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Count cameras with likelihood< threshold as excluded

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David PAGNON 2024-01-24 13:15:56 +01:00 committed by GitHub
parent 5b082199e8
commit 63a3e3133d
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1 changed files with 6 additions and 4 deletions
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Pose2Sim/triangulation.py
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@ -330,13 +330,15 @@ def triangulation_from_best_cameras(config, coords_2D_kpt, coords_2D_kpt_swapped
likelihood_files_filt[i][id_cams_off[i]] = np.nan
# Excluded cameras index and count
id_cams_off_tot = [np.argwhere(np.isnan(x)).ravel() for x in likelihood_files_filt]
id_cams_off_tot_new = [np.argwhere(np.isnan(x)).ravel() for x in likelihood_files_filt]
nb_cams_excluded_filt = [np.count_nonzero(np.nan_to_num(x)==0) for x in likelihood_files_filt] # count nans and zeros
nb_cams_off_tot = max(nb_cams_excluded_filt)
# print('likelihood_files_filt ',likelihood_files_filt)
# print('nb_cams_excluded_filt ', nb_cams_excluded_filt, 'nb_cams_off_tot ', nb_cams_off_tot)
if nb_cams_off_tot > n_cams - min_cameras_for_triangulation:
break
id_cams_off_tot = id_cams_off_tot_new
# print('still in loop')
if undistort_points:
calib_params_K_filt = [ [ c[i] for i in range(n_cams) if not np.isnan(likelihood_files_filt[j][i]) and not likelihood_files_filt[j][i]==0. ] for j, c in enumerate(calib_params_K_filt) ]
@ -625,9 +627,9 @@ def triangulate_all(config):
# Replace likelihood by 0 if under likelihood_threshold
with np.errstate(invalid='ignore'):
x_files[likelihood_files<likelihood_threshold] = 0.
y_files[likelihood_files<likelihood_threshold] = 0.
likelihood_files[likelihood_files<likelihood_threshold] = 0.
x_files[likelihood_files<likelihood_threshold] = np.nan
y_files[likelihood_files<likelihood_threshold] = np.nan
likelihood_files[likelihood_files<likelihood_threshold] = np.nan
Q, error, nb_cams_excluded, id_excluded_cams = [], [], [], []
for keypoint_idx in keypoints_idx: