55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#pragma once
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#include <string>
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#include <vector>
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#include "camera.hpp"
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// =================================================================================================
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// Forward declaration of the class, that swig does not try to parse all its dependencies.
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class TriangulatorInternal;
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// =================================================================================================
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class Triangulator
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{
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public:
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/**
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* Triangulator to predict poses from multiple views.
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*
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*
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* @param min_match_score Minimum score to consider a triangulated joint as valid.
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* @param min_group_size Minimum number of camera pairs that need to see a person.
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*/
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Triangulator(
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float min_match_score = 0.95,
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size_t min_group_size = 1);
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/**
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* Calculate a triangulation.
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*
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*
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* @param poses_2d List of shape [views, persons, joints, 3], containing the 2D poses.
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* @param cameras List of cameras.
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* @param roomparams Room parameters (room size, room center).
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* @param joint_names List of 2D joint names.
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*
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* @return List of shape [persons, joints, 4], containing the 3D poses.
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*/
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std::vector<std::vector<std::array<float, 4>>> triangulate_poses(
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const std::vector<std::vector<std::vector<std::array<float, 3>>>> &poses_2d,
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const std::vector<Camera> &cameras,
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const std::array<std::array<float, 3>, 2> &roomparams,
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const std::vector<std::string> &joint_names);
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/** Reset the triangulator. */
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void reset();
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/** Print triangulation statistics. */
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void print_stats();
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private:
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TriangulatorInternal *triangulator;
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};
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