_time": 0.000115553, + "merge_time": 5.79176e-05, + "post_time": 9.60805e-06, + "convert_time": 1.58305e-07, + "total_time": 0.000470269 } { "person_nums": { @@ -1703,36 +1703,36 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 1463, - "mean": 0.025203, - "median": 0.022832, - "std": 0.009935, - "sem": 0.00026, - "min": 0.009558, - "max": 0.097873, - "recall-0.025": 0.630286, - "recall-0.05": 0.963165, + "mean": 0.0239, + "median": 0.021747, + "std": 0.008927, + "sem": 0.000233, + "min": 0.009663, + "max": 0.096886, + "recall-0.025": 0.673261, + "recall-0.05": 0.978172, "recall-0.1": 0.997954, "recall-0.15": 0.997954, "recall-0.25": 0.997954, "recall-0.5": 0.997954, "num_labels": 1466, - "ap-0.025": 0.495689, - "ap-0.05": 0.94258, - "ap-0.1": 0.990299, - "ap-0.15": 0.990299, - "ap-0.25": 0.990299, - "ap-0.5": 0.990299 + "ap-0.025": 0.580082, + "ap-0.05": 0.970148, + "ap-0.1": 0.995474, + "ap-0.15": 0.995474, + "ap-0.25": 0.995474, + "ap-0.5": 0.995474 }, "nose": { "count": 1460, - "mean": 0.011231, - "median": 0.009664, - "std": 0.008021, - "sem": 0.00021, - "min": 0.000974, - "max": 0.09734, - "recall-0.025": 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0.012272, - "std": 0.008538, - "sem": 0.000223, - "min": 0.001427, - "max": 0.070244, - "recall-0.025": 0.894198, - "recall-0.05": 0.993174, + "mean": 0.014025, + "median": 0.012256, + "std": 0.008313, + "sem": 0.000217, + "min": 0.001171, + "max": 0.080622, + "recall-0.025": 0.904437, + "recall-0.05": 0.993857, "recall-0.1": 0.997952, "recall-0.15": 0.997952, "recall-0.25": 0.997952, @@ -1773,15 +1773,15 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 1462, - "mean": 0.017791, - "median": 0.014873, - "std": 0.012038, - "sem": 0.000315, - "min": 0.001627, - "max": 0.113216, - "recall-0.025": 0.82116, - "recall-0.05": 0.974744, - "recall-0.1": 0.995904, + "mean": 0.016924, + "median": 0.014258, + "std": 0.010749, + "sem": 0.000281, + "min": 0.001348, + "max": 0.104334, + "recall-0.025": 0.840956, + "recall-0.05": 0.97884, + "recall-0.1": 0.99727, "recall-0.15": 0.997952, "recall-0.25": 0.997952, "recall-0.5": 0.997952, @@ -1789,31 +1789,31 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 1460, - "mean": 0.016569, - "median": 0.014471, - "std": 0.0147, - "sem": 0.000385, - "min": 0.000882, - "max": 0.35562, - "recall-0.025": 0.899522, - "recall-0.05": 0.977444, - "recall-0.1": 0.995215, - "recall-0.15": 0.995899, - "recall-0.25": 0.997266, + "mean": 0.015696, + "median": 0.014008, + "std": 0.011094, + "sem": 0.00029, + "min": 0.001251, + "max": 0.166764, + "recall-0.025": 0.915243, + "recall-0.05": 0.982912, + "recall-0.1": 0.994532, + "recall-0.15": 0.996582, + "recall-0.25": 0.997949, "recall-0.5": 0.997949, "num_labels": 1463 }, "wrist_left": { "count": 1431, - "mean": 0.017822, - "median": 0.01243, - "std": 0.019473, - "sem": 0.000515, - "min": 0.000857, - "max": 0.201629, - "recall-0.025": 0.834728, - "recall-0.05": 0.960948, - "recall-0.1": 0.981172, + "mean": 0.016565, + "median": 0.011848, + "std": 0.018504, + "sem": 0.000489, + "min": 0.000716, + "max": 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"recall-0.025": 0.49215, - "recall-0.05": 0.934471, + "mean": 0.027191, + "median": 0.024827, + "std": 0.014882, + "sem": 0.000389, + "min": 0.001518, + "max": 0.11068, + "recall-0.025": 0.506485, + "recall-0.05": 0.92901, "recall-0.1": 0.995904, "recall-0.15": 0.997952, "recall-0.25": 0.997952, @@ -1853,31 +1853,31 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 1463, - "mean": 0.027516, - "median": 0.025475, - "std": 0.012579, - "sem": 0.000329, - "min": 0.004251, - "max": 0.085236, - "recall-0.025": 0.484993, - "recall-0.05": 0.949523, - "recall-0.1": 0.997954, - "recall-0.15": 0.997954, + "mean": 0.027191, + "median": 0.025317, + "std": 0.012994, + "sem": 0.00034, + "min": 0.002163, + "max": 0.161695, + "recall-0.025": 0.489086, + "recall-0.05": 0.952251, + "recall-0.1": 0.997271, + "recall-0.15": 0.997271, "recall-0.25": 0.997954, "recall-0.5": 0.997954, "num_labels": 1466 }, "knee_left": { "count": 1462, - "mean": 0.028355, - "median": 0.025639, - "std": 0.014851, - "sem": 0.000389, - "min": 0.002805, - "max": 0.139707, - "recall-0.025": 0.483959, - "recall-0.05": 0.918771, - "recall-0.1": 0.99727, + "mean": 0.027896, + "median": 0.025749, + "std": 0.014586, + "sem": 0.000382, + "min": 0.001327, + "max": 0.107717, + "recall-0.025": 0.477816, + "recall-0.05": 0.931058, + "recall-0.1": 0.995904, "recall-0.15": 0.997952, "recall-0.25": 0.997952, "recall-0.5": 0.997952, @@ -1885,66 +1885,66 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 1456, - "mean": 0.032127, - "median": 0.02788, - "std": 0.019816, - "sem": 0.000519, - "min": 0.00237, - "max": 0.191416, - "recall-0.025": 0.416038, - "recall-0.05": 0.874572, - "recall-0.1": 0.980809, - "recall-0.15": 0.995202, + "mean": 0.031275, + "median": 0.027352, + "std": 0.018422, + "sem": 0.000483, + "min": 0.001948, + "max": 0.179142, + "recall-0.025": 0.431117, + "recall-0.05": 0.878684, + "recall-0.1": 0.987663, + "recall-0.15": 0.996573, "recall-0.25": 0.997944, "recall-0.5": 0.997944, "num_labels": 1459 }, "ankle_left": { "count": 1459, - "mean": 0.052817, - "median": 0.031962, - "std": 0.056735, - "sem": 0.001486, - "min": 0.001515, - "max": 0.386617, - "recall-0.025": 0.388243, - "recall-0.05": 0.675325, - "recall-0.1": 0.868763, - "recall-0.15": 0.92823, - "recall-0.25": 0.975393, + "mean": 0.046371, + "median": 0.029724, + "std": 0.047708, + "sem": 0.001249, + "min": 0.002652, + "max": 0.359176, + "recall-0.025": 0.412167, + "recall-0.05": 0.709501, + "recall-0.1": 0.902256, + "recall-0.15": 0.946685, + "recall-0.25": 0.990431, "recall-0.5": 0.997266, "num_labels": 1463 }, "ankle_right": { - "count": 1455, - "mean": 0.049961, - "median": 0.028975, - "std": 0.061037, - "sem": 0.001601, - "min": 0.002054, - "max": 0.472223, - "recall-0.025": 0.419863, - "recall-0.05": 0.722603, - "recall-0.1": 0.884932, - "recall-0.15": 0.932192, - "recall-0.25": 0.969863, - "recall-0.5": 0.996575, + 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"considered_empty": 0, "valid_preds": 1465, - "invalid_preds": 45, + "invalid_preds": 44, "missing": 1, - "invalid_fraction": 0.0298, - "precision": 0.9702, + "invalid_fraction": 0.02916, + "precision": 0.97084, "recall": 0.99932, - "f1": 0.98454, - "non_empty": 1510 + "f1": 0.98487, + "non_empty": 1509 }, "mpjpe": { "count": 1465, - "mean": 0.020211, - "median": 0.018762, - "std": 0.00708, - "sem": 0.000185, - "min": 0.009375, - "max": 0.104414, - "recall-0.025": 0.803547, - "recall-0.05": 0.997271, + "mean": 0.019359, + "median": 0.018032, + "std": 0.006927, + "sem": 0.000181, + "min": 0.008759, + "max": 0.110571, + "recall-0.025": 0.832879, + "recall-0.05": 0.995907, "recall-0.1": 0.998636, "recall-0.15": 0.999318, "recall-0.25": 0.999318, "recall-0.5": 0.999318, "num_labels": 1466, - "ap-0.025": 0.734463, - "ap-0.05": 