#!/usr/bin/env python # -*- coding: utf-8 -*- ''' ########################################################################### ## ROBUST TRIANGULATION OF 2D COORDINATES ## ########################################################################### This module triangulates 2D json coordinates and builds a .trc file readable by OpenSim. The triangulation is weighted by the likelihood of each detected 2D keypoint (if they meet the likelihood threshold). If the reprojection error is above a threshold, right and left sides are swapped; if it is still above, a camera is removed for this point and this frame, until the threshold is met. If more cameras are removed than a predefined minimum, triangulation is skipped for the point and this frame. In the end, missing values are interpolated. In case of multiple subjects detection, make sure you first run the personAssociation module. INPUTS: - a calibration file (.toml extension) - json files for each camera with only one person of interest - a Config.toml file - a skeleton model OUTPUTS: - a .trc file with 3D coordinates in Y-up system coordinates ''' ## INIT import os import glob import fnmatch import numpy as np import json import itertools as it import pandas as pd import toml from tqdm import tqdm from scipy import interpolate from collections import Counter from anytree import RenderTree from anytree.importer import DictImporter import logging from Pose2Sim.common import computeP, weighted_triangulation, reprojection, \ euclidean_distance, natural_sort from Pose2Sim.skeletons import * ## AUTHORSHIP INFORMATION __author__ = "David Pagnon" __copyright__ = "Copyright 2021, Pose2Sim" __credits__ = ["David Pagnon"] __license__ = "BSD 3-Clause License" __version__ = '0.4' __maintainer__ = "David Pagnon" __email__ = "contact@david-pagnon.com" __status__ = "Development" ## FUNCTIONS def zup2yup(Q): ''' Turns Z-up system coordinates into Y-up coordinates INPUT: - Q: pandas dataframe N 3D points as columns, ie 3*N columns in Z-up system coordinates and frame number as rows OUTPUT: - Q: pandas dataframe with N 3D points in Y-up system coordinates ''' # X->Y, Y->Z, Z->X cols = list(Q.columns) cols = np.array([[cols[i*3+1],cols[i*3+2],cols[i*3]] for i in range(int(len(cols)/3))]).flatten() Q = Q[cols] return Q def interpolate_zeros_nans(col, *args): ''' Interpolate missing points (of value zero), unless more than N contiguous values are missing. INPUTS: - col: pandas column of coordinates - args[0] = N: max number of contiguous bad values, above which they won't be interpolated - args[1] = kind: 'linear', 'slinear', 'quadratic', 'cubic'. Default: 'cubic' OUTPUT: - col_interp: interpolated pandas column ''' if len(args)==2: N, kind = args if len(args)==1: N = np.inf kind = args[0] if not args: N = np.inf # Interpolate nans mask = ~(np.isnan(col) | col.eq(0)) # true where nans or zeros idx_good = np.where(mask)[0] if 'kind' not in locals(): # 'linear', 'slinear', 'quadratic', 'cubic' f_interp = interpolate.interp1d(idx_good, col[idx_good], kind="linear", bounds_error=False) else: f_interp = interpolate.interp1d(idx_good, col[idx_good], kind=kind, fill_value='extrapolate', bounds_error=False) col_interp = np.where(mask, col, f_interp(col.index)) #replace at false index with interpolated values # Reintroduce nans if lenght of sequence > N idx_notgood = np.where(~mask)[0] gaps = np.where(np.diff(idx_notgood) > 1)[0] + 1 # where the indices of true are not contiguous sequences = np.split(idx_notgood, gaps) if