修正进一步分析def pose_tracking(pose_results, max_tracks=2, thre=30):

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最新推荐文章于 2024-10-18 00:00:00 发布

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文章标签： python numpy 开发语言

本文链接：https://blog.csdn.net/qq_34425255/article/details/139313392

版权

引入

首先打印

print(tracking_inputs[0])

[array([[342.40894 , 154.20203 , 0.97111136],
[345.17505 , 148.6698 , 0.9786353 ],
[336.8767 , 148.6698 , 0.99641836],
[342.40894 , 151.43591 , 0.52131176],
[317.51385 , 154.20203 , 0.9787817 ],
[345.17505 , 184.62933 , 0.93771386],
[306.4494 , 192.92767 , 0.89647466],
[350.70728 , 226.1211 , 0.8948419 ],
[306.4494 , 239.95169 , 0.919309 ],
[359.0056 , 253.78226 , 0.78252614],
[311.98163 , 281.44345 , 0.91721576],
[353.4734 , 270.37897 , 0.8073273 ],
[328.57837 , 275.91122 , 0.8430999 ],
[361.77173 , 325.70132 , 0.864455 ],
[317.51385 , 331.23355 , 0.84500694],
[370.07013 , 369.9592 , 0.9084923 ],
[314.74774 , 381.02365 , 0.8946589 ]], dtype=float32), array([[454.69446 , 139.52599 , 0.95032537],
[460.21484 , 134.0056 , 0.96989125],
[449.17407 , 134.0056 , 0.96363837],
[471.2556 , 134.0056 , 0.9709029 ],
[443.65363 , 136.7658 , 0.94065225],
[482.29645 , 172.64842 , 0.9206746 ],
[429.85266 , 169.88823 , 0.9209612 ],
[490.57703 , 216.81163 , 0.8657709 ],
[418.81183 , 214.05144 , 0.89462984],
[485.05664 , 252.69423 , 0.8833917 ],
[418.81183 , 252.69423 , 0.8926666 ],
[468.49548 , 258.21466 , 0.83541924],
[435.37305 , 258.21466 , 0.8284161 ],
[462.97504 , 316.17883 , 0.89494336],
[432.61285 , 316.17883 , 0.87429345],
[462.97504 , 363.1023 , 0.8947954 ],
[429.85266 , 365.8625 , 0.9234746 ]], dtype=float32)]

也就是说想要看一下poses是长什么样子，其实就是tracking_inputs[0]、tracking_inputs[1]、tracking_inputs[2]、tracking_inputs[3]、tracking_inputs[4]、tracking_inputs[5]、...、tracking_inputs[71]

而idx是0、1、2、3、4、5、...、71

第一轮外循环

if len(poses) == 0:

其实就是if len(tracking_inputs[0]) == 0:

发现len(tracking_inputs[0])是2，也就是说if条件不成立，所以不执行continue

继续执行if num_joints is None:

发现if条件成立，因为num_joints初始化为None，于是执行num_joints = poses[0].shape[0]

于是num_joints=17

继续执行track_proposals = [t for t in tracks if t['data'][-1][0] > idx - thre]

由于tracks初始化为空列表

所以track_proposals也是空列表

继续执行n, m = len(track_proposals), len(poses)

n=0，m=2

继续执行scores = np.zeros((0, 2))

发现scores是个空列表

继续执行

for i in range(0):
for j in range(2):
scores[i][j] = dist_ske(track_proposals[i]['data'][-1][1], poses[j])

什么也不做，继续往下执行

row, col = linear_sum_assignment(scores)

继续执行

for r, c in zip(row, col):
track_proposals[r]['data'].append((idx, poses[c]))

什么也不做，继续往下执行

if 2 > 0:
for j in range(2):
if j not in col:

if j not in col:条件满足

于是执行

num_tracks += 1

于是num_tracks=1
new_track = dict(data=[])
new_track['track_id'] = num_tracks

new_track['data'] = [(idx, poses[j])]
tracks.append(new_track)

接下来来j = 1

继续执行下面

if j not in col:
num_tracks += 1
new_track = dict(data=[])
new_track['track_id'] = num_tracks
new_track['data'] = [(idx, poses[j])]
tracks.append(new_track)

