mirror of
https://github.com/gosticks/openpose.git
synced 2026-08-12 12:20:22 +00:00
CPU rendering added
This commit is contained in:
gineshidalgo99
@@ -14,12 +14,12 @@
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// This file should only be used for the user to take specific examples.
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// C++ std library dependencies
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#include <atomic> // std::atomic
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#include <atomic>
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#include <chrono> // `std::chrono::` functions and classes, e.g. std::chrono::milliseconds
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#include <cstdio> // sscanf
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#include <string> // std::string
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#include <string>
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#include <thread> // std::this_thread
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#include <vector> // std::vector
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#include <vector>
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// Other 3rdpary depencencies
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#include <gflags/gflags.h> // DEFINE_bool, DEFINE_int32, DEFINE_int64, DEFINE_uint64, DEFINE_double, DEFINE_string
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#include <glog/logging.h> // google::InitGoogleLogging
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@@ -43,67 +43,87 @@
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// Note: This command will show you flags for other unnecessary 3rdparty files. Check only the flags for the OpenPose
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// executable. E.g. for `openpose.bin`, look for `Flags from examples/openpose/openpose.cpp:`.
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// Debugging
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DEFINE_int32(logging_level, 3, "The logging level. Integer in the range [0, 255]. 0 will output any log() message, while 255 will not output any."
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" Current OpenPose library messages are in the range 0-4: 1 for low priority messages and 4 for important ones.");
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DEFINE_int32(logging_level, 3, "The logging level. Integer in the range [0, 255]. 0 will output any log() message, while"
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" 255 will not output any. Current OpenPose library messages are in the range 0-4: 1 for"
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" low priority messages and 4 for important ones.");
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// Producer
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DEFINE_string(image_dir, "examples/media/", "Process a directory of images.");
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// OpenPose
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DEFINE_string(model_folder, "models/", "Folder where the pose models (COCO and MPI) are located.");
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DEFINE_string(resolution, "1280x720", "The image resolution (display and output). Use \"-1x-1\" to force the program to use the default images resolution.");
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DEFINE_int32(num_gpu, -1, "The number of GPU devices to use. If negative, it will use all the available GPUs in your machine.");
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DEFINE_string(resolution, "1280x720", "The image resolution (display and output). Use \"-1x-1\" to force the program to use the"
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" default images resolution.");
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DEFINE_int32(num_gpu, -1, "The number of GPU devices to use. If negative, it will use all the available GPUs in your"
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" machine.");
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DEFINE_int32(num_gpu_start, 0, "GPU device start number.");
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DEFINE_int32(keypoint_scale, 0, "Scaling of the (x,y) coordinates of the final pose data array, i.e. the scale of the (x,y) coordinates that will be saved"
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" with the `write_keypoint` & `write_keypoint_json` flags. Select `0` to scale it to the original source resolution, `1`to scale"
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" it to the net output size (set with `net_resolution`), `2` to scale it to the final output size (set with `resolution`),"
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" `3` to scale it in the range [0,1], and 4 for range [-1,1]. Non related with `num_scales` and `scale_gap`.");
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DEFINE_int32(keypoint_scale, 0, "Scaling of the (x,y) coordinates of the final pose data array, i.e. the scale of the (x,y)"
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" coordinates that will be saved with the `write_keypoint` & `write_keypoint_json` flags."
