# rapid-pose-rgbd-python-example

Standalone NumPy reference project for the RGBD reconstruction path discussed across `SimpleDepthPose` and `RapidPoseTriangulation`.

It covers:

- padded multi-view 2D pose packing
- aligned depth sampling
- per-joint depth offsets
- camera-space lifting into world coordinates
- stateless multi-view RGBD pose merging

It does not include:

- raw-image 2D detection
- ROS integration
- temporal tracking
- RGB-only triangulation

## Install

```bash
cd /home/crosstyan/Code/rapid-pose-rgbd-python-example
uv sync --dev
```

## Run tests

```bash
uv run basedpyright
uv run pytest
```

## Smoke test

```bash
uv run rapid-pose-rgbd-example
```