crosstyan
2c0d51ab31
Refactor the package into common, schema, detection, and tracking namespaces and move dataset-specific ActualTest utilities into tests/support. Add a pluggable detection stack with typed protocols, pydantic-settings config, loguru-based runner logging, cvmmap and headless video sources, NATS and parquet sinks, and a structured coco-wholebody133 payload path. Teach tracking replay loading to consume parquet detection directories directly, preserve empty frames, and keep the video-to-parquet-to-tracking workflow usable for offline E2E runs. Vendor the local mmcv and xtcocotools wheels under Git LFS, update uv sources/lock state, and refresh the mmcv build so mmcv.ops loads successfully with the current torch+cu130 environment.
50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
import numpy as np
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from pose_tracking_exp.common.joints import BODY20_INDEX_BY_NAME
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from pose_tracking_exp.tracking.kinematics import seed_state_from_pose3d
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def _sample_pose3d() -> np.ndarray:
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pose = np.zeros((20, 4), dtype=np.float64)
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joint_positions = {
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"hip_middle": [0.0, 1.0, 3.0],
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"hip_left": [0.12, 1.0, 3.0],
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"hip_right": [-0.12, 1.0, 3.0],
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"shoulder_middle": [0.0, 1.52, 3.0],
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"shoulder_left": [0.18, 1.52, 3.0],
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"shoulder_right": [-0.18, 1.52, 3.0],
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"elbow_left": [0.42, 1.48, 3.02],
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"elbow_right": [-0.42, 1.48, 3.02],
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"wrist_left": [0.64, 1.45, 3.04],
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"wrist_right": [-0.64, 1.45, 3.04],
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"knee_left": [0.1, 0.58, 3.0],
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"knee_right": [-0.1, 0.58, 3.0],
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"ankle_left": [0.1, 0.15, 3.02],
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"ankle_right": [-0.1, 0.15, 3.02],
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"head": [0.0, 1.82, 3.02],
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"nose": [0.0, 1.8, 3.06],
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"eye_left": [0.03, 1.81, 3.05],
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"eye_right": [-0.03, 1.81, 3.05],
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"ear_left": [0.06, 1.81, 3.02],
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"ear_right": [-0.06, 1.81, 3.02],
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}
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for name, position in joint_positions.items():
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pose[BODY20_INDEX_BY_NAME[name], :3] = position
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pose[BODY20_INDEX_BY_NAME[name], 3] = 1.0
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return pose
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def test_seed_state_from_pose3d_does_not_call_least_squares(monkeypatch) -> None:
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def fail_least_squares(*args: object, **kwargs: object) -> object:
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raise AssertionError("seed_state_from_pose3d should not call scipy.optimize.least_squares")
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monkeypatch.setattr("pose_tracking_exp.tracking.kinematics.least_squares", fail_least_squares)
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state = seed_state_from_pose3d(_sample_pose3d())
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assert state.parameters.shape == (31,)
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assert state.beta.shape == (8,)
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np.testing.assert_allclose(
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state.parameters[:3],
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_sample_pose3d()[BODY20_INDEX_BY_NAME["hip_middle"], :3],
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)
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