0.985229, - "ap-0.1": 0.987536, - "ap-0.15": 0.989163, - "ap-0.25": 0.989163, - "ap-0.5": 0.989163 + "ap-0.025": 0.778089, + "ap-0.05": 0.987979, + "ap-0.1": 0.991704, + "ap-0.15": 0.993397, + "ap-0.25": 0.993397, + "ap-0.5": 0.993397 }, "nose": { "count": 1462, - "mean": 0.009298, - "median": 0.008171, - "std": 0.00649, - "sem": 0.00017, - "min": 0.000399, - "max": 0.080284, - "recall-0.025": 0.982912, - "recall-0.05": 0.991114, + "mean": 0.009189, + "median": 0.00808, + "std": 0.006382, + "sem": 0.000167, + "min": 0.000316, + "max": 0.078737, + "recall-0.025": 0.984279, + "recall-0.05": 0.991798, "recall-0.1": 0.999316, "recall-0.15": 0.999316, "recall-0.25": 0.999316, @@ -2028,13 +2028,13 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_left": { "count": 1465, - "mean": 0.010548, - "median": 0.009349, - "std": 0.006278, - "sem": 0.000164, - "min": 0.000514, - "max": 0.056519, - "recall-0.025": 0.961801, + "mean": 0.010489, + "median": 0.009384, + "std": 0.00617, + "sem": 0.000161, + "min": 0.000509, + "max": 0.055245, + "recall-0.025": 0.965894, "recall-0.05": 0.998636, "recall-0.1": 0.999318, "recall-0.15": 0.999318, @@ -2044,12 +2044,12 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 1464, - "mean": 0.011964, - "median": 0.010436, - "std": 0.00704, - "sem": 0.000184, - "min": 0.001042, - "max": 0.110042, + "mean": 0.011977, + "median": 0.010467, + "std": 0.00727, + "sem": 0.00019, + "min": 0.000448, + "max": 0.131999, "recall-0.025": 0.961775, "recall-0.05": 0.99727, "recall-0.1": 0.998635, @@ -2060,14 +2060,14 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 1464, - "mean": 0.013815, - "median": 0.012283, - "std": 0.007906, - "sem": 0.000207, - "min": 0.0023, - "max": 0.063993, - "recall-0.025": 0.92901, - "recall-0.05": 0.993174, + "mean": 0.013231, + "median": 0.011927, + "std": 0.007421, + "sem": 0.000194, + "min": 0.001236, + "max": 0.064667, + "recall-0.025": 0.941297, + "recall-0.05": 0.995222, "recall-0.1": 0.999317, "recall-0.15": 0.999317, "recall-0.25": 0.999317, @@ -2076,14 +2076,14 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 1462, - "mean": 0.013976, - "median": 0.012379, - "std": 0.008969, - "sem": 0.000235, - "min": 0.000147, - "max": 0.163362, - "recall-0.025": 0.927546, - "recall-0.05": 0.989064, + "mean": 0.013539, + "median": 0.01224, + "std": 0.008726, + "sem": 0.000228, + "min": 0.000584, + "max": 0.179166, + "recall-0.025": 0.943951, + "recall-0.05": 0.991798, "recall-0.1": 0.998633, "recall-0.15": 0.998633, "recall-0.25": 0.999316, @@ -2092,14 +2092,14 @@ Results of the model in various experiments on different datasets. \ }, "wrist_left": { "count": 1433, - "mean": 0.014934, - "median": 0.010818, - "std": 0.016423, - "sem": 0.000434, - "min": 0.00093, - "max": 0.149006, - "recall-0.025": 0.892608, - "recall-0.05": 0.967225, + "mean": 0.014083, + "median": 0.010182, + "std": 0.016488, + "sem": 0.000436, + "min": 0.000713, + "max": 0.148321, + "recall-0.025": 0.900279, + "recall-0.05": 0.970014, "recall-0.1": 0.990237, "recall-0.15": 0.999303, "recall-0.25": 0.999303, @@ -2108,15 +2108,15 @@ Results of the model in various experiments on different datasets. \ }, "wrist_right": { "count": 1456, - "mean": 0.014381, - "median": 0.010194, - "std": 0.013204, - "sem": 0.000346, - "min": 0.000671, - "max": 0.105661, - "recall-0.025": 0.87706, - "recall-0.05": 0.969093, - "recall-0.1": 0.999313, + "mean": 0.014024, + "median": 0.010312, + "std": 0.013225, + "sem": 0.000347, + "min": 0.000813, + "max": 0.104785, + "recall-0.025": 0.890797, + "recall-0.05": 0.976648, + "recall-0.1": 0.998626, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -2124,13 +2124,13 @@ Results of the model in various experiments on different datasets. \ }, "hip_left": { "count": 1464, - "mean": 0.021363, - "median": 0.018874, - "std": 0.01164, - "sem": 0.000304, - "min": 0.001522, - "max": 0.088569, - "recall-0.025": 0.733788, + "mean": 0.021145, + "median": 0.018582, + "std": 0.011705, + "sem": 0.000306, + "min": 0.001997, + "max": 0.087718, + "recall-0.025": 0.746075, "recall-0.05": 0.964505, "recall-0.1": 0.999317, "recall-0.15": 0.999317, @@ -2140,15 +2140,15 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 1465, - "mean": 0.022366, - "median": 0.021663, - "std": 0.011091, - "sem": 0.00029, - "min": 0.002635, - "max": 0.241863, - "recall-0.025": 0.631651, + "mean": 0.022276, + "median": 0.021585, + "std": 0.011145, + "sem": 0.000291, + "min": 0.001586, + "max": 0.241688, + "recall-0.025": 0.622783, "recall-0.05": 0.991814, - "recall-0.1": 0.998636, + "recall-0.1": 0.997954, "recall-0.15": 0.998636, "recall-0.25": 0.999318, "recall-0.5": 0.999318, @@ -2156,15 +2156,15 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 1464, - "mean": 0.022662, - "median": 0.021007, - "std": 0.011829, - "sem": 0.000309, - "min": 0.001591, - "max": 0.112879, - "recall-0.025": 0.63959, - "recall-0.05": 0.971331, - "recall-0.1": 0.997952, + "mean": 0.022664, + "median": 0.021203, + "std": 0.011418, + "sem": 0.000299, + "min": 0.001709, + "max": 0.113856, + "recall-0.025": 0.644369, + "recall-0.05": 0.979522, + "recall-0.1": 0.996587, "recall-0.15": 0.999317, "recall-0.25": 0.999317, "recall-0.5": 0.999317, @@ -2172,66 +2172,66 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 1458, - "mean": 0.025448, - "median": 0.023556, - "std": 0.015884, - "sem": 0.000416, - "min": 0.002479, - "max": 0.174875, - "recall-0.025": 0.543523, - "recall-0.05": 0.965045, - "recall-0.1": 0.986977, - "recall-0.15": 0.998629, + "mean": 0.025132, + "median": 0.023776, + "std": 0.015236, + "sem": 0.000399, + "min": 0.001766, + "max": 0.177469, + "recall-0.025": 0.541467, + "recall-0.05": 0.967101, + "recall-0.1": 0.990404, + "recall-0.15": 0.997944, "recall-0.25": 0.999315, "recall-0.5": 0.999315, "num_labels": 1459 }, "ankle_left": { "count": 1462, - "mean": 0.038848, - "median": 0.027374, - "std": 0.033448, - "sem": 0.000875, - "min": 0.000691, - "max": 0.237364, - "recall-0.025": 0.465482, - "recall-0.05": 0.747095, - "recall-0.1": 0.930964, - "recall-0.15": 0.987697, + "mean": 0.03612, + "median": 0.024095, + "std": 0.032657, + "sem": 0.000854, + "min": 0.001969, + "max": 0.243894, + "recall-0.025": 0.526316, + "recall-0.05": 0.785373, + "recall-0.1": 0.933014, + "recall-0.15": 0.991798, "recall-0.25": 0.999316, "recall-0.5": 0.999316, "num_labels": 1463 }, "ankle_right": { "count": 1458, - "mean": 0.041993, - "median": 0.025951, - "std": 0.040542, - "sem": 0.001062, - "min": 0.000505, - "max": 0.260212, - "recall-0.025": 0.484247, - "recall-0.05": 0.713699, - "recall-0.1": 0.89863, - "recall-0.15": 0.969178, + "mean": 0.036574, + "median": 0.024929, + "std": 0.034409, + "sem": 0.000901, + "min": 0.001251, + "max": 0.285853, + "recall-0.025": 0.50137, + "recall-0.05": 0.773288, + "recall-0.1": 0.936301, + "recall-0.15": 0.979452, "recall-0.25": 0.99726, "recall-0.5": 0.99863, "num_labels": 1460 }, "joint_recalls": { "num_labels": 