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" Select `0` to scale it to the original source resolution, `1`to scale it to the net output"
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" size (set with `net_resolution`), `2` to scale it to the final output size (set with"
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" `resolution`), `3` to scale it in the range [0,1], and 4 for range [-1,1]. Non related"
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" with `num_scales` and `scale_gap`.");
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// OpenPose Body Pose
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DEFINE_string(model_pose, "COCO", "Model to be used (e.g. COCO, MPI, MPI_4_layers).");
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DEFINE_string(net_resolution, "656x368", "Multiples of 16. If it is increased, the accuracy usually increases. If it is decreased, the speed increases.");
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DEFINE_string(net_resolution, "656x368", "Multiples of 16. If it is increased, the accuracy usually increases. If it is decreased,"
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" the speed increases.");
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DEFINE_int32(num_scales, 1, "Number of scales to average.");
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DEFINE_double(scale_gap, 0.3, "Scale gap between scales. No effect unless num_scales>1. Initial scale is always 1. If you want to change the initial scale,"
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" you actually want to multiply the `net_resolution` by your desired initial scale.");
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DEFINE_bool(heatmaps_add_parts, false, "If true, it will add the body part heatmaps to the final op::Datum::poseHeatMaps array (program speed will decrease). Not"
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" required for our library, enable it only if you intend to process this information later. If more than one `add_heatmaps_X`"
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" flag is enabled, it will place then in sequential memory order: body parts + bkg + PAFs. It will follow the order on"
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" POSE_BODY_PART_MAPPING in `include/openpose/pose/poseParameters.hpp`.");
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DEFINE_bool(heatmaps_add_bkg, false, "Same functionality as `add_heatmaps_parts`, but adding the heatmap corresponding to background.");
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DEFINE_double(scale_gap, 0.3, "Scale gap between scales. No effect unless num_scales>1. Initial scale is always 1. If you"
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" want to change the initial scale, you actually want to multiply the `net_resolution` by"
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" your desired initial scale.");
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DEFINE_bool(heatmaps_add_parts, false, "If true, it will add the body part heatmaps to the final op::Datum::poseHeatMaps array"
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" (program speed will decrease). Not required for our library, enable it only if you intend"
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" to process this information later. If more than one `add_heatmaps_X` flag is enabled, it"
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" will place then in sequential memory order: body parts + bkg + PAFs. It will follow the"
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" order on POSE_BODY_PART_MAPPING in `include/openpose/pose/poseParameters.hpp`.");
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DEFINE_bool(heatmaps_add_bkg, false, "Same functionality as `add_heatmaps_parts`, but adding the heatmap corresponding to"
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" background.");
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DEFINE_bool(heatmaps_add_PAFs, false, "Same functionality as `add_heatmaps_parts`, but adding the PAFs.");
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DEFINE_int32(heatmaps_scale, 2, "Set 0 to scale op::Datum::poseHeatMaps in the range [0,1], 1 for [-1,1]; and 2 for integer rounded [0,255].");
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DEFINE_int32(heatmaps_scale, 2, "Set 0 to scale op::Datum::poseHeatMaps in the range [0,1], 1 for [-1,1]; and 2 for integer"
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" rounded [0,255].");
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// OpenPose Face
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DEFINE_bool(face, false, "Enables face keypoint detection. It will share some parameters from the body pose, e.g. `model_folder`.");
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DEFINE_string(face_net_resolution, "368x368", "Multiples of 16. Analogous to `net_resolution` but applied to the face keypoint detector. 320x320 usually works fine"
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" while giving a substantial speed up when multiple faces on the image.");
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DEFINE_bool(face, false, "Enables face keypoint detection. It will share some parameters from the body pose, e.g."
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" `model_folder`.");
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DEFINE_string(face_net_resolution, "368x368", "Multiples of 16. Analogous to `net_resolution` but applied to the face keypoint detector."
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" 320x320 usually works fine while giving a substantial speed up when multiple faces on the"
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" image.");
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// OpenPose Hand
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// OpenPose Rendering
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DEFINE_int32(part_to_show, 0, "Part to show from the start.");
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DEFINE_bool(disable_blending, false, "If blending is enabled, it will merge the results with the original frame. If disabled, it will only display the results.");
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DEFINE_bool(disable_blending, false, "If blending is enabled, it will merge the results with the original frame. If disabled, it"
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" will only display the results.");
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// OpenPose Rendering Pose
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DEFINE_bool(no_render_pose, false, "If false, it will fill both `outputData` and `cvOutputData` with the original image + desired part to be shown."
