# RapidPoseTriangulation

Fast triangulation of multiple persons from multiple camera views.

<div align="center">
    <img src="media/2d-k.jpg" alt="2D detections"" width="65%"/>
    <b>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</b>
    <img src="media/3d-p.jpg" alt="3D detections" width="30%"/>
    <br>
    <br>
    <img src="media/2d-p.jpg" alt="3D to 2D projection" width="95%"/>
</div>

<br>

## Build

- Clone this project with submodules: 
    ```bash
    git clone --recurse-submodules https://gitlab.com/Percipiote/RapidPoseTriangulation.git
    cd RapidPoseTriangulation/
    ```

- Enable gpu-access while building docker images:
  ```bash
  # Open file:
  sudo nano /etc/docker/daemon.json
  # Add:
  {
    "default-runtime": "nvidia",
    "runtimes": {
      "nvidia": {
        "path": "nvidia-container-runtime",
        "runtimeArgs": []
      }
    }
  }
  # Restart docker
  sudo systemctl restart docker
  ```

- Build docker container:
  ```bash
  docker build --progress=plain -t rapidposetriangulation .
  ./run_container.sh
  ```

- Build triangulator:
  ```bash
  cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..

  cd /RapidPoseTriangulation/scripts/ && \
  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
    -I /RapidPoseTriangulation/rpt/ \
    -isystem /usr/include/opencv4/ \
    -isystem /onnxruntime/include/ \
    -isystem /onnxruntime/include/onnxruntime/core/session/ \
    -isystem /onnxruntime/include/onnxruntime/core/providers/tensorrt/ \
    -L /onnxruntime/build/Linux/Release/ \
    test_skelda_dataset.cpp \
    /RapidPoseTriangulation/rpt/*.cpp \
    -o test_skelda_dataset.bin \
    -Wl,--start-group \
      -lonnxruntime_providers_tensorrt \
      -lonnxruntime_providers_shared \
      -lonnxruntime_providers_cuda \
      -lonnxruntime \
    -Wl,--end-group \
    $(pkg-config --libs opencv4) \
    -Wl,-rpath,/onnxruntime/build/Linux/Release/ \
  && cd ..
  ```

- Test with samples:
  ```bash
  python3 /RapidPoseTriangulation/scripts/test_triangulate.py
  ```

- Test with _skelda_ dataset:
  ```bash
  export CUDA_VISIBLE_DEVICES=0
  python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
  ```

<br>

## Extras

- Exporting tools for 2D models are at [mmdeploy](extras/mmdeploy/README.md) directory.

- For usage in combination with ROS2 see [ros](extras/ros/README.md) directory.

- Running on a Nvidia Jetson is also possible with [jetson](extras/jetson/README.md) directory.