18990, - "recall-0.025": 0.7712, - "recall-0.05": 0.94265, - "recall-0.1": 0.98399, - "recall-0.15": 0.99563, + "recall-0.025": 0.78215, + "recall-0.05": 0.95234, + "recall-0.1": 0.98705, + "recall-0.15": 0.99674, "recall-0.25": 0.99879, "recall-0.5": 0.99889 } } { "total_parts": 20444, - "correct_parts": 20406, - "pcp": 0.998141 + "correct_parts": 20407, + "pcp": 0.99819 } ``` @@ -2239,91 +2239,91 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0331992, - "demosaicing": 0.000665234, - "avg_time_2d": 0.00859652, - "avg_time_3d": 3.16495e-05, - "fps": 107.603 + "img_loading": 0.0317525, + "demosaicing": 0.000678883, + "avg_time_2d": 0.00854502, + "avg_time_3d": 3.28613e-05, + "fps": 108.029 } { "triangulator_calls": 479, - "init_time": 2.97879e-06, - "undistort_time": 4.96341e-06, - "project_time": 4.24069e-07, - "match_time": 9.75025e-07, - "pairs_time": 3.82568e-07, - "pair_scoring_time": 6.92359e-06, - "grouping_time": 7.68313e-07, - "full_time": 3.8346e-06, - "merge_time": 1.76946e-06, - "post_time": 4.55531e-06, - "convert_time": 7.29624e-08, - "total_time": 2.78812e-05 + "init_time": 2.81193e-06, + "undistort_time": 4.96263e-06, + "project_time": 4.2423e-07, + "match_time": 9.58927e-07, + "pairs_time": 3.71848e-07, + "pair_scoring_time": 7.13907e-06, + "grouping_time": 6.90313e-07, + "full_time": 3.95796e-06, + "merge_time": 2.12479e-06, + "post_time": 5.34428e-06, + "convert_time": 7.14739e-08, + "total_time": 2.90926e-05 } { "person_nums": { "total_frames": 479, "total_labels": 479, - "total_preds": 597, + "total_preds": 584, "considered_empty": 0, "valid_preds": 443, - "invalid_preds": 154, + "invalid_preds": 141, "missing": 36, - "invalid_fraction": 0.25796, - "precision": 0.74204, + "invalid_fraction": 0.24144, + "precision": 0.75856, "recall": 0.92484, - "f1": 0.82342, - "non_empty": 597 + "f1": 0.83349, + "non_empty": 584 }, "mpjpe": { "count": 443, - "mean": 0.071439, - "median": 0.055593, - "std": 0.047397, - "sem": 0.002254, - "min": 0.010572, - "max": 0.355726, - "recall-0.025": 0.075157, - "recall-0.05": 0.4238, - "recall-0.1": 0.716075, - "recall-0.15": 0.860125, - "recall-0.25": 0.91858, + "mean": 0.073811, + "median": 0.059533, + "std": 0.044453, + "sem": 0.002114, + "min": 0.018892, + "max": 0.357707, + "recall-0.025": 0.031315, + "recall-0.05": 0.365344, + "recall-0.1": 0.718163, + "recall-0.15": 0.870564, + "recall-0.25": 0.916493, "recall-0.5": 0.924843, "num_labels": 479, - "ap-0.025": 0.006362, - "ap-0.05": 0.194586, - "ap-0.1": 0.490691, - "ap-0.15": 0.68696, - "ap-0.25": 0.79156, - "ap-0.5": 0.802689 + "ap-0.025": 0.000833, + "ap-0.05": 0.143335, + "ap-0.1": 0.501718, + "ap-0.15": 0.706833, + "ap-0.25": 0.786245, + "ap-0.5": 0.803641 }, "head": { "count": 421, - "mean": 0.029891, - "median": 0.025893, - "std": 0.017693, - 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{ "count": 433, - "mean": 0.029308, - "median": 0.028043, - "std": 0.00958, - "sem": 0.000461, - "min": 0.012271, - "max": 0.097244, - "recall-0.025": 0.319058, - "recall-0.05": 0.897216, + "mean": 0.029518, + "median": 0.028202, + "std": 0.009841, + "sem": 0.000473, + "min": 0.006306, + "max": 0.082541, + "recall-0.025": 0.32334, + "recall-0.05": 0.895075, "recall-0.1": 0.927195, "recall-0.15": 0.927195, "recall-0.25": 0.927195, @@ -2346,30 +2346,30 @@ Results of the model in various experiments on different datasets. \ "num_labels": 467 }, "elbow_left": { - "count": 409, - "mean": 0.027931, - "median": 0.019425, - "std": 0.02633, - "sem": 0.001304, - "min": 0.001791, - "max": 0.194543, - "recall-0.025": 0.597254, - "recall-0.05": 0.816934, - "recall-0.1": 0.910755, - "recall-0.15": 0.926773, - "recall-0.25": 0.935927, - "recall-0.5": 0.935927, + "count": 408, + "mean": 0.031037, + "median": 0.023888, + "std": 0.023902, + "sem": 0.001185, + "min": 0.002712, + "max": 0.194997, + 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0.021106, - "sem": 0.000758, - "min": 0.014587, - "max": 0.322867, - "recall-0.025": 0.008974, - "recall-0.05": 0.176923, - "recall-0.1": 0.946154, - "recall-0.15": 0.992308, - "recall-0.25": 0.994872, + "mean": 0.064311, + "median": 0.062367, + "std": 0.017627, + "sem": 0.000633, + "min": 0.00645, + "max": 0.133633, + "recall-0.025": 0.014103, + "recall-0.05": 0.174359, + "recall-0.1": 0.961538, + "recall-0.15": 0.996154, + "recall-0.25": 0.996154, "recall-0.5": 0.996154, "num_labels": 780 }, "elbow_left": { "count": 776, - "mean": 0.056701, - "median": 0.047986, - "std": 0.035003, - "sem": 0.001257, - "min": 0.016862, - "max": 0.425933, - "recall-0.025": 0.015385, - "recall-0.05": 0.544872, - "recall-0.1": 0.942308, - "recall-0.15": 0.973077, - "recall-0.25": 0.987179, + "mean": 0.055696, + "median": 0.048231, + "std": 0.027198, + "sem": 0.000977, + "min": 0.015892, + "max": 0.295215, + "recall-0.025": 0.017949, + "recall-0.05": 0.537179, + "recall-0.1": 0.934615, + "recall-0.15": 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"max": 0.144259, "recall-0.025": 0.0, - "recall-0.05": 0.046154, - "recall-0.1": 0.807692, + "recall-0.05": 0.061538, + "recall-0.1": 0.782051, "recall-0.15": 0.996154, "recall-0.25": 0.996154, "recall-0.5": 0.996154, @@ -2714,47 +2714,47 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 777, - "mean": 0.105455, - "median": 0.103328, - "std": 0.018351, - "sem": 0.000659, - "min": 0.063302, - "max": 0.172157, + "mean": 0.10584, + "median": 0.104554, + "std": 0.018135, + "sem": 0.000651, + "min": 0.05627, + "max": 0.17111, "recall-0.025": 0.0, "recall-0.05": 0.0, - "recall-0.1": 0.426923, - "recall-0.15": 0.982051, + "recall-0.1": 0.388462, + "recall-0.15": 0.978205, "recall-0.25": 0.996154, "recall-0.5": 0.996154, "num_labels": 780 }, "knee_left": { "count": 777, - "mean": 0.047564, - "median": 0.046007, - "std": 0.019294, - "sem": 0.000693, - "min": 0.009691, - "max": 0.199379, - "recall-0.025": 0.060256, - "recall-0.05": 0.634615, - 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"median": 0.046333, - "std": 0.015782, - "sem": 0.000567, - "min": 0.014965, - "max": 0.208071, - "recall-0.025": 0.007692, - "recall-0.05": 0.634615, + "mean": 0.049663, + "median": 0.046727, + "std": 0.014928, + "sem": 0.000536, + "min": 0.014128, + "max": 0.175912, + "recall-0.025": 0.008974, + "recall-0.05": 0.638462, "recall-0.1": 0.980769, "recall-0.15": 0.99359, "recall-0.25": 0.996154, @@ -2778,14 +2778,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 777, - "mean": 0.034325, - "median": 0.030186, - "std": 0.016032, - "sem": 0.000576, - "min": 0.007554, - "max": 0.173272, - "recall-0.025": 0.305128, - "recall-0.05": 0.869231, + "mean": 0.034199, + "median": 0.030212, + "std": 0.015583, + "sem": 0.000559, + "min": 0.007645, + "max": 0.160324, + "recall-0.025": 0.292308, + "recall-0.05": 0.870513, "recall-0.1": 0.99359, "recall-0.15": 0.994872, "recall-0.25": 0.996154, @@ -2794,18 +2794,18 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 10140, - "recall-0.025": 0.0784, - "recall-0.05": 0.44527, - "recall-0.1": 0.90197, - "recall-0.15": 0.98314, - "recall-0.25": 0.99191, - "recall-0.5": 0.99507 + "recall-0.025": 0.07219, + "recall-0.05": 0.44734, + "recall-0.1": 0.90207, + "recall-0.15": 0.9859, + "recall-0.25": 0.99418, + "recall-0.5": 0.99517 } } { "total_parts": 10920, - "correct_parts": 10718, - "pcp": 0.981502 + "correct_parts": 10778, + "pcp": 0.986996 } ``` @@ -2813,26 +2813,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.107502, - "demosaicing": 0.00283729, - "avg_time_2d": 0.0181046, - "avg_time_3d": 0.000172954, - "fps": 47.3601 + "img_loading": 0.111384, + "demosaicing": 0.0028934, + "avg_time_2d": 0.0182718, + "avg_time_3d": 0.000173656, + "fps": 46.8629 } { "triangulator_calls": 210, - "init_time": 3.17945e-06, - "undistort_time": 1.63248e-05, - "project_time": 2.83689e-06, - "match_time": 1.00995e-05, - "pairs_time": 5.91732e-06, - "pair_scoring_time": 4.17872e-05, - "grouping_time": 8.15357e-06, - "full_time": 4.9209e-05, - "merge_time": 1.87054e-05, - "post_time": 7.03514e-06, - "convert_time": 1.33229e-07, - "total_time": 0.00016362 + "init_time": 3.00196e-06, + "undistort_time": 1.60722e-05, + "project_time": 2.8304e-06, + "match_time": 9.96175e-06, + "pairs_time": 5.76251e-06, + "pair_scoring_time": 4.08175e-05, + "grouping_time": 7.69874e-06, + "full_time": 4.87778e-05, + "merge_time": 2.09705e-05, + "post_time": 7.89212e-06, + "convert_time": 1.28324e-07, + "total_time": 0.000164149 } { "person_nums": { @@ -2851,37 +2851,37 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 630, - "mean": 0.053264, - "median": 0.049206, - "std": 0.017551, - "sem": 0.0007, - "min": 0.030486, - "max": 0.139071, + "mean": 0.052815, + "median": 0.048901, + "std": 0.017768, + "sem": 0.000708, + "min": 0.030026, + "max": 0.140544, "recall-0.025": 0.0, - "recall-0.05": 0.526984, - "recall-0.1": 0.955556, + "recall-0.05": 0.547619, + "recall-0.1": 0.957143, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 630, "ap-0.025": 0.0, - "ap-0.05": 0.311092, - "ap-0.1": 0.928198, + "ap-0.05": 0.361138, + "ap-0.1": 0.948655, "ap-0.15": 1.0, "ap-0.25": 1.0, "ap-0.5": 1.0 }, "head": { "count": 598, - "mean": 0.039975, - "median": 0.037984, - "std": 0.012912, - "sem": 0.000528, - "min": 0.012896, - "max": 0.116056, - "recall-0.025": 0.09699, - "recall-0.05": 0.792642, - "recall-0.1": 0.998328, + "mean": 0.039486, + "median": 0.037585, + "std": 0.012351, + "sem": 0.000505, + "min": 0.015282, + "max": 0.093636, + "recall-0.025": 0.100334, + "recall-0.05": 0.802676, + "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -2889,15 +2889,15 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_left": { "count": 630, - "mean": 0.059288, - "median": 0.056736, - "std": 0.018282, - "sem": 0.000729, - "min": 0.019823, - "max": 0.144114, - "recall-0.025": 0.012698, - "recall-0.05": 0.322222, - "recall-0.1": 0.980952, + "mean": 0.059002, + "median": 0.05653, + "std": 0.01806, + "sem": 0.00072, + "min": 0.021049, + "max": 0.13335, + "recall-0.025": 0.009524, + "recall-0.05": 0.347619, + "recall-0.1": 0.988889, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -2905,15 +2905,15 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 630, - "mean": 0.061464, - "median": 0.060303, - "std": 0.019566, - "sem": 0.00078, - "min": 0.016616, - "max": 0.129988, + "mean": 0.061351, + "median": 0.060799, + "std": 0.019246, + "sem": 0.000767, + "min": 0.015158, + "max": 0.129927, "recall-0.025": 0.004762, - "recall-0.05": 0.326984, - "recall-0.1": 0.953968, + "recall-0.05": 0.336508, + "recall-0.1": 0.965079, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -2921,79 +2921,79 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 630, - "mean": 0.050374, - "median": 0.047939, - "std": 0.02017, - "sem": 0.000804, - "min": 0.005532, - "max": 0.149499, - "recall-0.025": 0.066667, - "recall-0.05": 0.555556, - "recall-0.1": 0.980952, - "recall-0.15": 1.0, + "mean": 0.049613, + "median": 0.046687, + "std": 0.019794, + "sem": 0.000789, + "min": 0.004776, + "max": 0.150097, + "recall-0.025": 0.063492, + "recall-0.05": 0.580952, + "recall-0.1": 0.979365, + "recall-0.15": 0.998413, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 630 }, "elbow_right": { "count": 629, - "mean": 0.052235, - "median": 0.047694, - "std": 0.028777, - "sem": 0.001148, - "min": 0.005348, - "max": 0.201518, - "recall-0.025": 0.112878, - "recall-0.05": 0.570747, - "recall-0.1": 0.934817, - "recall-0.15": 0.982512, + "mean": 0.049365, + "median": 0.046448, + "std": 0.02426, + "sem": 0.000968, + "min": 0.00534, + "max": 0.167672, + 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"std": 0.023783, + "sem": 0.000952, + "min": 0.007026, + "max": 0.225441, + "recall-0.025": 0.0896, + "recall-0.05": 0.5648, + "recall-0.1": 0.9632, + "recall-0.15": 0.9984, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 625 }, "hip_left": { "count": 630, - "mean": 0.051742, - "median": 0.048997, - "std": 0.020868, - "sem": 0.000832, - "min": 0.003514, - "max": 0.145202, - "recall-0.025": 0.071429, - "recall-0.05": 0.522222, - "recall-0.1": 0.969841, + "mean": 0.052212, + "median": 0.048901, + "std": 0.021367, + "sem": 0.000852, + "min": 0.004154, + "max": 0.146755, + "recall-0.025": 0.05873, + "recall-0.05": 0.525397, + "recall-0.1": 0.966667, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -3001,15 +3001,15 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 629, - "mean": 0.052231, - "median": 0.049906, - "std": 0.023457, - "sem": 0.000936, - "min": 0.006901, - "max": 0.129598, - "recall-0.025": 0.119237, - "recall-0.05": 0.503975, - "recall-0.1": 0.952305, + "mean": 0.053057, + "median": 0.049733, + "std": 0.023992, + "sem": 0.000957, + "min": 0.00992, + "max": 0.129218, + "recall-0.025": 0.112878, + "recall-0.05": 0.502385, + "recall-0.1": 0.955485, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -3017,31 +3017,31 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 628, - "mean": 0.047512, - "median": 0.036051, - "std": 0.045449, - "sem": 0.001815, - "min": 0.007924, - "max": 0.367366, - "recall-0.025": 0.229299, - "recall-0.05": 0.707006, - "recall-0.1": 0.941083, - "recall-0.15": 0.964968, + "mean": 0.047937, + "median": 0.036391, + "std": 0.04679, + "sem": 0.001869, + "min": 0.007665, + "max": 0.367525, + "recall-0.025": 0.230892, + "recall-0.05": 0.719745, + "recall-0.1": 0.93949, + "recall-0.15": 0.958599, "recall-0.25": 0.984076, "recall-0.5": 1.0, "num_labels": 628 }, "knee_right": { "count": 629, - "mean": 0.054935, - "median": 0.037564, - "std": 0.071625, - "sem": 0.002858, - "min": 0.003958, - "max": 0.495684, - "recall-0.025": 0.211447, - "recall-0.05": 0.72337, - "recall-0.1": 0.937997, + "mean": 0.055058, + "median": 0.037973, + "std": 0.071747, + "sem": 0.002863, + "min": 0.004541, + "max": 0.495748, + "recall-0.025": 0.214626, + "recall-0.05": 0.715421, + "recall-0.1": 0.934817, "recall-0.15": 