发现num_tracks = 2

输出结果如下

[{'data': [(0, array([[342.40894 , 154.20203 , 0.97111136],
[345.17505 , 148.6698 , 0.9786353 ],
[336.8767 , 148.6698 , 0.99641836],
[342.40894 , 151.43591 , 0.52131176],
[317.51385 , 154.20203 , 0.9787817 ],
[345.17505 , 184.62933 , 0.93771386],
[306.4494 , 192.92767 , 0.89647466],
[350.70728 , 226.1211 , 0.8948419 ],
[306.4494 , 239.95169 , 0.919309 ],
[359.0056 , 253.78226 , 0.78252614],
[311.98163 , 281.44345 , 0.91721576],
[353.4734 , 270.37897 , 0.8073273 ],
[328.57837 , 275.91122 , 0.8430999 ],
[361.77173 , 325.70132 , 0.864455 ],
[317.51385 , 331.23355 , 0.84500694],
[370.07013 , 369.9592 , 0.9084923 ],
[314.74774 , 381.02365 , 0.8946589 ]], dtype=float32))], 'track_id': 1}, {'data': [(0, array([[454.69446 , 139.52599 , 0.95032537],
[460.21484 , 134.0056 , 0.96989125],
[449.17407 , 134.0056 , 0.96363837],
[471.2556 , 134.0056 , 0.9709029 ],
[443.65363 , 136.7658 , 0.94065225],
[482.29645 , 172.64842 , 0.9206746 ],
[429.85266 , 169.88823 , 0.9209612 ],
[490.57703 , 216.81163 , 0.8657709 ],
[418.81183 , 214.05144 , 0.89462984],
[485.05664 , 252.69423 , 0.8833917 ],
[418.81183 , 252.69423 , 0.8926666 ],
[468.49548 , 258.21466 , 0.83541924],
[435.37305 , 258.21466 , 0.8284161 ],
[462.97504 , 316.17883 , 0.89494336],
[432.61285 , 316.17883 , 0.87429345],
[462.97504 , 363.1023 , 0.8947954 ],
[429.85266 , 365.8625 , 0.9234746 ]], dtype=float32))], 'track_id': 2}]

接下来就可以第二轮外循环

第二轮外循环

 for idx, poses in enumerate(pose_results):
        if len(poses) == 0:
            continue
        if num_joints is None:
            num_joints = poses[0].shape[0]

这个时候idx是1

而poses = tracking_inputs[1]

于是

if len(poses) == 0:

其实就是if len(tracking_inputs[1]) == 0:

发现len(tracking_inputs[0])是2，也就是说if条件不成立，所以不执行continue

继续执行if num_joints is None:

发现if条件不成立，因为num_joints第一轮外循环为17，于是不执行num_joints = poses[0].shape[0]

接下来继续执行

track_proposals = [t for t in tracks if t['data'][-1][0] > idx - thre]

[{'data': [(0, array([[342.40894 , 154.20203 , 0.97111136],
[345.17505 , 148.6698 , 0.9786353 ],
[336.8767 , 148.6698 , 0.99641836],
[342.40894 , 151.43591 , 0.52131176],
[317.51385 , 154.20203 , 0.9787817 ],
[345.17505 , 184.62933 , 0.93771386],
[306.4494 , 192.92767 , 0.89647466],
[350.70728 , 226.1211 , 0.8948419 ],
[306.4494 , 239.95169 , 0.919309 ],
[359.0056 , 253.78226 , 0.78252614],
[311.98163 , 281.44345 , 0.91721576],
[353.4734 , 270.37897 , 0.8073273 ],
[328.57837 , 275.91122 , 0.8430999 ],
[361.77173 , 325.70132 , 0.864455 ],
[317.51385 , 331.23355 , 0.84500694],
[370.07013 , 369.9592 , 0.9084923 ],
[314.74774 , 381.02365 , 0.8946589 ]], dtype=float32))], 'track_id': 1}, {'data': [(0, array([[454.69446 , 139.52599 , 0.95032537],
[460.21484 , 134.0056 , 0.96989125],
[449.17407 , 134.0056 , 0.96363837],
[471.2556 , 134.0056 , 0.9709029 ],
[443.65363 , 136.7658 , 0.94065225],
[482.29645 , 172.64842 , 0.9206746 ],
[429.85266 , 169.88823 , 0.9209612 ],
[490.57703 , 216.81163 , 0.8657709 ],
[418.81183 , 214.05144 , 0.89462984],
[485.05664 , 252.69423 , 0.8833917 ],
[418.81183 , 252.69423 , 0.8926666 ],
[468.49548 , 258.21466 , 0.83541924],
[435.37305 , 258.21466 , 0.8284161 ],
[462.97504 , 316.17883 , 0.89494336],
[432.61285 , 316.17883 , 0.87429345],
[462.97504 , 363.1023 , 0.8947954 ],
[429.85266 , 365.8625 , 0.9234746 ]], dtype=float32))], 'track_id': 2}]

接下来继续执行

n, m = len(track_proposals), len(poses)

于是n=2，m=2

scores = np.zeros((2, 2))

接下来继续执行

for i in range(2):
for j in range(2):
scores[i][j] = dist_ske(track_proposals[i]['data'][-1][1], poses[j])

首先i=0

j=0

scores[0][0] = dist_ske(track_proposals[0]['data'][-1][1], poses[0])

