crosstyan/RapidPoseTriangulation
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First tracker implementation.

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This commit is contained in:
Daniel
2025-04-03 18:51:33 +02:00
parent dae7c33970
commit ff735759f7
4 changed files with 616 additions and 295 deletions
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27
scripts/test_skelda_dataset.cpp
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@ -17,6 +17,7 @@ using json = nlohmann::json;
#include "/RapidPoseTriangulation/rpt/camera.hpp"
#include "/RapidPoseTriangulation/rpt/interface.hpp"
#include "/RapidPoseTriangulation/rpt/tracker.hpp"
#include "/RapidPoseTriangulation/scripts/utils_2d_pose.hpp"
#include "/RapidPoseTriangulation/scripts/utils_pipeline.hpp"
@ -121,6 +122,7 @@ int main(int argc, char **argv)
const float min_match_score = config["min_match_score"];
const size_t min_group_size = config["min_group_size"];
const int take_interval = config["take_interval"];
const float ifps = config["fps"];
// Load 2D model
bool use_wb = utils_pipeline::use_whole_body(whole_body);
@ -131,6 +133,9 @@ int main(int argc, char **argv)
// Load 3D model
std::unique_ptr<Triangulator> tri_model = std::make_unique<Triangulator>(
min_match_score, min_group_size);
const float max_distance = 0.3 + 2.0 / ifps;
std::unique_ptr<PoseTracker> pose_tracker = std::make_unique<PoseTracker>(
max_distance);
// Timers
size_t time_count = dataset.size();
@ -138,10 +143,12 @@ int main(int argc, char **argv)
std::vector<double> times_debayer;
std::vector<double> times_pose2d;
std::vector<double> times_pose3d;
std::vector<double> times_tracks;
times_image.reserve(time_count);
times_debayer.reserve(time_count);
times_pose2d.reserve(time_count);
times_pose3d.reserve(time_count);
times_tracks.reserve(time_count);
size_t print_steps = (size_t)std::floor((float)time_count / 100.0f);
print_steps = std::max((size_t)1, print_steps);
@ -214,6 +221,7 @@ int main(int argc, char **argv)
{
// Reset last poses if scene changes
tri_model->reset();
pose_tracker->reset();
old_scene = item["scene"];
}
@ -241,6 +249,19 @@ int main(int argc, char **argv)
elapsed = std::chrono::high_resolution_clock::now() - stime;
times_pose3d.push_back(elapsed.count());
stime = std::chrono::high_resolution_clock::now();
double ts = ((int)item["index"]) / ifps;
auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names_2d, ts);
std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
for (size_t j = 0; j < pose_tracks.size(); j++)
{
auto &pose = std::get<1>(pose_tracks[j]);
poses_3d_refined.push_back(pose);
}
poses_3d = poses_3d_refined;
elapsed = std::chrono::high_resolution_clock::now() - stime;
times_tracks.push_back(elapsed.count());
all_poses_3d.push_back(std::move(poses_3d));
all_ids.push_back(item["id"].get<std::string>());
old_id = item["index"];
@ -254,23 +275,27 @@ int main(int argc, char **argv)
double time_debayer = 0.0;
double time_pose2d = 0.0;
double time_pose3d = 0.0;
double time_tracks = 0.0;
for (size_t i = warmup; i < time_count; i++)
{
time_image += times_image[i];
time_debayer += times_debayer[i];
time_pose2d += times_pose2d[i];
time_pose3d += times_pose3d[i];
time_tracks += times_tracks[i];
}
double avg_time_image = time_image / (time_count - warmup);
double avg_time_debayer = time_debayer / (time_count - warmup);
double avg_time_pose2d = time_pose2d / (time_count - warmup);
double avg_time_pose3d = time_pose3d / (time_count - warmup);
double fps = 1.0 / (avg_time_debayer + avg_time_pose2d + avg_time_pose3d);
double avg_time_tracks = time_tracks / (time_count - warmup);
double fps = 1.0 / (avg_time_debayer + avg_time_pose2d + avg_time_pose3d + avg_time_tracks);
std::cout << "{\n"
<< " \"img_loading\": " << avg_time_image << ",\n"
<< " \"demosaicing\": " << avg_time_debayer << ",\n"
<< " \"avg_time_2d\": " << avg_time_pose2d << ",\n"
<< " \"avg_time_3d\": " << avg_time_pose3d << ",\n"
<< " \"time_tracks\": " << avg_time_tracks << ",\n"
<< " \"fps\": " << fps << "\n"
<< "}" << std::endl;
tri_model->print_stats();