0.952305, "recall-0.25": 0.957075, "recall-0.5": 1.0, @@ -3049,14 +3049,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 619, - "mean": 0.057506, - "median": 0.04289, - "std": 0.070306, - "sem": 0.002828, - "min": 0.007568, - "max": 0.487523, - "recall-0.025": 0.084006, - "recall-0.05": 0.680129, + "mean": 0.057175, + "median": 0.043069, + "std": 0.069817, + "sem": 0.002808, + "min": 0.010858, + "max": 0.487315, + "recall-0.025": 0.092084, + "recall-0.05": 0.678514, "recall-0.1": 0.951535, "recall-0.15": 0.959612, "recall-0.25": 0.966074, @@ -3065,13 +3065,13 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 602, - "mean": 0.047183, - "median": 0.041684, - "std": 0.044559, - "sem": 0.001818, - "min": 0.005996, - "max": 0.453644, - "recall-0.025": 0.170418, + "mean": 0.047174, + "median": 0.041546, + "std": 0.044345, + "sem": 0.001809, + "min": 0.004139, + "max": 0.447056, + "recall-0.025": 0.173633, "recall-0.05": 0.694534, "recall-0.1": 0.940514, "recall-0.15": 0.951768, @@ -3081,18 +3081,18 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 8129, - "recall-0.025": 0.10764, - "recall-0.05": 0.58187, - "recall-0.1": 0.95707, - "recall-0.15": 0.98376, + "recall-0.025": 0.10936, + "recall-0.05": 0.59183, + "recall-0.1": 0.96039, + "recall-0.15": 0.98487, "recall-0.25": 0.98917, "recall-0.5": 0.99754 } } { "total_parts": 8725, - "correct_parts": 8596, - "pcp": 0.985215 + "correct_parts": 8613, + "pcp": 0.987163 } ``` @@ -3102,26 +3102,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0237961, - "demosaicing": 0.000614795, - "avg_time_2d": 0.00829619, - "avg_time_3d": 3.31439e-05, - "fps": 111.805 + "img_loading": 0.023819, + "demosaicing": 0.000592636, + "avg_time_2d": 0.00836484, + "avg_time_3d": 3.39228e-05, + "fps": 111.217 } { "triangulator_calls": 200, - "init_time": 2.38789e-06, - "undistort_time": 3.87026e-06, - "project_time": 1.6185e-08, - "match_time": 1.6255e-08, - "pairs_time": 1.95465e-07, - "pair_scoring_time": 5.95505e-06, - "grouping_time": 9.36885e-07, - "full_time": 7.57055e-06, - "merge_time": 3.17569e-06, - "post_time": 4.01471e-06, - "convert_time": 5.971e-08, - "total_time": 2.84365e-05 + "init_time": 2.32901e-06, + "undistort_time": 3.80476e-06, + "project_time": 1.5805e-08, + "match_time": 1.6475e-08, + "pairs_time": 1.94975e-07, + "pair_scoring_time": 5.96606e-06, + "grouping_time": 1.01088e-06, + "full_time": 7.36997e-06, + "merge_time": 3.18934e-06, + "post_time": 4.69211e-06, + "convert_time": 5.8275e-08, + "total_time": 2.88801e-05 } { "person_nums": { @@ -3140,12 +3140,12 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 200, - "mean": 0.023425, - "median": 0.021578, - "std": 0.010126, - "sem": 0.000718, - "min": 0.011623, - "max": 0.093708, + "mean": 0.023651, + "median": 0.022282, + "std": 0.008704, + "sem": 0.000617, + "min": 0.010617, + "max": 0.07701, "recall-0.025": 0.67, "recall-0.05": 0.985, "recall-0.1": 1.0, @@ -3153,8 +3153,8 @@ Results of the model in various experiments on different datasets. \ "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200, - "ap-0.025": 0.589809, - "ap-0.05": 0.984181, + "ap-0.025": 0.587964, + "ap-0.05": 0.984394, "ap-0.1": 1.0, "ap-0.15": 1.0, "ap-0.25": 1.0, @@ -3162,30 +3162,30 @@ Results of the model in various experiments on different datasets. \ }, "nose": { "count": 200, - "mean": 0.038895, - "median": 0.030352, - "std": 0.030467, - "sem": 0.00216, - "min": 0.004392, - "max": 0.237499, - "recall-0.025": 0.41, - "recall-0.05": 0.765, - "recall-0.1": 0.96, - "recall-0.15": 0.995, + "mean": 0.037471, + "median": 0.025849, + "std": 0.033736, + "sem": 0.002391, + "min": 0.003578, + "max": 0.182061, + "recall-0.025": 0.48, + "recall-0.05": 0.77, + "recall-0.1": 0.92, + "recall-0.15": 0.99, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "shoulder_left": { "count": 200, - "mean": 0.018108, - "median": 0.015435, - "std": 0.011095, - "sem": 0.000787, - "min": 0.00323, - "max": 0.070588, - "recall-0.025": 0.82, - "recall-0.05": 0.98, + "mean": 0.019542, + "median": 0.016913, + "std": 0.011441, + "sem": 0.000811, + "min": 0.003239, + "max": 0.068476, + "recall-0.025": 0.75, + "recall-0.05": 0.97, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -3194,14 +3194,14 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 200, - "mean": 0.022008, - "median": 0.019454, - "std": 0.012077, - "sem": 0.000856, - "min": 0.004411, - "max": 0.078211, - "recall-0.025": 0.65, - "recall-0.05": 0.965, + "mean": 0.024473, + "median": 0.022001, + "std": 0.013062, + "sem": 0.000926, + "min": 0.003333, + "max": 0.089912, + "recall-0.025": 0.6, + "recall-0.05": 0.945, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -3210,14 +3210,14 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 200, - "mean": 0.0159, - "median": 0.012776, - "std": 0.012186, - "sem": 0.000864, - "min": 0.00209, - "max": 0.087905, - "recall-0.025": 0.85, - "recall-0.05": 0.98, + "mean": 0.016917, + "median": 0.014005, + "std": 0.012098, + "sem": 0.000858, + "min": 0.002057, + "max": 0.083023, + "recall-0.025": 0.825, + "recall-0.05": 0.975, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -3226,14 +3226,14 @@ Results of the model in various experiments on different datasets. \ }, 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0.995, "recall-0.5": 1.0, "num_labels": 200 }, "ankle_right": { - "count": 199, - "mean": 0.016143, - "median": 0.01016, - "std": 0.028275, - "sem": 0.002009, - "min": 0.000578, - "max": 0.34853, - "recall-0.025": 0.875, - "recall-0.05": 0.96, - "recall-0.1": 0.98, + "count": 200, + "mean": 0.017668, + "median": 0.010219, + "std": 0.031758, + "sem": 0.002251, + "min": 0.00132, + "max": 0.333612, + "recall-0.025": 0.885, + "recall-0.05": 0.955, + "recall-0.1": 0.975, "recall-0.15": 0.99, - "recall-0.25": 0.99, - "recall-0.5": 0.995, + "recall-0.25": 0.995, + "recall-0.5": 1.0, "num_labels": 200 }, "joint_recalls": { "num_labels": 2600, - "recall-0.025": 0.68654, - "recall-0.05": 0.92577, - "recall-0.1": 0.98923, - "recall-0.15": 0.99692, - "recall-0.25": 0.99769, - "recall-0.5": 0.99962 + "recall-0.025": 0.67577, + "recall-0.05": 0.92346, + "recall-0.1": 0.98462, + "recall-0.15": 0.995, + "recall-0.25": 0.99808, + "recall-0.5": 1.0 } } { "total_parts": 2800, - "correct_parts": 2794, - "pcp": 0.997857 + "correct_parts": 2796, + "pcp": 0.998571 } ``` @@ -3389,26 +3389,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.0241492, - "demosaicing": 0.00057554, - "avg_time_2d": 0.0115831, - "avg_time_3d": 0.000118674, - "fps": 81.4512 + "img_loading": 0.0235073, + "demosaicing": 0.000589444, + "avg_time_2d": 0.0116123, + "avg_time_3d": 0.000121054, + "fps": 81.1505 } { "triangulator_calls": 200, - "init_time": 2.77747e-06, - "undistort_time": 2.5475e-05, - "project_time": 1.637e-08, - "match_time": 1.6225e-08, - "pairs_time": 2.03795e-07, - "pair_scoring_time": 6.2579e-06, - "grouping_time": 1.07397e-06, - "full_time": 4.49342e-05, - "merge_time": 