所以只需关注点放在dist_ske函数如何实现的，以及参数是什么

print(ske1)

[[342.40894 154.20203 0.97111136]
[345.17505 148.6698 0.9786353 ]
[336.8767 148.6698 0.99641836]
[342.40894 151.43591 0.52131176]
[317.51385 154.20203 0.9787817 ]
[345.17505 184.62933 0.93771386]
[306.4494 192.92767 0.89647466]
[350.70728 226.1211 0.8948419 ]
[306.4494 239.95169 0.919309 ]
[359.0056 253.78226 0.78252614]
[311.98163 281.44345 0.91721576]
[353.4734 270.37897 0.8073273 ]
[328.57837 275.91122 0.8430999 ]
[361.77173 325.70132 0.864455 ]
[317.51385 331.23355 0.84500694]
[370.07013 369.9592 0.9084923 ]
[314.74774 381.02365 0.8946589 ]]

print(ske2)

[[342.64056 155.07503 0.9443979 ]
[345.39398 149.56816 0.96674407]
[337.13367 149.56816 0.98169655]
[342.64056 149.56816 0.5606005 ]
[317.8595 155.07503 0.9198357 ]
[345.39398 185.36296 0.9472581 ]
[306.84576 193.6233 0.9009862 ]
[350.90088 226.66469 0.90572715]
[304.0923 240.4319 0.9163513 ]
[359.16125 256.95258 0.7961553 ]
[312.3526 281.73364 0.9330902 ]
[353.65436 267.96637 0.80932206]
[328.8733 273.47327 0.8447343 ]
[361.91467 325.78876 0.8606094 ]
[317.8595 331.29565 0.8590398 ]
[370.17505 369.84393 0.90640527]
[315.10608 380.85773 0.890874 ]]

def dist_ske(ske1, ske2):
    dist = np.linalg.norm(ske1[:, :2] - ske2[:, :2], axis=1) * 2
    diff = np.abs(ske1[:, 2] - ske2[:, 2])
    return np.sum(np.maximum(dist, diff))

print(a)

[[342.40894 154.20203]
[345.17505 148.6698 ]
[336.8767 148.6698 ]
[342.40894 151.43591]
[317.51385 154.20203]
[345.17505 184.62933]
[306.4494 192.92767]
[350.70728 226.1211 ]
[306.4494 239.95169]
[359.0056 253.78226]
[311.98163 281.44345]
[353.4734 270.37897]
[328.57837 275.91122]
[361.77173 325.70132]
[317.51385 331.23355]
[370.07013 369.9592 ]
[314.74774 381.02365]]

print(b)

[[342.64056 155.07503]
[345.39398 149.56816]
[337.13367 149.56816]
[342.64056 149.56816]
[317.8595 155.07503]
[345.39398 185.36296]
[306.84576 193.6233 ]
[350.90088 226.66469]
[304.0923 240.4319 ]
[359.16125 256.95258]
[312.3526 281.73364]
[353.65436 267.96637]
[328.8733 273.47327]
[361.91467 325.78876]
[317.8595 331.29565]
[370.17505 369.84393]
[315.10608 380.85773]]

print(a - b)

[[-0.23162842 -0.8730011 ]
[-0.2189331 -0.8983612 ]
[-0.256958 -0.8983612 ]
[-0.23162842 1.8677521 ]
[-0.3456421 -0.8730011 ]
[-0.2189331 -0.7336273 ]
[-0.3963623 -0.69563293]
[-0.19360352 -0.54359436]
[ 2.3571167 -0.48020935]
[-0.15563965 -3.1703186 ]
[-0.37097168 -0.29019165]
[-0.18096924 2.4125977 ]
[-0.29492188 2.4379578 ]
[-0.14294434 -0.08743286]
[-0.3456421 -0.06210327]
[-0.10491943 0.11526489]
[-0.3583374 0.16592407]]

[1.8064138 1.8493075 1.8687752 3.7641199 1.8778704 1.5311966
1.6012598 1.1540835 4.8110704 6.3482733 0.9419791 4.838751
4.911463 0.33512735 0.70235395 0.3117312 0.78977585]

[1.8064138 1.8493075 1.8687752 3.7641199 1.8778704 1.5311966
1.6012598 1.1540835 4.8110704 6.3482733 0.9419791 4.838751
4.911463 0.33512735 0.70235395 0.3117312 0.78977585]
[0.02671343 0.01189125 0.01472181 0.03928876 0.05894601 0.00954425
0.00451154 0.01088524 0.0029577 0.01362914 0.01587445 0.00199479
0.00163442 0.00384557 0.01403284 0.00208706 0.00378489]

pyskl/demo/demo_skeleton.py at main · kennymckormick/pyskl · GitHub