Visibility flag on Keypoint Detector Object

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Marc
Marc 2025-9-15
评论： Marc 2025-9-19
Hello everyone,
I was wondering if anyone could help me understanding how to set up the training data for KeyPoint Detector Object (trainHRNETObjectKeypointDetector).
The help says:
"Keypoint locations, defined in spatial coordinates as an N-by-2 or N-by-3 numeric matrix with rows of the form [x y] or [x y v], respectively, where:
  • N is the number of keypoint classes.
  • x and y specify the spatial coordinates of a keypoint.
  • v specifies the visibility of a keypoint."
I was wondering how to setup the visibility flag v .
Is it 1 when the key point is visible and annotated and 0 when it is not. Or same as Yolo 0 = key point out of view and not labelled; 1 = key point present but not visible; 2 = key point visible ?
Thank you very much for your help

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回答（1 个）

Vivek Akkala
Vivek Akkala 2025-9-18
As mentioned in the doc, A value of 1 (true) indicates a valid keypoint and 0 (false) indicates an invalid keypoint.
  1 个评论
Marc
Marc 2025-9-19
Hi Vivek,
Thanks a lot for your help.
I indeed saw the documentation for the Detect function and tried implenting the same logic to the trainHRNetObjectKeypointDetector. Unfortunately I received the following error message. Also see below the code used.
Error using trainHRNetObjectKeypointDetector>iValidateData (line 222)
Expected input to be nonzero.
Error in
trainHRNetObjectKeypointDetector (line 27)
iValidateData(keypointDetector, trainingData);
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
%Code given in the trainHRNetObjectKeypointDetector function documentation
downloadFolder = tempdir;
dataset = helperDownloadHandPoseDataset(downloadFolder); %with helperDownloadHandPoseDataset as defined in the documentation
data = load(dataset);
handPoseDataset = data.handPoseDataset(1:100,:);
handPoseDataset.imageFilename = fullfile(downloadFolder,"2DHandPoseDataAndGroundTruth","2DHandPoseImages",handPoseDataset.imageFilename);
handPoseImds = imageDatastore(handPoseDataset.imageFilename);
%---Modification to add random visibility flag 0 or 1 to the original training data
trainingData = handPoseDataset(:,2);
keypoints = table2cell(trainingData);
for i = 1:100;
TD = keypoints{i,1};
extraDat = [];
for j = 1:21;
if rem(j,2) == 1;
extraDat(j,1) = 0;
else;
extraDat(j,1) = 1;
end;
end;
keypoints{i,1} = [TD extraDat];
end;
keypoints = table(keypoints);
%---
handPoseArrds = arrayDatastore(keypoints);
handPoseBlds = boxLabelDatastore(handPoseDataset(:,3));
trainingData = combine(handPoseImds,handPoseArrds,handPoseBlds);
keypointClasses = ["forefinger3","forefinger4","forefinger2","forefinger1", ...
"middleFinger3","middleFinger4","middleFinger2","middleFinger1", ...
"pinkyFinger3","pinkyFinger4","pinkyFinger2","pinkyFinger1", ...
"ringFinger3","ringFinger4","ringFinger2","ringFinger1", ...
"thumb3","thumb4","thumb2","thumb1","wrist"]';
handKeypointDetector = hrnetObjectKeypointDetector("human-full-body-w32",keypointClasses);
options = trainingOptions("adam", ...
MaxEpochs=20, ...
InitialLearnRate=0.001, ...
MiniBatchSize=16, ...
LearnRateSchedule="piecewise", ...
LearnRateDropFactor=0.1, ...
LearnRateDropPeriod=12, ...
VerboseFrequency=25, ...
BatchNormalizationStatistics="moving", ...
ResetInputNormalization=false);
[trainedHandKeypointDetector,info] = trainHRNetObjectKeypointDetector(trainingData,handKeypointDetector,options);

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