100 lines
3.0 KiB
C++
100 lines
3.0 KiB
C++
#pragma once
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#include <cstdint>
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#include <memory>
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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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using RaggedPoses2D = std::vector<std::vector<std::vector<std::array<float, 3>>>>;
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using NestedPoses3D = std::vector<std::vector<std::array<float, 4>>>;
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// =================================================================================================
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struct PoseBatch2D
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{
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std::vector<float> data;
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std::vector<uint32_t> person_counts;
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size_t num_views = 0;
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size_t max_persons = 0;
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size_t num_joints = 0;
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float &at(size_t view, size_t person, size_t joint, size_t coord);
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const float &at(size_t view, size_t person, size_t joint, size_t coord) const;
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RaggedPoses2D to_nested() const;
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static PoseBatch2D from_nested(const RaggedPoses2D &poses_2d);
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};
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struct PoseBatch3D
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{
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std::vector<float> data;
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size_t num_persons = 0;
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size_t num_joints = 0;
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float &at(size_t person, size_t joint, size_t coord);
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const float &at(size_t person, size_t joint, size_t coord) const;
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NestedPoses3D to_nested() const;
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static PoseBatch3D from_nested(const NestedPoses3D &poses_3d);
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};
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// =================================================================================================
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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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* @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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~Triangulator();
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/**
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* Calculate a triangulation using a padded pose tensor.
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*
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* @param poses_2d Padded poses of shape [views, max_persons, joints, 3].
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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 Pose tensor of shape [persons, joints, 4].
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*/
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PoseBatch3D triangulate_poses(
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const PoseBatch2D &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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/**
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* Compatibility overload for callers that still produce ragged nested vectors.
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*/
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NestedPoses3D triangulate_poses(
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const RaggedPoses2D &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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std::unique_ptr<TriangulatorInternal> triangulator;
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};
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