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" If true, it will leave them empty.");
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DEFINE_double(alpha_pose, 0.6, "Blending factor (range 0-1) for the body part rendering. 1 will show it completely, 0 will hide it.");
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DEFINE_double(alpha_heatmap, 0.7, "Blending factor (range 0-1) between heatmap and original frame. 1 will only show the heatmap, 0 will only show the frame.");
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DEFINE_int32(render_pose, 1, "Set to 0 for no rendering, 1 for CPU rendering (slightly faster), and 2 for GPU rendering"
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" (slower but greater functionality, e.g. `alpha_X` flags). If rendering is enabled, it will"
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" render both `outputData` and `cvOutputData` with the original image and desired body part"
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" to be shown (i.e. keypoints, heat maps or PAFs).");
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DEFINE_double(alpha_pose, 0.6, "Blending factor (range 0-1) for the body part rendering. 1 will show it completely, 0 will"
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" hide it. Only valid for GPU rendering.");
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DEFINE_double(alpha_heatmap, 0.7, "Blending factor (range 0-1) between heatmap and original frame. 1 will only show the"
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" heatmap, 0 will only show the frame. Only valid for GPU rendering.");
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// OpenPose Rendering Face
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DEFINE_bool(no_render_face, false, "Analogous to `no_render_pose` but applied to the face keypoints and heat maps.");
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DEFINE_double(alpha_face, 0.6, "Blending factor (range 0-1) for the body part rendering. 1 will show it completely, 0 will hide it.");
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DEFINE_double(alpha_heatmap_face, 0.7, "Blending factor (range 0-1) between heatmap and original frame. 1 will only show the heatmap, 0 will only show the frame.");
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DEFINE_int32(render_face, -1, "Analogous to `render_pose` but applied to the face. Extra option: -1 to use the same"
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" configuration that `render_pose` is using.");
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DEFINE_double(alpha_face, 0.6, "Analogous to `alpha_pose` but applied to face.");
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DEFINE_double(alpha_heatmap_face, 0.7, "Analogous to `alpha_heatmap` but applied to face.");
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// Result Saving
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DEFINE_string(write_images, "", "Directory to write rendered frames in `write_images_format` image format.");
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DEFINE_string(write_images_format, "png", "File extension and format for `write_images`, e.g. png, jpg or bmp. Check the OpenCV function cv::imwrite"
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" for all compatible extensions.");
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DEFINE_string(write_video, "", "Full file path to write rendered frames in motion JPEG video format. It might fail if the final path does"
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" not finish in `.avi`. It internally uses cv::VideoWriter.");
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DEFINE_string(write_keypoint, "", "Directory to write the people body pose keypoint data. Desired format on `write_keypoint_format`.");
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DEFINE_string(write_keypoint_format, "yml", "File extension and format for `write_keypoint`: json, xml, yaml and yml. Json not available for OpenCV < 3.0,"
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" use `write_keypoint_json` instead.");
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DEFINE_string(write_keypoint_json, "", "Directory to write people pose data with *.json format, compatible with any OpenCV version.");
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DEFINE_string(write_images_format, "png", "File extension and format for `write_images`, e.g. png, jpg or bmp. Check the OpenCV"
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" function cv::imwrite for all compatible extensions.");
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DEFINE_string(write_video, "", "Full file path to write rendered frames in motion JPEG video format. It might fail if the"
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" final path does not finish in `.avi`. It internally uses cv::VideoWriter.");
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DEFINE_string(write_keypoint, "", "Directory to write the people pose keypoint data. Format with `write_keypoint_format`.");
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DEFINE_string(write_keypoint_format, "yml", "File extension and format for `write_keypoint`: json, xml, yaml & yml. Json not available"
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" for OpenCV < 3.0, use `write_keypoint_json` instead.");
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DEFINE_string(write_keypoint_json, "", "Directory to write people pose data in *.json format, compatible with any OpenCV version.");
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DEFINE_string(write_coco_json, "", "Full file path to write people pose data with *.json COCO validation format.");
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DEFINE_string(write_heatmaps, "", "Directory to write heatmaps with *.png format. At least 1 `add_heatmaps_X` flag must be enabled.");
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DEFINE_string(write_heatmaps_format, "png", "File extension and format for `write_heatmaps`, analogous to `write_images_format`. Recommended `png` or any compressed and"
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" lossless format.");
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DEFINE_string(write_heatmaps, "", "Directory to write heatmaps in *.png format. At least 1 `add_heatmaps_X` flag must be"
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" enabled.");
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DEFINE_string(write_heatmaps_format, "png", "File extension and format for `write_heatmaps`, analogous to `write_images_format`."