sequences[0].size>0: for seq in sequences: if len(seq) > N: # values to exclude from interpolation are set to false when they are too long col_interp[seq] = np.nan return col_interp def make_trc(config, Q, keypoints_names, f_range): ''' Make Opensim compatible trc file from a dataframe with 3D coordinates INPUT: - config: dictionary of configuration parameters - Q: pandas dataframe with 3D coordinates as columns, frame number as rows - keypoints_names: list of strings - f_range: list of two numbers. Range of frames OUTPUT: - trc file ''' # Read config project_dir = config.get('project').get('project_dir') frame_rate = config.get('project').get('frame_rate') seq_name = os.path.basename(os.path.realpath(project_dir)) pose3d_dir = os.path.join(project_dir, 'pose-3d') trc_f = f'{seq_name}_{f_range[0]}-{f_range[1]}.trc' #Header DataRate = CameraRate = OrigDataRate = frame_rate NumFrames = len(Q) NumMarkers = len(keypoints_names) header_trc = ['PathFileType\t4\t(X/Y/Z)\t' + trc_f, 'DataRate\tCameraRate\tNumFrames\tNumMarkers\tUnits\tOrigDataRate\tOrigDataStartFrame\tOrigNumFrames', '\t'.join(map(str,[DataRate, CameraRate, NumFrames, NumMarkers, 'm', OrigDataRate, f_range[0], f_range[1]])), 'Frame#\tTime\t' + '\t\t\t'.join(keypoints_names) + '\t\t', '\t\t'+'\t'.join([f'X{i+1}\tY{i+1}\tZ{i+1}' for i in range(len(keypoints_names))])] # Zup to Yup coordinate system Q = zup2yup(Q) #Add Frame# and Time columns Q.index = np.array(range(0, f_range[1]-f_range[0])) + 1 Q.insert(0, 't', Q.index / frame_rate) #Write file if not os.path.exists(pose3d_dir): os.mkdir(pose3d_dir) trc_path = os.path.realpath(os.path.join(pose3d_dir, trc_f)) with open(trc_path, 'w') as trc_o: [trc_o.write(line+'\n') for line in header_trc] Q.to_csv(trc_o, sep='\t', index=True, header=None, lineterminator='\n') return trc_path def recap_triangulate(config, error, nb_cams_excluded, keypoints_names, cam_excluded_count, interp_frames, non_interp_frames, trc_path): ''' Print a message giving statistics on reprojection errors (in pixel and in m) as well as the number of cameras that had to be excluded to reach threshold conditions. Also stored in User/logs.txt. INPUT: - a Config.toml file - error: dataframe - nb_cams_excluded: dataframe - keypoints_names: list of strings OUTPUT: - Message in console ''' # Read config project_dir = config.get('project').get('project_dir') session_dir = os.path.realpath(os.path.join(project_dir, '..', '..')) calib_dir = [os.path.join(session_dir, c) for c in os.listdir(session_dir) if ('Calib' or 'calib') in c][0] calib_file = glob.glob(os.path.join(calib_dir, '*.toml'))[0] # lastly created calibration file calib = toml.load(calib_file) cam_names = np.array([calib[c].get('name') for c in list(calib.keys())]) cam_names = cam_names[list(cam_excluded_count.keys())] error_threshold_triangulation = config.get('triangulation').get('reproj_error_threshold_triangulation') likelihood_threshold = config.get('triangulation').get('likelihood_threshold') show_interp_indices = config.get('triangulation').get('show_interp_indices') interpolation_kind = config.get('triangulation').get('interpolation') # Recap calib_cam1 = calib[list(calib.keys())[0]] fm = calib_cam1['matrix'][0][0] Dm = euclidean_distance(calib_cam1['translation'], [0,0,0]) logging.info('') for idx, name in enumerate(keypoints_names): mean_error_keypoint_px = np.around(error.iloc[:,idx].mean(), decimals=1) # RMS à la place? mean_error_keypoint_m = np.around(mean_error_keypoint_px * Dm / fm, decimals=3) mean_cam_excluded_keypoint = np.around(nb_cams_excluded.iloc[:,idx].mean(), decimals=2) logging.info(f'Mean reprojection error for {name} is {mean_error_keypoint_px} px (~ {mean_error_keypoint_m} m), reached with {mean_cam_excluded_keypoint} excluded cameras. ') if show_interp_indices: if interpolation_kind != 'none': if len(list(interp_frames[idx])) ==0: logging.info(f' No frames needed to be interpolated.') else: interp_str = str(interp_frames[idx]).replace(":", " to ").replace("'", "").replace("]", "").replace("[", "") logging.info(f' Frames {interp_str} were interpolated.') if len(list(non_interp_frames[idx]))>0: noninterp_str = str(non_interp_frames[idx]).replace(":", " to ").replace("'", "").replace("]", "").replace("[", "") logging.info(f' Frames {non_interp_frames[idx]} could not be interpolated: consider adjusting thresholds.') else: logging.info(f' No frames were interpolated because \'interpolation_kind\' was set to none. ') mean_error_px = np.around(error['mean'].mean(), decimals=1) mean_error_mm = np.around(mean_error_px * Dm / fm *1000, decimals=1) mean_cam_excluded = np.around(nb_cams_excluded['mean'].mean(), decimals=2) logging.info(f'\n--> Mean reprojection error for all points on all frames is {mean_error_px} px, which roughly corresponds to {mean_error_mm} mm. ') logging.info(f'Cameras were excluded if likelihood was below {likelihood_threshold} and if the reprojection error was above {error_threshold_triangulation} px.') logging.info(f'In average, {mean_cam_excluded} cameras had to be excluded to reach these thresholds.') cam_excluded_count = {i: v for i, v in zip(cam_names, cam_excluded_count.values())} str_cam_excluded_count = '' for i, (k, v) in enumerate(cam_excluded_count.items()): if i ==0: str_cam_excluded_count += f'Camera {k} was excluded {int(np.round(v*100))}% of the time, ' elif i == len(cam_excluded_count)-1: str_cam_excluded_count += f'and Camera {k}: {int(np.round(v*100))}%.' else: str_cam_excluded_count += f'Camera {k}: {int(np.round(v*100))}%, ' logging.info(str_cam_excluded_count) logging.info(f'\n3D coordinates are stored at {trc_path}.') def triangulation_from_best_cameras(config, coords_2D_kpt, coords_2D_kpt_swapped, projection_matrices): ''' Triangulates 2D keypoint coordinates. If reprojection error is above threshold, tries swapping left and right sides. If still above, removes a camera until error is below threshold unless the number of remaining cameras is below a predefined number. 1. Creates subset with N cameras excluded 2. Tries all possible triangulations 3. Chooses the one with smallest reprojection error If error too big, take off one more camera. If then below threshold, retain result. If better but still too big, take off one more camera. INPUTS: - a Config.toml file - coords_2D_kpt: (x,y,likelihood) * ncams array - coords_2D_kpt_swapped: (x,y,likelihood) * ncams array with left/right swap - projection_matrices: list of arrays OUTPUTS: - Q: array of triangulated point (x,y,z,1.) - error_min: float - nb_cams_excluded: int ''' # Read config error_threshold_triangulation = config.get('triangulation').get('reproj_error_threshold_triangulation') min_cameras_for_triangulation = config.get('triangulation').get('min_cameras_for_triangulation') handle_LR_swap = config.get('triangulation').get('handle_LR_swap') # Initialize x_files, y_files, likelihood_files = coords_2D_kpt x_files_swapped, y_files_swapped, likelihood_files_swapped = coords_2D_kpt_swapped n_cams = len(x_files) error_min = np.inf