feat: initialize offline multiview pose tracking experiment

Set up pose_tracking_exp as a uv-managed Python package for offline multiview body tracking experiments. This initial commit includes: - the typed package scaffold, CLI entrypoints, and repo-local uv configuration - scene and replay loaders for generic JSON replays and ActualTest parquet inputs - ParaJumping payload conversion and RTMPose-to-body20 normalization - a custom articulated tracker with tentative, active, and lost lifecycle handling - RPT-backed proposal generation, camera convention handling, and multiview reprojection updates - regression tests for normalization, camera conventions, ActualTest ingestion, seeding, and tracker smoke flows - project documentation covering extrinsic formats and the ActualTest calibration caveat
2026-03-26 13:03:56 +08:00
commit f1a2372b3c
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+import numpy as np
+
+from pose_tracking_exp.joints import BODY20_INDEX_BY_NAME
+from pose_tracking_exp.kinematics import seed_state_from_pose3d
+
+
+def _sample_pose3d() -> np.ndarray:
+    pose = np.zeros((20, 4), dtype=np.float64)
+    joint_positions = {
+        "hip_middle": [0.0, 1.0, 3.0],
+        "hip_left": [0.12, 1.0, 3.0],
+        "hip_right": [-0.12, 1.0, 3.0],
+        "shoulder_middle": [0.0, 1.52, 3.0],
+        "shoulder_left": [0.18, 1.52, 3.0],
+        "shoulder_right": [-0.18, 1.52, 3.0],
+        "elbow_left": [0.42, 1.48, 3.02],
+        "elbow_right": [-0.42, 1.48, 3.02],
+        "wrist_left": [0.64, 1.45, 3.04],
+        "wrist_right": [-0.64, 1.45, 3.04],
+        "knee_left": [0.1, 0.58, 3.0],
+        "knee_right": [-0.1, 0.58, 3.0],
+        "ankle_left": [0.1, 0.15, 3.02],
+        "ankle_right": [-0.1, 0.15, 3.02],
+        "head": [0.0, 1.82, 3.02],
+        "nose": [0.0, 1.8, 3.06],
+        "eye_left": [0.03, 1.81, 3.05],
+        "eye_right": [-0.03, 1.81, 3.05],
+        "ear_left": [0.06, 1.81, 3.02],
+        "ear_right": [-0.06, 1.81, 3.02],
+    }
+    for name, position in joint_positions.items():
+        pose[BODY20_INDEX_BY_NAME[name], :3] = position
+        pose[BODY20_INDEX_BY_NAME[name], 3] = 1.0
+    return pose
+
+
+def test_seed_state_from_pose3d_does_not_call_least_squares(monkeypatch) -> None:
+    def fail_least_squares(*args: object, **kwargs: object) -> object:
+        raise AssertionError("seed_state_from_pose3d should not call scipy.optimize.least_squares")
+
+    monkeypatch.setattr("pose_tracking_exp.kinematics.least_squares", fail_least_squares)
+    state = seed_state_from_pose3d(_sample_pose3d())
+
+    assert state.parameters.shape == (31,)
+    assert state.beta.shape == (8,)
+    np.testing.assert_allclose(
+        state.parameters[:3],
+        _sample_pose3d()[BODY20_INDEX_BY_NAME["hip_middle"], :3],
+    )