From d86e9f11d7b99185d43ba66ae103acc9d4871e7e Mon Sep 17 00:00:00 2001
From: crosstyan <crosstyan@outlook.com>
Date: Fri, 27 Mar 2026 12:02:41 +0800
Subject: [PATCH] fix(tracking): construct RPT camera payloads via typed
 bindings

Switch the triangulation adapter from ad hoc Python dictionaries to rpt.make_camera so the tracker passes the exact typed camera objects expected by the current RPT bindings.

The camera convention test now asserts against the bound camera object's numeric fields instead of raw dict payloads, which keeps the test aligned with the compiled interface.
---
 src/pose_tracking_exp/tracking/rpt_adapter.py | 20 +++++++++----------
 tests/test_camera_conventions.py              |  9 +++++----
 2 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/src/pose_tracking_exp/tracking/rpt_adapter.py b/src/pose_tracking_exp/tracking/rpt_adapter.py
index 1703a85..1b0633c 100644
--- a/src/pose_tracking_exp/tracking/rpt_adapter.py
+++ b/src/pose_tracking_exp/tracking/rpt_adapter.py
@@ -15,16 +15,16 @@ def build_rpt_config(
     min_group_size: int,
 ) -> TriangulationConfig:
     cameras = [
-        {
-            "name": camera.name,
-            "width": camera.width,
-            "height": camera.height,
-            "K": camera.K.tolist(),
-            "DC": camera.DC.tolist(),
-            "R": camera.pose_R.tolist(),
-            "T": camera.pose_T.reshape(3, 1).tolist(),
-            "model": camera.model,
-        }
+        rpt.make_camera(
+            name=camera.name,
+            width=camera.width,
+            height=camera.height,
+            K=camera.K,
+            DC=camera.DC,
+            R=camera.pose_R,
+            T=camera.pose_T,
+            model=camera.model,
+        )
         for camera in scene.cameras
     ]
     roomparams = np.asarray([scene.room_size, scene.room_center], dtype=np.float32)
diff --git a/tests/test_camera_conventions.py b/tests/test_camera_conventions.py
index 895e64f..7bd270f 100644
--- a/tests/test_camera_conventions.py
+++ b/tests/test_camera_conventions.py
@@ -7,6 +7,7 @@ import numpy as np
 import pytest
 
 pytest.importorskip("rpt")
+import rpt
 
 from pose_tracking_exp.schema import CameraCalibration, CameraModel, SceneConfig, parse_camera_model
 from pose_tracking_exp.tracking.replay_io import load_scene_file
@@ -125,7 +126,7 @@ def test_build_rpt_config_uses_pose_convention(monkeypatch: pytest.MonkeyPatch)
     captured: dict[str, object] = {}
 
     def fake_make_triangulation_config(
-        cameras: list[dict[str, object]],
+        cameras: list[rpt.Camera],
         roomparams: np.ndarray,
         joint_names: list[str],
         *,
@@ -143,6 +144,6 @@ def test_build_rpt_config_uses_pose_convention(monkeypatch: pytest.MonkeyPatch)
 
     build_rpt_config(scene, min_match_score=0.5, min_group_size=2)
 
-    camera_payload = cast(list[dict[str, object]], captured["cameras"])[0]
-    assert camera_payload["R"] == camera.pose_R.tolist()
-    assert camera_payload["T"] == camera.pose_T.reshape(3, 1).tolist()
+    camera_payload = cast(list[rpt.Camera], captured["cameras"])[0]
+    np.testing.assert_allclose(camera_payload.R, camera.pose_R.tolist())
+    np.testing.assert_allclose(camera_payload.T, camera.pose_T.reshape(3, 1).tolist())