nb_cams_off = 0 # cameras will be taken-off until reprojection error is under threshold while error_min > error_threshold_triangulation and n_cams - nb_cams_off >= min_cameras_for_triangulation: # Create subsets with "nb_cams_off" cameras excluded id_cams_off = np.array(list(it.combinations(range(n_cams), nb_cams_off))) projection_matrices_filt = [projection_matrices]*len(id_cams_off) x_files_filt = np.vstack([x_files.copy()]*len(id_cams_off)) y_files_filt = np.vstack([y_files.copy()]*len(id_cams_off)) x_files_swapped_filt = np.vstack([x_files_swapped.copy()]*len(id_cams_off)) y_files_swapped_filt = np.vstack([y_files_swapped.copy()]*len(id_cams_off)) likelihood_files_filt = np.vstack([likelihood_files_swapped.copy()]*len(id_cams_off)) if nb_cams_off > 0: for i in range(len(id_cams_off)): x_files_filt[i][id_cams_off[i]] = np.nan y_files_filt[i][id_cams_off[i]] = np.nan x_files_swapped_filt[i][id_cams_off[i]] = np.nan y_files_swapped_filt[i][id_cams_off[i]] = np.nan likelihood_files_filt[i][id_cams_off[i]] = np.nan nb_cams_excluded_filt = [np.count_nonzero(np.nan_to_num(x)==0) for x in likelihood_files_filt] # count nans and zeros projection_matrices_filt = [ [ p[i] for i in range(n_cams) if not np.isnan(x_files_filt[j][i]) ] for j, p in enumerate(projection_matrices_filt) ] x_files_filt = np.array([ [ xx for ii, xx in enumerate(x) if not np.isnan(xx) ] for x in x_files_filt ]) y_files_filt = np.array([ [ xx for ii, xx in enumerate(x) if not np.isnan(xx) ] for x in y_files_filt ]) x_files_swapped_filt = np.array([ [ xx for ii, xx in enumerate(x) if not np.isnan(xx) ] for x in x_files_swapped_filt ]) y_files_swapped_filt = np.array([ [ xx for ii, xx in enumerate(x) if not np.isnan(xx) ] for x in y_files_swapped_filt ]) likelihood_files_filt = np.array([ [ xx for ii, xx in enumerate(x) if not np.isnan(xx) ] for x in likelihood_files_filt ]) # Triangulate 2D points Q_filt = [weighted_triangulation(projection_matrices_filt[i], x_files_filt[i], y_files_filt[i], likelihood_files_filt[i]) for i in range(len(id_cams_off))] # Reprojection coords_2D_kpt_calc_filt = [reprojection(projection_matrices_filt[i], Q_filt[i]) for i in range(len(id_cams_off))] coords_2D_kpt_calc_filt = np.array(coords_2D_kpt_calc_filt, dtype=object) x_calc_filt = coords_2D_kpt_calc_filt[:,0] y_calc_filt = coords_2D_kpt_calc_filt[:,1] # Reprojection error error = [] for config_off_id in range(len(x_calc_filt)): q_file = [(x_files_filt[config_off_id][i], y_files_filt[config_off_id][i]) for i in range(len(x_files_filt[config_off_id]))] q_calc = [(x_calc_filt[config_off_id][i], y_calc_filt[config_off_id][i]) for i in range(len(x_calc_filt[config_off_id]))] error.append( np.mean( [euclidean_distance(q_file[i], q_calc[i]) for i in range(len(q_file))] ) ) # Choosing best triangulation (with min reprojection error) error_min = min(error) best_cams = np.argmin(error) nb_cams_excluded = nb_cams_excluded_filt[best_cams] Q = Q_filt[best_cams][:-1] # Swap left and right sides if reprojection error still too high if handle_LR_swap and error_min > error_threshold_triangulation: n_cams_swapped = 1 error_off_swap_min = error_min while error_off_swap_min > error_threshold_triangulation and n_cams_swapped < (n_cams - nb_cams_off) / 2: # more than half of the cameras switched: may triangulate twice the same side # Create subsets id_cams_swapped = np.array(list(it.combinations(range(n_cams-nb_cams_off), n_cams_swapped))) x_files_filt_off_swap = np.array([[x] * len(id_cams_swapped) for x in