# pose_tracking_exp

Offline multiview body tracking experiments built around:

- `RapidPoseTriangulation` for geometric birth proposals
- a typed replay format for recorded per-camera detections
- a recursive active/lost tracker with fixed bone lengths

## Install

```bash
uv sync --extra dev
```

## Run

```bash
uv run pose-tracking-exp run data/scene.json data/replay.jsonl
```

`scene.json` may declare camera extrinsics in either format:

- `opencv_world_to_camera`: OpenCV `solvePnP` / `cv2.projectPoints` convention. This is the default.
- `rpt_camera_pose`: camera pose in world coordinates, which is what `RapidPoseTriangulation` expects internally.

The loader normalizes both to OpenCV extrinsics for reprojection and converts to RPT pose only when building the triangulation config.
If you already have an older hand-authored scene file that stored RPT camera pose directly, set `extrinsic_format` explicitly to `rpt_camera_pose`.

## Convert ParaJumping Payload Records

```bash
uv run pose-tracking-exp convert-parajumping input.jsonl output.jsonl
```

## ActualTest Calibration Caveat

`ActualTest_WeiHua/camera_params.parquet` appears to store raw OpenCV extrinsics from the ChArUco pipeline, not camera poses. The tracker now converts those values before calling `RapidPoseTriangulation`, because RPT expects camera centers and camera-to-world rotation.

In repo terms:

- OpenCV reprojection keeps `R`, `T`, and `rvec` as world-to-camera extrinsics.
- RPT export uses the derived camera pose `pose_R = R^T` and `pose_T = -R^T t`.

There is still one upstream caveat: the ParaJumping calibration notebook averages `rvec` samples component-wise before writing the parquet. That is a rough approximation for rotations and can introduce some bias even when the convention is handled correctly.