1.65571e-05, - "post_time": 1.6264e-05, - "convert_time": 3.41155e-07, - "total_time": 0.000114155 + "init_time": 2.67115e-06, + "undistort_time": 2.52513e-05, + "project_time": 1.555e-08, + "match_time": 1.642e-08, + "pairs_time": 1.9683e-07, + "pair_scoring_time": 5.97079e-06, + "grouping_time": 9.66385e-07, + "full_time": 4.41648e-05, + "merge_time": 1.4283e-05, + "post_time": 2.2505e-05, + "convert_time": 2.6854e-07, + "total_time": 0.000116544 } { "person_nums": { @@ -3427,53 +3427,53 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 200, - "mean": 0.045839, - "median": 0.041044, - "std": 0.018224, - "sem": 0.001292, - "min": 0.018554, - "max": 0.177081, - "recall-0.025": 0.03, - "recall-0.05": 0.695, - "recall-0.1": 0.99, - "recall-0.15": 0.995, + "mean": 0.04567, + "median": 0.042488, + "std": 0.01579, + "sem": 0.001119, + "min": 0.02021, + "max": 0.097066, + "recall-0.025": 0.025, + "recall-0.05": 0.715, + "recall-0.1": 1.0, + "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200, - "ap-0.025": 0.012146, - "ap-0.05": 0.597844, - "ap-0.1": 0.989062, - "ap-0.15": 0.99495, + "ap-0.025": 0.01062, + "ap-0.05": 0.62701, + "ap-0.1": 1.0, + "ap-0.15": 1.0, "ap-0.25": 1.0, "ap-0.5": 1.0 }, 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Results of the model in various experiments on different datasets. \ }, "eye_right": { "count": 200, - "mean": 0.045095, - "median": 0.037406, - "std": 0.030598, - "sem": 0.002169, - "min": 0.000655, - "max": 0.179849, - "recall-0.025": 0.315, - "recall-0.05": 0.65, - "recall-0.1": 0.95, - "recall-0.15": 0.99, + "mean": 0.045434, + "median": 0.032483, + "std": 0.036927, + "sem": 0.002618, + "min": 0.003578, + "max": 0.213848, + "recall-0.025": 0.405, + "recall-0.05": 0.64, + "recall-0.1": 0.915, + "recall-0.15": 0.985, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "ear_left": { "count": 200, - "mean": 0.029727, - "median": 0.023129, - "std": 0.025502, - "sem": 0.001808, - "min": 0.002975, - "max": 0.249719, - "recall-0.025": 0.565, - "recall-0.05": 0.89, - "recall-0.1": 0.975, - "recall-0.15": 0.995, + "mean": 0.030034, + "median": 0.024802, + "std": 0.023356, + "sem": 0.001656, + "min": 0.004202, + "max": 0.219616, + "recall-0.025": 0.515, + "recall-0.05": 0.855, + 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0.247412, + "recall-0.025": 0.73, "recall-0.05": 0.95, "recall-0.1": 0.99, "recall-0.15": 0.99, @@ -3577,63 +3577,63 @@ Results of the model in various experiments on different datasets. \ }, "elbow_right": { "count": 200, - "mean": 0.025114, - "median": 0.016142, - "std": 0.026378, - "sem": 0.00187, - "min": 0.001489, - "max": 0.261819, - "recall-0.025": 0.66, - "recall-0.05": 0.89, - "recall-0.1": 0.98, - "recall-0.15": 0.995, - "recall-0.25": 0.995, + "mean": 0.024505, + "median": 0.017624, + "std": 0.019537, + "sem": 0.001385, + "min": 0.003031, + "max": 0.103508, + "recall-0.025": 0.67, + "recall-0.05": 0.9, + "recall-0.1": 0.99, + "recall-0.15": 1.0, + "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 200 }, "wrist_left": { - "count": 199, - "mean": 0.026292, - "median": 0.017381, - "std": 0.032203, - "sem": 0.002289, - "min": 0.002734, - "max": 0.339517, - "recall-0.025": 0.67, - "recall-0.05": 0.905, + "count": 200, + "mean": 0.027435, + "median": 0.017966, + "std": 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"count": 480, - "mean": 0.020647, - "median": 0.017383, - "std": 0.013171, - "sem": 0.000602, - "min": 0.002292, - "max": 0.118335, - "recall-0.025": 0.739669, + "mean": 0.020493, + "median": 0.01753, + "std": 0.013087, + "sem": 0.000598, + "min": 0.00256, + "max": 0.123888, + "recall-0.025": 0.731405, "recall-0.05": 0.958678, "recall-0.1": 0.989669, "recall-0.15": 0.991736, @@ -7078,14 +7078,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 480, - "mean": 0.021779, - "median": 0.018461, - "std": 0.013334, - "sem": 0.000609, - "min": 0.001779, - "max": 0.09571, - "recall-0.025": 0.71281, - "recall-0.05": 0.946281, + "mean": 0.021566, + "median": 0.018121, + "std": 0.012989, + "sem": 0.000594, + "min": 0.001731, + "max": 0.095336, + "recall-0.025": 0.710744, + "recall-0.05": 0.944215, "recall-0.1": 0.991736, "recall-0.15": 0.991736, "recall-0.25": 0.991736, @@ -7094,11 +7094,11 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 6292, - "recall-0.025": 0.50064, - "recall-0.05": 0.86316, - "recall-0.1": 0.9795, - "recall-0.15": 0.98872, - "recall-0.25": 0.99126, + "recall-0.025": 0.51128, + "recall-0.05": 0.87333, + "recall-0.1": 0.98204, + "recall-0.15": 0.99015, + "recall-0.25": 0.9911, "recall-0.5": 0.99174 } } @@ -7113,59 +7113,59 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.452032, - "demosaicing": 0.0177035, - "avg_time_2d": 0.0439512, - "avg_time_3d": 0.000726597, - "fps": 16.0304 + "img_loading": 0.451802, + "demosaicing": 0.0183249, + "avg_time_2d": 0.0441664, + "avg_time_3d": 0.000727349, + "fps": 15.8181 } { "triangulator_calls": 183, - "init_time": 6.71268e-06, - "undistort_time": 4.29741e-05, - "project_time": 8.26797e-06, - "match_time": 3.34986e-05, - "pairs_time": 6.2742e-05, - "pair_scoring_time": 0.000192444, - "grouping_time": 5.69908e-05, - "full_time": 0.000215974, - "merge_time": 8.97259e-05, - "post_time": 9.68145e-06, - "convert_time": 2.04923e-07, - "total_time": 0.000719457 + "init_time": 6.04716e-06, + "undistort_time": 4.27667e-05, + "project_time": 8.33188e-06, + "match_time": 3.31957e-05, + "pairs_time": 6.26996e-05, + "pair_scoring_time": 0.000195276, + "grouping_time": 4.98636e-05, + "full_time": 0.000214836, + "merge_time": 9.74097e-05, + "post_time": 1.07337e-05, + "convert_time": 2.03694e-07, + "total_time": 0.000721604 } { "person_nums": { "total_frames": 183, "total_labels": 732, - "total_preds": 733, + "total_preds": 732, "considered_empty": 0, "valid_preds": 732, - "invalid_preds": 1, + "invalid_preds": 0, "missing": 0, - "invalid_fraction": 0.00136, - "precision": 0.99864, + "invalid_fraction": 0.0, + "precision": 1.0, "recall": 1.0, - "f1": 0.99932, - "non_empty": 733 + "f1": 1.0, + "non_empty": 732 }, "mpjpe": { "count": 732, - "mean": 0.025045, - "median": 0.023879, - "std": 0.007244, - "sem": 0.000268, - "min": 0.009835, - "max": 0.074011, - "recall-0.025": 0.586066, - "recall-0.05": 0.991803, + "mean": 0.02469, + "median": 0.023646, + "std": 0.00687, + "sem": 0.000254, + "min": 0.010015, + "max": 0.063899, + "recall-0.025": 0.598361, + "recall-0.05": 0.993169, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 732, - "ap-0.025": 0.392784, - "ap-0.05": 0.988954, + "ap-0.025": 0.406508, + "ap-0.05": 0.992169, "ap-0.1": 1.0, "ap-0.15": 1.0, "ap-0.25": 1.0, @@ -7173,31 +7173,31 @@ Results of the model in various experiments on different datasets. \ }, "head": { "count": 732, - "mean": 0.028793, - "median": 0.023127, - "std": 0.022529, - "sem": 0.000833, - "min": 0.001802, - "max": 0.230778, - "recall-0.025": 0.545082, - "recall-0.05": 0.903005, - "recall-0.1": 