x_files_filt]) y_files_filt_off_swap = np.array([[y] * len(id_cams_swapped) for y in y_files_filt]) for id_off in range(len(id_cams_off)): # for each configuration with nb_cams_off removed for id_swapped, config_swapped in enumerate(id_cams_swapped): # for each of these configurations, test all subconfigurations with with n_cams_swapped swapped x_files_filt_off_swap[id_off, id_swapped, config_swapped] = x_files_swapped_filt[id_off, config_swapped] y_files_filt_off_swap[id_off, id_swapped, config_swapped] = y_files_swapped_filt[id_off, config_swapped] # Triangulate 2D points Q_filt_off_swap = np.array([[weighted_triangulation(projection_matrices_filt[id_off], x_files_filt_off_swap[id_off, id_swapped], y_files_filt_off_swap[id_off, id_swapped], likelihood_files_filt[id_off]) for id_swapped in range(len(id_cams_swapped))] for id_off in range(len(id_cams_off))] ) # Reprojection coords_2D_kpt_calc_off_swap = np.array([[reprojection(projection_matrices_filt[id_off], Q_filt_off_swap[id_off, id_swapped]) for id_swapped in range(len(id_cams_swapped))] for id_off in range(len(id_cams_off))]) x_calc_off_swap = coords_2D_kpt_calc_off_swap[:,:,0] y_calc_off_swap = coords_2D_kpt_calc_off_swap[:,:,1] # Reprojection error error_off_swap = [] for id_off in range(len(id_cams_off)): error_percam = [] for id_swapped, config_swapped in enumerate(id_cams_swapped): q_file_off_swap = [(x_files_filt_off_swap[id_off,id_swapped,i], y_files_filt_off_swap[id_off,id_swapped,i]) for i in range(n_cams - nb_cams_off)] q_calc_off_swap = [(x_calc_off_swap[id_off,id_swapped,i], y_calc_off_swap[id_off,id_swapped,i]) for i in range(n_cams - nb_cams_off)] error_percam.append( np.mean( [euclidean_distance(q_file_off_swap[i], q_calc_off_swap[i]) for i in range(len(q_file_off_swap))] ) ) error_off_swap.append(error_percam) error_off_swap = np.array(error_off_swap) # Choosing best triangulation (with min reprojection error) error_off_swap_min = np.min(error_off_swap) best_off_swap_config = np.unravel_index(error_off_swap.argmin(), error_off_swap.shape) id_off_cams = best_off_swap_config[0] id_swapped_cams = id_cams_swapped[best_off_swap_config[1]] Q_best = Q_filt_off_swap[best_off_swap_config][:-1] n_cams_swapped += 1 if error_off_swap_min < error_min: error_min = error_off_swap_min best_cams = id_off_cams Q = Q_best nb_cams_off += 1 # Index of excluded cams for this keypoint id_excluded_cams = id_cams_off[best_cams] # If triangulation not successful, error = 0, and 3D coordinates as missing values if error_min > error_threshold_triangulation: error_min = np.nan # Q = np.array([0.,0.,0.]) Q = np.array([np.nan, np.nan, np.nan]) return Q, error_min, nb_cams_excluded, id_excluded_cams def extract_files_frame_f(json_tracked_files_f, keypoints_ids): ''' Extract data from json files for frame f, in the order of the body model hierarchy. INPUTS: - json_tracked_files_f: list of str. Paths of json_files for frame f. - keypoints_ids: list of int. Keypoints IDs in the order of the hierarchy. OUTPUTS: - x_files, y_files, likelihood_files: array: n_cams lists of n_keypoints lists of coordinates. ''' n_cams = len(json_tracked_files_f) x_files, y_files, likelihood_files = [], [], [] for cam_nb in range(n_cams): x_files_cam, y_files_cam, likelihood_files_cam = [], [], [] with open(json_tracked_files_f[cam_nb], 'r') as json_f: js = json.load(json_f) for keypoint_id in keypoints_ids: try: