KeyError: 'POSE_WORLD_LANDMARKS' Crash on reduce_poses_to_intersection

[cleong110]

Here's the current code:

def reduce_poses_to_intersection(
    poses: Iterable[Pose],
    progress=False,
) -> List[Pose]:
    poses = list(poses)  # get a list, no need to copy

    # look at the first pose
    component_names = {c.name for c in poses[0].header.components}
    points = {c.name: set(c.points) for c in poses[0].header.components}

    # remove anything that other poses don't have
    for pose in tqdm(poses[1:], desc="reduce poses to intersection", disable=not progress):
        component_names.intersection_update({c.name for c in pose.header.components})
        for component in pose.header.components:
            points[component.name].intersection_update(set(component.points))

    # change datatypes to match get_components, then update the poses
    points_dict = {}
    for c_name in points.keys():
        points_dict[c_name] = list(points[c_name])
    poses = [pose.get_components(list(component_names), points_dict) for pose in poses]
    return poses

It crashed on this line:

            points[component.name].intersection_update(set(component.points))

This happens, I think, when an entire component is gone from one of the poses, but not all.

[AmitMY]

Can you supply two poses that crash this? a failing test?