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" Recommended `png` or any compressed and lossless format.");
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// If the user needs his own variables, he can inherit the op::Datum struct and add them
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// UserDatum can be directly used by the OpenPose wrapper because it inherits from op::Datum, just define Wrapper<UserDatum> instead of Wrapper<op::Datum>
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// UserDatum can be directly used by the OpenPose wrapper because it inherits from op::Datum, just define Wrapper<UserDatum> instead of
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// Wrapper<op::Datum>
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struct UserDatum : public op::Datum
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{
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bool boolThatUserNeedsForSomeReason;
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@@ -269,41 +289,62 @@ op::ScaleMode gflagToScaleMode(const int keypointScale)
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return op::ScaleMode::PlusMinusOne;
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else
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{
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const std::string message = "String does not correspond to any scale mode: (0, 1, 2, 3, 4) for (InputResolution, NetOutputResolution, OutputResolution, ZeroToOne, PlusMinusOne).";
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const std::string message = "String does not correspond to any scale mode: (0, 1, 2, 3, 4) for (InputResolution,"
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" NetOutputResolution, OutputResolution, ZeroToOne, PlusMinusOne).";
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op::error(message, __LINE__, __FUNCTION__, __FILE__);
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return op::ScaleMode::InputResolution;
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}
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}
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std::vector<op::HeatMapType> gflagToHeatMaps(const bool heatmaps_add_parts, const bool heatmaps_add_bkg, const bool heatmaps_add_PAFs)
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std::vector<op::HeatMapType> gflagToHeatMaps(const bool heatMapsAddParts, const bool heatMapsAddBkg, const bool heatMapsAddPAFs)
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{
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std::vector<op::HeatMapType> heatMapTypes;
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if (heatmaps_add_parts)
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if (heatMapsAddParts)
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heatMapTypes.emplace_back(op::HeatMapType::Parts);
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if (heatmaps_add_bkg)
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if (heatMapsAddBkg)
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heatMapTypes.emplace_back(op::HeatMapType::Background);
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if (heatmaps_add_PAFs)
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if (heatMapsAddPAFs)
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heatMapTypes.emplace_back(op::HeatMapType::PAFs);
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return heatMapTypes;
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}
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op::RenderMode gflagToRenderMode(const int renderFlag, const int renderPoseFlag = -2)
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{
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if (renderFlag == -1 && renderPoseFlag != -2)
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return gflagToRenderMode(renderPoseFlag, -2);
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else if (renderFlag == 0)
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return op::RenderMode::None;
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else if (renderFlag == 1)
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return op::RenderMode::Cpu;
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else if (renderFlag == 2)
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return op::RenderMode::Gpu;
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else
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{
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op::error("Undefined RenderMode selected.", __LINE__, __FUNCTION__, __FILE__);
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return op::RenderMode::None;
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}
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}
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// Google flags into program variables
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std::tuple<op::Point<int>, op::Point<int>, op::Point<int>, op::PoseModel, op::ScaleMode, std::vector<op::HeatMapType>, op::ScaleMode> gflagsToOpParameters()
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std::tuple<op::Point<int>, op::Point<int>, op::Point<int>, op::PoseModel, op::ScaleMode, std::vector<op::HeatMapType>,
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op::ScaleMode> gflagsToOpParameters()
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{
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op::log("", op::Priority::Low, __LINE__, __FUNCTION__, __FILE__);
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// outputSize
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op::Point<int> outputSize;
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auto nRead = sscanf(FLAGS_resolution.c_str(), "%dx%d", &outputSize.x, &outputSize.y);
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op::checkE(nRead, 2, "Error, resolution format (" + FLAGS_resolution + ") invalid, should be e.g., 960x540 ", __LINE__, __FUNCTION__, __FILE__);
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op::checkE(nRead, 2, "Error, resolution format (" + FLAGS_resolution + ") invalid, should be e.g., 960x540 ",
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__LINE__, __FUNCTION__, __FILE__);
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// netInputSize
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op::Point<int> netInputSize;
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nRead = sscanf(FLAGS_net_resolution.c_str(), "%dx%d", &netInputSize.x, &netInputSize.y);
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op::checkE(nRead, 2, "Error, net resolution format (" + FLAGS_net_resolution + ") invalid, should be e.g., 656x368 (multiples of 16)", __LINE__, __FUNCTION__, __FILE__);
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op::checkE(nRead, 2, "Error, net resolution format (" + FLAGS_net_resolution + ") invalid, should be e.g., 656x368 (multiples of 16)",
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__LINE__, __FUNCTION__, __FILE__);
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// faceNetInputSize
