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[Fix] fix keypoint shape bug in Pose3dInferencer #2543

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Merged
merged 1 commit into from
Jul 17, 2023
Merged

[Fix] fix keypoint shape bug in Pose3dInferencer #2543

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12 changes: 10 additions & 2 deletions mmpose/apis/inferencers/pose3d_inferencer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -272,6 +272,7 @@ def preprocess_single(self,
),
dtype=np.float32)
data_info['lifting_target'] = np.zeros((1, K, 3), dtype=np.float32)
data_info['factor'] = np.zeros((T, ), dtype=np.float32)
data_info['lifting_target_visible'] = np.ones((1, K, 1),
dtype=np.float32)
data_info['camera_param'] = dict(w=width, h=height)
Expand Down Expand Up @@ -299,7 +300,6 @@ def forward(self,
list: A list of data samples, each containing the model's output
results.
"""

pose_lift_results = self.model.test_step(inputs)

# Post-processing of pose estimation results
Expand All @@ -309,8 +309,16 @@ def forward(self,
pose_lift_res.track_id = pose_est_results_converted[idx].get(
'track_id', 1e4)

# Invert x and z values of the keypoints
# align the shape of output keypoints coordinates and scores
keypoints = pose_lift_res.pred_instances.keypoints
keypoint_scores = pose_lift_res.pred_instances.keypoint_scores
if keypoint_scores.ndim == 3:
pose_lift_results[idx].pred_instances.keypoint_scores = \
np.squeeze(keypoint_scores, axis=1)
if keypoints.ndim == 4:
keypoints = np.squeeze(keypoints, axis=1)

# Invert x and z values of the keypoints
keypoints = keypoints[..., [0, 2, 1]]
keypoints[..., 0] = -keypoints[..., 0]
keypoints[..., 2] = -keypoints[..., 2]
Expand Down