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
50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
import numpy as np
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from pose_tracking_exp.joints import BODY20_INDEX_BY_NAME
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from pose_tracking_exp.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.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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