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op::Point<int> faceNetInputSize;
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nRead = sscanf(FLAGS_face_net_resolution.c_str(), "%dx%d", &faceNetInputSize.x, &faceNetInputSize.y);
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op::checkE(nRead, 2, "Error, face net resolution format (" + FLAGS_face_net_resolution + ") invalid, should be e.g., 368x368 (multiples of 16)", __LINE__, __FUNCTION__, __FILE__);
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op::checkE(nRead, 2, "Error, face net resolution format (" + FLAGS_face_net_resolution
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+ ") invalid, should be e.g., 368x368 (multiples of 16)", __LINE__, __FUNCTION__, __FILE__);
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// poseModel
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const auto poseModel = gflagToPoseModel(FLAGS_model_pose);
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// keypointScale
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@@ -311,7 +352,8 @@ std::tuple<op::Point<int>, op::Point<int>, op::Point<int>, op::PoseModel, op::Sc
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// heatmaps to add
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const auto heatMapTypes = gflagToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg, FLAGS_heatmaps_add_PAFs);
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op::check(FLAGS_heatmaps_scale >= 0 && FLAGS_heatmaps_scale <= 2, "Non valid `heatmaps_scale`.", __LINE__, __FUNCTION__, __FILE__);
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const auto heatMapScale = (FLAGS_heatmaps_scale == 0 ? op::ScaleMode::PlusMinusOne : (FLAGS_heatmaps_scale == 1 ? op::ScaleMode::ZeroToOne : op::ScaleMode::UnsignedChar ));
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const auto heatMapScale = (FLAGS_heatmaps_scale == 0 ? op::ScaleMode::PlusMinusOne
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: (FLAGS_heatmaps_scale == 1 ? op::ScaleMode::ZeroToOne : op::ScaleMode::UnsignedChar ));
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// return
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return std::make_tuple(outputSize, netInputSize, faceNetInputSize, poseModel, keypointScale, heatMapTypes, heatMapScale);
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}
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@@ -359,16 +401,19 @@ int openPoseTutorialWrapper2()
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const bool displayGui = false;
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const bool guiVerbose = false;
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const bool fullScreen = false;
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const op::WrapperStructPose wrapperStructPose{netInputSize, outputSize, keypointScale, FLAGS_num_gpu, FLAGS_num_gpu_start, FLAGS_num_scales, (float)FLAGS_scale_gap,
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!FLAGS_no_render_pose, poseModel, !FLAGS_disable_blending, (float)FLAGS_alpha_pose, (float)FLAGS_alpha_heatmap,
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const op::WrapperStructPose wrapperStructPose{netInputSize, outputSize, keypointScale, FLAGS_num_gpu, FLAGS_num_gpu_start,
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FLAGS_num_scales, (float)FLAGS_scale_gap, gflagToRenderMode(FLAGS_render_pose), poseModel,
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!FLAGS_disable_blending, (float)FLAGS_alpha_pose, (float)FLAGS_alpha_heatmap,
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FLAGS_part_to_show, FLAGS_model_folder, heatMapTypes, heatMapScale};
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// (Experimental, function and class names might change in next versions) Face configuration (use op::WrapperStructFace{} to disable it)
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const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize, !FLAGS_no_render_face, (float)FLAGS_alpha_face, (float)FLAGS_alpha_heatmap_face};
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// (Experimental, function and class names might change in next versions) Hand configuration (use op::WrapperStructFace{} to disable it)
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// Face configuration (use op::WrapperStructFace{} to disable it)
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const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize, gflagToRenderMode(FLAGS_render_face, FLAGS_render_pose),
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(float)FLAGS_alpha_face, (float)FLAGS_alpha_heatmap_face};
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// Hand configuration (use op::WrapperStructHand{} to disable it)
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const op::experimental::WrapperStructHand wrapperStructHand{false};
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// Consumer (comment or use default argument to disable any output)
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const op::WrapperStructOutput wrapperStructOutput{displayGui, guiVerbose, fullScreen, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
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FLAGS_write_keypoint_json, FLAGS_write_coco_json, FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video,
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const op::WrapperStructOutput wrapperStructOutput{displayGui, guiVerbose, fullScreen, FLAGS_write_keypoint,
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op::stringToDataFormat(FLAGS_write_keypoint_format), FLAGS_write_keypoint_json,
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FLAGS_write_coco_json, FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video,
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FLAGS_write_heatmaps, FLAGS_write_heatmaps_format};
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// Configure wrapper
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opWrapper.configure(wrapperStructPose, wrapperStructFace, wrapperStructHand, op::WrapperStructInput{}, wrapperStructOutput);
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@@ -400,7 +445,8 @@ int openPoseTutorialWrapper2()
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// opWrapper.stop();
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// Measuring total time
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const auto totalTimeSec = (double)std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::high_resolution_clock::now()-timerBegin).count() * 1e-9;
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const auto now = std::chrono::high_resolution_clock::now();
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const auto totalTimeSec = (double)std::chrono::duration_cast<std::chrono::nanoseconds>(now-timerBegin).count() * 1e-9;
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const auto message = "Real-time pose estimation demo successfully finished. Total time: " + std::to_string(totalTimeSec) + " seconds.";
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op::log(message, op::Priority::Max);
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