0.98224, - "recall-0.15": 0.991803, + "mean": 0.027966, + "median": 0.022762, + "std": 0.021063, + "sem": 0.000779, + "min": 0.004084, + "max": 0.207925, + "recall-0.025": 0.571038, + "recall-0.05": 0.913934, + 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"recall-0.1": 0.997268, + "mean": 0.022794, + "median": 0.019392, + "std": 0.014571, + "sem": 0.000539, + "min": 0.001187, + "max": 0.105973, + "recall-0.025": 0.698087, + "recall-0.05": 0.941257, + "recall-0.1": 0.998634, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -7253,15 +7253,15 @@ Results of the model in various experiments on different datasets. \ }, "wrist_left": { "count": 732, - "mean": 0.02799, - "median": 0.02417, - "std": 0.019722, - "sem": 0.000729, - "min": 0.001877, - "max": 0.191519, - "recall-0.025": 0.512295, - "recall-0.05": 0.901639, - "recall-0.1": 0.987705, + "mean": 0.027451, + "median": 0.023235, + "std": 0.019358, + "sem": 0.000716, + "min": 0.002433, + "max": 0.172682, + "recall-0.025": 0.534153, + "recall-0.05": 0.911202, + "recall-0.1": 0.989071, "recall-0.15": 0.998634, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -7269,30 +7269,30 @@ Results of the model in various experiments on different datasets. \ }, "wrist_right": { "count": 732, - "mean": 0.027309, - "median": 0.023765, - "std": 0.018701, - "sem": 0.000692, - "min": 0.003028, - "max": 0.190869, - "recall-0.025": 0.554645, - "recall-0.05": 0.919399, - "recall-0.1": 0.991803, - "recall-0.15": 0.995902, + "mean": 0.026668, + "median": 0.023395, + "std": 0.017662, + "sem": 0.000653, + "min": 0.003233, + "max": 0.199614, + "recall-0.025": 0.577869, + "recall-0.05": 0.928962, + "recall-0.1": 0.993169, + "recall-0.15": 0.997268, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 732 }, "hip_left": { "count": 732, - "mean": 0.028161, - "median": 0.02632, - "std": 0.013789, - "sem": 0.00051, - "min": 0.001235, - "max": 0.089993, - "recall-0.025": 0.460383, - "recall-0.05": 0.931694, + "mean": 0.028017, + "median": 0.025863, + "std": 0.013773, + "sem": 0.000509, + "min": 0.000979, + "max": 0.089514, + "recall-0.025": 0.463115, + "recall-0.05": 0.934426, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7301,14 +7301,14 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 732, - "mean": 0.025779, - "median": 0.023306, - "std": 0.013216, - "sem": 0.000489, - "min": 0.001685, - "max": 0.102776, - "recall-0.025": 0.550546, - "recall-0.05": 0.952186, + "mean": 0.025586, + "median": 0.023194, + "std": 0.01301, + "sem": 0.000481, + "min": 0.003152, + "max": 0.108846, + "recall-0.025": 0.54918, + "recall-0.05": 0.961749, "recall-0.1": 0.998634, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7317,14 +7317,14 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 732, - "mean": 0.017759, - "median": 0.016651, - "std": 0.008706, - "sem": 0.000322, - "min": 0.001064, - "max": 0.070855, - "recall-0.025": 0.845628, - "recall-0.05": 0.989071, + "mean": 0.017883, + "median": 0.016842, + "std": 0.00882, + "sem": 0.000326, + "min": 0.002027, + "max": 0.073919, + "recall-0.025": 0.838798, + "recall-0.05": 0.991803, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7333,14 +7333,14 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 732, - "mean": 0.020326, - "median": 0.018666, - "std": 0.009851, - "sem": 0.000364, - "min": 0.003068, - "max": 0.068674, - "recall-0.025": 0.736339, - "recall-0.05": 0.989071, + "mean": 0.020264, + "median": 0.019015, + "std": 0.009598, + "sem": 0.000355, + "min": 0.001846, + "max": 0.068584, + "recall-0.025": 0.745902, + "recall-0.05": 0.991803, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7349,14 +7349,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 732, - "mean": 0.019616, - "median": 0.017733, - "std": 0.010576, - "sem": 0.000391, - "min": 0.002067, - "max": 0.089748, - "recall-0.025": 0.763661, - "recall-0.05": 0.980874, + "mean": 0.019523, + "median": 0.017732, + "std": 0.0103, + "sem": 0.000381, + "min": 0.001973, + "max": 0.084585, + "recall-0.025": 0.762295, + "recall-0.05": 0.98224, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7365,15 +7365,15 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 732, - "mean": 0.020598, - "median": 0.018718, - "std": 0.010451, - "sem": 0.000387, - "min": 0.001614, - "max": 0.096862, - "recall-0.025": 0.741803, - "recall-0.05": 0.980874, - "recall-0.1": 1.0, + "mean": 0.020572, + "median": 0.018929, + "std": 0.010517, + "sem": 0.000389, + "min": 0.001564, + "max": 0.119413, + "recall-0.025": 0.734973, + "recall-0.05": 0.983607, + "recall-0.1": 0.998634, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -7381,18 +7381,18 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 9516, - "recall-0.025": 0.6116, - "recall-0.05": 0.93485, - "recall-0.1": 0.99433, - "recall-0.15": 0.99884, + "recall-0.025": 0.62053, + "recall-0.05": 0.94115, + "recall-0.1": 0.99517, + "recall-0.15": 0.99905, "recall-0.25": 1.0, "recall-0.5": 1.0 } } { "total_parts": 10248, - "correct_parts": 10240, - "pcp": 0.999219 + "correct_parts": 10242, + "pcp": 0.999415 } ``` @@ -7400,26 +7400,26 @@ Results of the model in various experiments on different datasets. \ ```json { - "img_loading": 0.709753, - "demosaicing": 0.0273543, - "avg_time_2d": 0.0514816, - "avg_time_3d": 0.000600378, - "fps": 12.5887 + "img_loading": 0.678049, + "demosaicing": 0.0281205, + "avg_time_2d": 0.0515361, + "avg_time_3d": 0.000608363, + "fps": 12.4587 } { "triangulator_calls": 181, - "init_time": 7.6806e-06, - "undistort_time": 3.2454e-05, - "project_time": 7.43999e-06, - "match_time": 1.63477e-05, - "pairs_time": 2.52535e-05, - "pair_scoring_time": 0.000159535, - "grouping_time": 4.8064e-05, - "full_time": 0.000186023, - "merge_time": 8.50171e-05, - "post_time": 7.13875e-06, - "convert_time": 1.27978e-07, - "total_time": 0.000575325 + "init_time": 7.8004e-06, + "undistort_time": 3.25182e-05, + "project_time": 7.3733e-06, + "match_time": 1.63097e-05, + "pairs_time": 2.53249e-05, + "pair_scoring_time": 0.000165146, + "grouping_time": 4.12599e-05, + "full_time": 0.000186216, + "merge_time": 9.23446e-05, + "post_time": 8.11761e-06, + "convert_time": 1.32409e-07, + "total_time": 0.000582784 } { "person_nums": { @@ -7438,50 +7438,50 @@ Results of the model in various experiments on different datasets. \ }, "mpjpe": { "count": 362, - "mean": 0.023213, - "median": 0.021801, - "std": 0.009521, - "sem": 0.000501, - "min": 0.012045, - "max": 0.12733, - "recall-0.025": 0.729282, + "mean": 0.022918, + "median": 0.02152, + "std": 0.009772, + "sem": 0.000514, + "min": 0.012149, + "max": 0.128278, + "recall-0.025": 0.759669, "recall-0.05": 0.986188, "recall-0.1": 0.997238, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 362, - "ap-0.025": 0.626324, - "ap-0.05": 0.985941, - "ap-0.1": 0.997154, + "ap-0.025": 0.716634, + "ap-0.05": 0.986096, + "ap-0.1": 0.997222, "ap-0.15": 1.0, "ap-0.25": 1.0, "ap-0.5": 1.0 }, "head": { "count": 362, - "mean": 