crosstyan
f1a2372b3c
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
45 lines
1.8 KiB
Markdown
45 lines
1.8 KiB
Markdown
# pose_tracking_exp
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Offline multiview body tracking experiments built around:
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- `RapidPoseTriangulation` for geometric birth proposals
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- a typed replay format for recorded per-camera detections
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- a recursive active/lost tracker with fixed bone lengths
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## Install
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```bash
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uv sync --extra dev
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```
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## Run
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```bash
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uv run pose-tracking-exp run data/scene.json data/replay.jsonl
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```
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`scene.json` may declare camera extrinsics in either format:
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- `opencv_world_to_camera`: OpenCV `solvePnP` / `cv2.projectPoints` convention. This is the default.
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- `rpt_camera_pose`: camera pose in world coordinates, which is what `RapidPoseTriangulation` expects internally.
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The loader normalizes both to OpenCV extrinsics for reprojection and converts to RPT pose only when building the triangulation config.
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If you already have an older hand-authored scene file that stored RPT camera pose directly, set `extrinsic_format` explicitly to `rpt_camera_pose`.
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## Convert ParaJumping Payload Records
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```bash
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uv run pose-tracking-exp convert-parajumping input.jsonl output.jsonl
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```
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## ActualTest Calibration Caveat
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`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.
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In repo terms:
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- OpenCV reprojection keeps `R`, `T`, and `rvec` as world-to-camera extrinsics.
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- RPT export uses the derived camera pose `pose_R = R^T` and `pose_T = -R^T t`.
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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.
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