108 lines
2.7 KiB
Python
108 lines
2.7 KiB
Python
import json
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import sys
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import time
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import numpy as np
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sys.path.append("../swig/")
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import spt
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# ==================================================================================================
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def main():
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print("")
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# Test camera structure
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camera = spt.Camera()
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camera.name = "Camera 1"
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camera.K = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
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camera.DC = [0, 0, 0, 0, 0]
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camera.R = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
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camera.T = [[1], [2], [3]]
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camera.width = 640
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camera.height = 480
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print(camera)
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print("")
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# Load input data
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roomparams = [[4.8, 6.0, 2.0], [0, 0, 1.0]]
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joint_names = [
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"nose",
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"eye_left",
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"eye_right",
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"ear_left",
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"ear_right",
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"shoulder_left",
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"shoulder_right",
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"elbow_left",
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"elbow_right",
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"wrist_left",
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"wrist_right",
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"hip_left",
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"hip_right",
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"knee_left",
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"knee_right",
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"ankle_left",
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"ankle_right",
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"hip_middle",
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"shoulder_middle",
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"head",
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]
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cpath = "/SimplePoseTriangulation/data/h1/sample.json"
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ppath = "/SimplePoseTriangulation/tests/poses_h1.json"
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with open(cpath, "r") as file:
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cdata = json.load(file)
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with open(ppath, "r") as file:
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pdata = json.load(file)
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cams = cdata["cameras"]
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poses_2d = pdata["2D"]
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cameras = spt.convert_cameras(cams)
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# Run triangulation
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triangulator = spt.Triangulator(min_score=0.95)
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stime = time.time()
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poses_3d = triangulator.triangulate_poses(
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poses_2d, cameras, roomparams, joint_names
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)
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print("3D time:", time.time() - stime)
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print(np.array(poses_3d))
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print("")
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# Load input data
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roomparams = [[5.6, 6.4, 2.4], [0, -0.5, 1.2]]
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cpath = "/SimplePoseTriangulation/data/p1/sample.json"
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ppath = "/SimplePoseTriangulation/tests/poses_p1.json"
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with open(cpath, "r") as file:
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cdata = json.load(file)
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with open(ppath, "r") as file:
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pdata = json.load(file)
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cams = cdata["cameras"]
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poses_2d = pdata["2D"]
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cameras = spt.convert_cameras(cams)
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# Run triangulation
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triangulator.reset()
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stime = time.time()
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poses_3d = triangulator.triangulate_poses(
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poses_2d, cameras, roomparams, joint_names
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)
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print("3D time:", time.time() - stime)
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print(np.array(poses_3d))
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print("")
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# Run again to test last pose cache
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stime = time.time()
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poses_3d = triangulator.triangulate_poses(
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poses_2d, cameras, roomparams, joint_names
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)
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print("3D time:", time.time() - stime)
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print(np.array(poses_3d))
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print("")
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# ==================================================================================================
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if __name__ == "__main__":
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main()
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