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fixed case where plucker coordinates are nan (caused person association to fail after sorting in multi-person)

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davidpagnon 2024-09-23 00:47:02 +02:00
parent 6e71239eca
commit 000bd7b09e
1 changed files with 5 additions and 1 deletions
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6
Pose2Sim/personAssociation.py
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@ -278,7 +278,11 @@ def compute_rays(json_coord, calib_params, cam_id):
line = norm_Q - cam_center line = norm_Q - cam_center
norm_line = line/np.linalg.norm(line) norm_line = line/np.linalg.norm(line)
moment = np.cross(cam_center, norm_line) moment = np.cross(cam_center, norm_line)
plucker.append(np.concatenate([norm_line, moment, [likelihood[i]]])) plucker_i = np.concatenate([norm_line, moment, [likelihood[i]]])
if not np.isnan(plucker_i).any():
plucker.append(plucker_i)
else:
plucker.append(np.array([0.0]*7))
return np.array(plucker) return np.array(plucker)