x_files_cam.append( js['people'][0]['pose_keypoints_2d'][keypoint_id*3] ) y_files_cam.append( js['people'][0]['pose_keypoints_2d'][keypoint_id*3+1] ) likelihood_files_cam.append( js['people'][0]['pose_keypoints_2d'][keypoint_id*3+2] ) except: x_files_cam.append( np.nan ) y_files_cam.append( np.nan ) likelihood_files_cam.append( np.nan ) x_files.append(x_files_cam) y_files.append(y_files_cam) likelihood_files.append(likelihood_files_cam) x_files = np.array(x_files) y_files = np.array(y_files) likelihood_files = np.array(likelihood_files) return x_files, y_files, likelihood_files def triangulate_all(config): ''' For each frame For each keypoint - Triangulate keypoint - Reproject it on all cameras - Take off cameras until requirements are met Interpolate missing values Create trc file Print recap message INPUTS: - a calibration file (.toml extension) - json files for each camera with only one person of interest - a Config.toml file - a skeleton model OUTPUTS: - a .trc file with 3D coordinates in Y-up system coordinates ''' # Read config project_dir = config.get('project').get('project_dir') session_dir = os.path.realpath(os.path.join(project_dir, '..', '..')) pose_model = config.get('pose').get('pose_model') frame_range = config.get('project').get('frame_range') likelihood_threshold = config.get('triangulation').get('likelihood_threshold') interpolation_kind = config.get('triangulation').get('interpolation') interp_gap_smaller_than = config.get('triangulation').get('interp_if_gap_smaller_than') show_interp_indices = config.get('triangulation').get('show_interp_indices') calib_dir = [os.path.join(session_dir, c) for c in os.listdir(session_dir) if ('Calib' or 'calib') in c][0] calib_file = glob.glob(os.path.join(calib_dir, '*.toml'))[0] # lastly created calibration file pose_dir = os.path.join(project_dir, 'pose') poseTracked_dir = os.path.join(project_dir, 'pose-associated') # Projection matrix from toml calibration file P = computeP(calib_file) # Retrieve keypoints from model try: # from skeletons.py model = eval(pose_model) except: try: # from Config.toml model = DictImporter().import_(config.get('pose').get(pose_model)) if model.id == 'None': model.id = None except: raise NameError('Model not found in skeletons.py nor in Config.toml') keypoints_ids = [node.id for _, _, node in RenderTree(model) if node.id!=None] keypoints_names = [node.name for _, _, node in RenderTree(model) if node.id!=None] keypoints_idx = list(range(len(keypoints_ids))) keypoints_nb = len(keypoints_ids) # left/right swapped keypoints keypoints_names_swapped = [keypoint_name.replace('R', 'L') if keypoint_name.startswith('R') else keypoint_name.replace('L', 'R') if keypoint_name.startswith('L') else keypoint_name for keypoint_name in keypoints_names] keypoints_names_swapped = [keypoint_name_swapped.replace('right', 'left') if keypoint_name_swapped.startswith('right') else keypoint_name_swapped.replace('left', 'right') if keypoint_name_swapped.startswith('left') else keypoint_name_swapped for keypoint_name_swapped in keypoints_names_swapped] keypoints_idx_swapped = [keypoints_names.index(keypoint_name_swapped) for keypoint_name_swapped in keypoints_names_swapped] # find index of new keypoint_name # 2d-pose files selection pose_listdirs_names = next(os.walk(pose_dir))[1] pose_listdirs_names = natural_sort(pose_listdirs_names) json_dirs_names = [k for k in pose_listdirs_names if 'json' in k] try: json_files_names = [fnmatch.filter(os.listdir(os.path.join(poseTracked_dir, js_dir)), '*.json') for js_dir in json_dirs_names] json_files_names = [natural_sort(j) for j in json_files_names] json_tracked_files = [[os.path.join(poseTracked_dir, j_dir, j_file) for j_file in json_files_names[j]] for j, j_dir in enumerate(json_dirs_names)] except: json_files_names = [fnmatch.filter(os.listdir(os.path.join(pose_dir, js_dir)), '*.json') for js_dir in json_dirs_names] json_files_names = [natural_sort(j) for j in json_files_names] json_tracked_files = [[os.path.join(pose_dir, j_dir, j_file) for j_file in json_files_names[j]] for j, j_dir in enumerate(json_dirs_names)] # Triangulation f_range = [[0,min([len(j) for j in json_files_names])] if frame_range==[] else frame_range][0] frames_nb = f_range[1]-f_range[0] n_cams = len(json_dirs_names) Q_tot, error_tot, nb_cams_excluded_tot,id_excluded_cams_tot = [], [], [], [] for f in tqdm(range(*f_range)): # Get x,y,likelihood values from files json_tracked_files_f = [json_tracked_files[c][f] for c in range(n_cams)] x_files, y_files, likelihood_files = extract_files_frame_f(json_tracked_files_f, keypoints_ids) # # undistort points draft: start with # points = [np.array(tuple(zip(x_files[i],y_files[i]))).reshape(-1, 1, 2) for i in range(n_cams)] # # calculate optimal matrix optimal_mat cf https://stackoverflow.com/a/76635257/12196632 # undistorted_points = [cv2.undistortPoints(points[i], K[i], distortions[i], None, optimal_mat[i]) for i in range(n_cams)] # # then put back into original shape of x_files, y_files # # Points are undistorted and better triangulated, however reprojection error is not accurate if points are not distorted again prior to reprojection # # This is good for slight distortion. For fishey camera, the model does not work anymore. See there for an example https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L301 # # undistort points draft: start with # points = [np.array(tuple(zip(x_files[i],y_files[i]))).reshape(-1, 1, 2) for i in range(n_cams)] # # calculate optimal matrix optimal_mat cf https://stackoverflow.com/a/76635257/12196632 # undistorted_points = [cv2.undistortPoints(points[i], K[i], distortions[i], None, optimal_mat[i]) for i in range(n_cams)] # # then put back into original shape of x_files, y_files # # Points are undistorted and better triangulated, however reprojection error is not accurate if points are not distorted again prior to reprojection # # This is good for slight distortion. For fishey camera, the model does not work anymore. See there for an example https://github.com/lambdaloop/aniposelib/blob/d03b485c4e178d7cff076e9fe1ac36837db49158/aniposelib/cameras.py#L301 # Replace likelihood by 0 if under likelihood_threshold with np.errstate(invalid='ignore'): likelihood_files[likelihood_files 1)[0] + 1 for k in range(keypoints_nb)] sequences = [np.split(zero_nan_frames_per_kpt[k], gaps[k]) for k in range(keypoints_nb)] interp_frames = [[f'{seq[0]}:{seq[-1]+1}' for seq in seq_kpt if len(seq)<=interp_gap_smaller_than and len(seq)>0] for seq_kpt in sequences] non_interp_frames = [[f'{seq[0]}:{seq[-1]+1}' for seq in seq_kpt if len(seq)>interp_gap_smaller_than] for seq_kpt in sequences] else: interp_frames = None non_interp_frames = [] # Interpolate missing values if interpolation_kind != 'none': Q_tot = Q_tot.apply(interpolate_zeros_nans, axis=0, args = [interp_gap_smaller_than, interpolation_kind]) Q_tot.replace(np.nan, 0, inplace=True) # Create TRC file trc_path = make_trc(config, Q_tot, keypoints_names, f_range) # Recap message recap_triangulate(config, error_tot, nb_cams_excluded_tot, keypoints_names, cam_excluded_count, interp_frames, non_interp_frames, trc_path)