0.036211, - "median": 0.035651, - "std": 0.015366, - "sem": 0.000809, - "min": 0.004166, - "max": 0.103865, - "recall-0.025": 0.234807, - "recall-0.05": 0.853591, + "mean": 0.036197, + "median": 0.035912, + "std": 0.016006, + "sem": 0.000842, + "min": 0.003978, + "max": 0.150241, + "recall-0.025": 0.229282, + "recall-0.05": 0.861878, "recall-0.1": 0.997238, - "recall-0.15": 1.0, + "recall-0.15": 0.997238, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 362 }, "shoulder_left": { "count": 362, - "mean": 0.023498, - "median": 0.01984, - "std": 0.014335, - "sem": 0.000754, - "min": 0.003033, - "max": 0.120766, + "mean": 0.023507, + "median": 0.019704, + "std": 0.014464, + "sem": 0.000761, + "min": 0.001982, + "max": 0.108995, "recall-0.025": 0.632597, "recall-0.05": 0.953039, "recall-0.1": 0.997238, @@ -7492,15 +7492,15 @@ Results of the model in various experiments on different datasets. \ }, "shoulder_right": { "count": 362, - "mean": 0.02675, - "median": 0.024194, - "std": 0.01403, - "sem": 0.000738, - "min": 0.002454, - "max": 0.098238, - "recall-0.025": 0.516575, - "recall-0.05": 0.939227, - "recall-0.1": 1.0, + "mean": 0.026711, + "median": 0.024076, + "std": 0.014987, + "sem": 0.000789, + "min": 0.002556, + "max": 0.121236, + "recall-0.025": 0.527624, + "recall-0.05": 0.944751, + "recall-0.1": 0.994475, "recall-0.15": 1.0, "recall-0.25": 1.0, "recall-0.5": 1.0, @@ -7508,30 +7508,30 @@ Results of the model in various experiments on different datasets. \ }, "elbow_left": { "count": 362, - "mean": 0.02072, - "median": 0.017227, - "std": 0.013419, - "sem": 0.000706, - "min": 0.001056, - "max": 0.098447, - "recall-0.025": 0.745856, - "recall-0.05": 0.955801, - "recall-0.1": 1.0, - "recall-0.15": 1.0, + "mean": 0.020586, + "median": 0.016728, + "std": 0.015209, + "sem": 0.0008, + "min": 0.001058, + "max": 0.195213, + "recall-0.025": 0.743094, + "recall-0.05": 0.961326, + "recall-0.1": 0.997238, + "recall-0.15": 0.997238, "recall-0.25": 1.0, "recall-0.5": 1.0, "num_labels": 362 }, "elbow_right": { "count": 362, - "mean": 0.024697, - "median": 0.022139, - "std": 0.015501, - "sem": 0.000816, - "min": 0.001285, - "max": 0.147551, - "recall-0.025": 0.60221, - "recall-0.05": 0.953039, + "mean": 0.024319, + "median": 0.021527, + "std": 0.015381, + "sem": 0.00081, + "min": 0.001283, + "max": 0.148733, + "recall-0.025": 0.61326, + "recall-0.05": 0.955801, "recall-0.1": 0.994475, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7540,14 +7540,14 @@ Results of the model in various experiments on different datasets. \ }, "wrist_left": { "count": 362, - "mean": 0.022039, - "median": 0.018331, - "std": 0.014347, - "sem": 0.000755, - "min": 0.003252, - "max": 0.095115, - "recall-0.025": 0.701657, - "recall-0.05": 0.941989, + "mean": 0.021391, + "median": 0.017405, + "std": 0.014166, + "sem": 0.000746, + "min": 0.002638, + "max": 0.09535, + "recall-0.025": 0.726519, + "recall-0.05": 0.950276, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7556,14 +7556,14 @@ Results of the model in various experiments on different datasets. \ }, "wrist_right": { "count": 362, - "mean": 0.028362, - "median": 0.022899, - "std": 0.02836, - "sem": 0.001493, - "min": 0.002325, - "max": 0.315152, - "recall-0.025": 0.555249, - "recall-0.05": 0.903315, + "mean": 0.027406, + "median": 0.022453, + "std": 0.028204, + "sem": 0.001484, + "min": 0.00116, + "max": 0.317595, + "recall-0.025": 0.59116, + "recall-0.05": 0.914365, "recall-0.1": 0.986188, "recall-0.15": 0.991713, "recall-0.25": 0.994475, @@ -7572,12 +7572,12 @@ Results of the model in various experiments on different datasets. \ }, "hip_left": { "count": 362, - "mean": 0.024894, - "median": 0.022278, - "std": 0.014487, - "sem": 0.000762, - "min": 0.002017, - "max": 0.143551, + "mean": 0.024907, + "median": 0.022292, + "std": 0.014533, + "sem": 0.000765, + "min": 0.002714, + "max": 0.145386, "recall-0.025": 0.588398, "recall-0.05": 0.955801, "recall-0.1": 0.997238, @@ -7588,14 +7588,14 @@ Results of the model in various experiments on different datasets. \ }, "hip_right": { "count": 362, - "mean": 0.02466, - "median": 0.02231, - "std": 0.016469, - "sem": 0.000867, - "min": 0.000903, - "max": 0.190926, + "mean": 0.024685, + "median": 0.022347, + "std": 0.016672, + "sem": 0.000877, + "min": 0.001503, + "max": 0.191085, "recall-0.025": 0.588398, - "recall-0.05": 0.947514, + "recall-0.05": 0.950276, "recall-0.1": 0.994475, "recall-0.15": 0.997238, "recall-0.25": 1.0, @@ -7604,12 +7604,12 @@ Results of the model in various experiments on different datasets. \ }, "knee_left": { "count": 362, - "mean": 0.015667, - "median": 0.014287, - "std": 0.007999, - "sem": 0.000421, - "min": 0.002177, - "max": 0.050713, + "mean": 0.015582, + "median": 0.014048, + "std": 0.00791, + "sem": 0.000416, + "min": 0.002169, + "max": 0.050269, "recall-0.025": 0.88674, "recall-0.05": 0.997238, "recall-0.1": 1.0, @@ -7620,13 +7620,13 @@ Results of the model in various experiments on different datasets. \ }, "knee_right": { "count": 362, - "mean": 0.016797, - "median": 0.014334, - "std": 0.016153, - "sem": 0.00085, - "min": 0.002523, - "max": 0.256658, - "recall-0.025": 0.875691, + "mean": 0.016711, + "median": 0.014326, + "std": 0.016164, + "sem": 0.000851, + "min": 0.00233, + "max": 0.257078, + "recall-0.025": 0.872928, "recall-0.05": 0.991713, "recall-0.1": 0.994475, "recall-0.15": 0.997238, @@ -7636,14 +7636,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_left": { "count": 362, - "mean": 0.018588, - "median": 0.016165, - "std": 0.011049, - "sem": 0.000582, - "min": 0.001739, - "max": 0.08852, - "recall-0.025": 0.801105, - "recall-0.05": 0.975138, + "mean": 0.017504, + "median": 0.015374, + "std": 0.010512, + "sem": 0.000553, + "min": 0.001514, + "max": 0.088499, + "recall-0.025": 0.839779, + "recall-0.05": 0.977901, "recall-0.1": 1.0, "recall-0.15": 1.0, "recall-0.25": 1.0, @@ -7652,14 +7652,14 @@ Results of the model in various experiments on different datasets. \ }, "ankle_right": { "count": 362, - "mean": 0.018893, - "median": 0.014002, - "std": 0.028283, - "sem": 0.001489, - "min": 0.000791, - "max": 0.49458, - "recall-0.025": 0.825967, - "recall-0.05": 0.966851, + "mean": 0.018432, + "median": 0.013868, + "std": 0.028382, + "sem": 0.001494, + "min": 0.001421, + "max": 0.496813, + "recall-0.025": 0.837017, + "recall-0.05": 0.972376, "recall-0.1": 0.994475, "recall-0.15": 0.997238, "recall-0.25": 0.997238, @@ -7668,17 +7668,17 @@ Results of the model in various experiments on different datasets. \ }, "joint_recalls": { "num_labels": 4706, - "recall-0.025": 0.65746, - "recall-0.05": 0.94794, - "recall-0.1": 0.99575, - "recall-0.15": 0.99873, + "recall-0.025": 0.66617, + "recall-0.05": 0.95155, + "recall-0.1": 0.9949, + "recall-0.15": 0.9983, "recall-0.25": 0.99894, "recall-0.5": 1.0 } } { "total_parts": 5068, - "correct_parts": 5064, - "pcp": 0.999211 + "correct_parts": 5061, + "pcp": 0.998619 } ```