tailcyclenet

Finetune a posetail point tracker into an animal pose estimator. Three settings, one model: 3D multiview, 3D single-view, 2D single-view.

The pipeline detects animals, crops them, and decodes per-keypoint poses through a single window loop. It reads one annotation format (docs/annotation_format.md) that serves both hand annotation and bulk training across datasets of differing keypoint sets, camera counts, and dimensionality. This README is the committed reference: what this is, how to run it, and the invariants a contributor must not break.

Setup

Dependencies are managed with pixi. posetail==0.3.5 is pinned from PyPI.

pixi install
pixi run python -c "import posetail, tailcyclenet"   # sanity check
pixi run test                                        # test suite
pixi run lint                                        # ruff

• The LD_LIBRARY_PATH prepend in pyproject.toml is load-bearing — the env ships a newer libstdc++ than some hosts, and without it import scipy.optimize dies naming only CXXABI.
• posetail >= 0.3.5 ships every behaviour this repo once monkeypatched (per-frame camera offsets, crop_box_for_points, scene_features=/input_size= on the tracker forward); there is no patch layer anymore.

Layout

tailcyclenet/     library: format, dataset, crop rule, model, inference, metrics, detector
scripts/          train.py  train_detector.py  infer.py  eval.py  convert_*.py
configs/          base.toml + detector.toml + detector/<root>.toml (every config layers over its family's base)
configs/datasets/ per-dataset keypoint and skeleton definitions
docs/             annotation_format.md — the data format spec (human-owned)
tests/            invariants (crop rule, converters, geometry)

Training

One estimator trains across every dataset root under [data].path; a keypoint embedding table is what lets roots with different keypoint sets share a model.

# 3D (multiview / single-view) or 2D (single-view) -- the camera-count keys in base.toml are
# harmless on a one-camera root, so one config serves both
pixi run python scripts/train.py --config configs/base.toml --data <root>

# one node, N gpus: one item per rank, gradients averaged by DDP
pixi run python scripts/train.py --config configs/base.toml --data <root> --devices 4

Facts that are easy to get wrong:

• The two configs differ in exactly three keys — cams_to_sample, val_cams_to_sample, prob_2d_only — all camera-count questions a one-camera root cannot ask. n_keypoints is derived from the data, never configured.
• The per-rank batch is structurally 1; --devices N is the only batch dimension this repo has. Every iteration count in a config is a total across ranks (60,000 is 60,000 samples on any gpu count) and the learning rate is scaled by sqrt(N), so a multi-gpu run is two levers off a single-gpu one; provenance.toml records which it was.
• [model].gridresid_offset has no default and must be stated — the two values load the same tensors, so a mismatch produces numbers rather than an exception.
• A run folder writes keypoint_registry.toml (the derived keypoint axis) and provenance.toml (commit + dirty flag). A config is not a provenance record.
• The video encoder unfreezes mid-run per [model].video_encoder_requires_grad (a bool, or an int iteration to unfreeze at). A run started before the shipped default (8 blocks at 10,000) is not comparable to one after; false restores the old arm.

Detector

pixi run python scripts/train_detector.py --config configs/detector.toml

The recipe lives in the config, not on the CLI — every default is there with its evidence, and an unknown key raises rather than silently training at a default. Only --out, --iters and --device override.

One detector per dataset, and input_wh defaults to an aspect-matched size rather than a square: a square letterbox on a wide frame wastes most of the canvas and can put the animal below the stride the FPN can represent. The regression target is crop.crop_box_for_points — the detector reproduces the crop the pose model was trained on, so [data].boxes must equal the pose run's [data].box_source.

Inference and eval

# one source session (a dataset root works only if it holds a single session in --split)
pixi run python scripts/infer.py --run runs/<name> --data <session-dir> --split test \
    --detector runs/det-<name> --out pred/

# or, straight off raw footage + an anipose calibration
pixi run python scripts/infer.py --run runs/<name> --out pred/ \
    --videos rec/ --calibration anipose/calibration.toml --cam-regex 'cam([0-9]+)_' \
    --detector runs/det-<name> --max-animals 4

pixi run python scripts/eval.py pred/ --data <root> --split test --chunk 500

• --out is a prediction session directory (session.toml, calibration.toml, groups.pq, points3d.pq, keypoints.pq, instances.pq, windows.pq), written a block at a time so nothing is proportional to clip length. eval.py and render.py both read it; render.py finds its own pixels via the session's [provenance].
• --data and --videos are exactly-one-of, and a run is one source session (which may hold many groups). For --videos, the camera name is the regex capture group and the session is built in memory — nothing is staged.
• There is one window loop. Box sources: annotations, a detections npz (--boxes), or a per-dataset detector (--detector). Prompt regimes: none (query-free), carry (previous window's own prediction — what deployment does), self (two passes), labels (an oracle, gated off by default).

Defaults are not the recommendation. The good settings are root-conditional, so sweep them per root. Current values: --anchor carry, --overlap 4, --refine derived (on 3D / off 2D), --track on, --box-prompt auto, --prefetch-windows 1 (bit-exact, performance only), --max-ram derived from the host. In particular --anchor is root-conditional in 2D (a carried prior on a crowded root is often the wrong animal's pose) and --overlap's optimum is seam-count against seam-size — sweep per root.

Four rules that are not root-conditional:

• --vis-thresh has no meaning in 2D at the shipped default — the visibility head is only trained when [training.losses].vis_loss_2d_weight is nonzero (default 0.0).
• --box-prompt auto needs a detector or boxes file. A box-model run without one refuses rather than silently falling back to the GT oracle. Pass --detector/--boxes, or --box-prompt none to withhold the box.
• Always run eval.py with --chunk 500 on long clips — the bootstrap resamples groups, so a single long clip returns DEGENERATE.
• Use --min-match-kpts 0.5 for deltas and 0 for absolutes.

The largest lever is not a flag: pose accuracy on a ground-truth crop is far better, at full coverage, than through the detector, and on a long clip essentially all coverage loss is no box. Fix the crop path before tuning identity flags.

Reference

• docs/annotation_format.md — the data format spec (human-owned).