1. A method for training a pedestrian pose classification model comprising: receiving a three-dimensional (3D) model of a pedestrian; receiving a set of image parameters indicating how to generate an image of a pedestrian; generating a two-dimensional (2D) synthetic image based on the received 3D model and the received set of image parameters; annotating the generated synthetic image with the set of image parameters; and training a plurality of pedestrian pose classifiers through the annotated synthetic image.