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https://github.com/gosticks/openpose.git
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Examples highly improved
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gineshidalgo99
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// ------------------------- OpenPose C++ API Tutorial - Example 7 - Custom Output -------------------------
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// Asynchronous mode: ideal for fast prototyping when performance is not an issue.
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// In this function, the user can implement its own way to render/display the frames.
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// Command-line user intraface
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#define OPENPOSE_FLAGS_DISABLE_DISPLAY
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#include <openpose/flags.hpp>
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// OpenPose dependencies
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#include <openpose/headers.hpp>
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// Custom OpenPose flags
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// Display
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DEFINE_bool(no_display, false,
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"Enable to disable the visual display.");
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// The W-classes can be implemented either as a template or as simple classes given
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// that the user usually knows which kind of data he will move between the queues,
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// in this case we assume a std::shared_ptr of a std::vector of op::Datum
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// This worker will just read and return all the jpg files in a directory
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class UserOutputClass
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{
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public:
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bool display(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr)
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{
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// User's displaying/saving/other processing here
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// datumPtr->cvOutputData: rendered frame with pose or heatmaps
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// datumPtr->poseKeypoints: Array<float> with the estimated pose
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char key = ' ';
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if (datumsPtr != nullptr && !datumsPtr->empty())
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{
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cv::imshow("User worker GUI", datumsPtr->at(0)->cvOutputData);
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// Display image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
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key = (char)cv::waitKey(1);
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}
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else
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op::log("Nullptr or empty datumsPtr found.", op::Priority::High);
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return (key == 27);
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}
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void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr)
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{
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// Example: How to use the pose keypoints
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if (datumsPtr != nullptr && !datumsPtr->empty())
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{
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op::log("\nKeypoints:");
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// Accesing each element of the keypoints
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const auto& poseKeypoints = datumsPtr->at(0)->poseKeypoints;
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op::log("Person pose keypoints:");
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for (auto person = 0 ; person < poseKeypoints.getSize(0) ; person++)
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{
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op::log("Person " + std::to_string(person) + " (x, y, score):");
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for (auto bodyPart = 0 ; bodyPart < poseKeypoints.getSize(1) ; bodyPart++)
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{
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std::string valueToPrint;
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for (auto xyscore = 0 ; xyscore < poseKeypoints.getSize(2) ; xyscore++)
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{
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valueToPrint += std::to_string( poseKeypoints[{person, bodyPart, xyscore}] ) + " ";
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}
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op::log(valueToPrint);
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}
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}
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op::log(" ");
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// Alternative: just getting std::string equivalent
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op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
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op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
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op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
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// Heatmaps
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const auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
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if (!poseHeatMaps.empty())
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{
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op::log("Pose heatmaps size: [" + std::to_string(poseHeatMaps.getSize(0)) + ", "
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+ std::to_string(poseHeatMaps.getSize(1)) + ", "
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+ std::to_string(poseHeatMaps.getSize(2)) + "]");
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const auto& faceHeatMaps = datumsPtr->at(0)->faceHeatMaps;
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op::log("Face heatmaps size: [" + std::to_string(faceHeatMaps.getSize(0)) + ", "
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+ std::to_string(faceHeatMaps.getSize(1)) + ", "
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+ std::to_string(faceHeatMaps.getSize(2)) + ", "
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+ std::to_string(faceHeatMaps.getSize(3)) + "]");
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const auto& handHeatMaps = datumsPtr->at(0)->handHeatMaps;
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op::log("Left hand heatmaps size: [" + std::to_string(handHeatMaps[0].getSize(0)) + ", "
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+ std::to_string(handHeatMaps[0].getSize(1)) + ", "
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+ std::to_string(handHeatMaps[0].getSize(2)) + ", "
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+ std::to_string(handHeatMaps[0].getSize(3)) + "]");
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op::log("Right hand heatmaps size: [" + std::to_string(handHeatMaps[1].getSize(0)) + ", "
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+ std::to_string(handHeatMaps[1].getSize(1)) + ", "
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+ std::to_string(handHeatMaps[1].getSize(2)) + ", "
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+ std::to_string(handHeatMaps[1].getSize(3)) + "]");
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}
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}
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else
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op::log("Nullptr or empty datumsPtr found.", op::Priority::High);
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}
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};
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void configureWrapper(op::Wrapper& opWrapper)
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{
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try
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{
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// Configuring OpenPose
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// logging_level
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op::check(0 <= FLAGS_logging_level && FLAGS_logging_level <= 255, "Wrong logging_level value.",
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__LINE__, __FUNCTION__, __FILE__);
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op::ConfigureLog::setPriorityThreshold((op::Priority)FLAGS_logging_level);
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op::Profiler::setDefaultX(FLAGS_profile_speed);
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// Applying user defined configuration - GFlags to program variables
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// producerType
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op::ProducerType producerType;
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std::string producerString;
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std::tie(producerType, producerString) = op::flagsToProducer(
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FLAGS_image_dir, FLAGS_video, FLAGS_ip_camera, FLAGS_camera, FLAGS_flir_camera, FLAGS_flir_camera_index);
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// cameraSize
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const auto cameraSize = op::flagsToPoint(FLAGS_camera_resolution, "-1x-1");
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// outputSize
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const auto outputSize = op::flagsToPoint(FLAGS_output_resolution, "-1x-1");
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// netInputSize
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const auto netInputSize = op::flagsToPoint(FLAGS_net_resolution, "-1x368");
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// faceNetInputSize
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const auto faceNetInputSize = op::flagsToPoint(FLAGS_face_net_resolution, "368x368 (multiples of 16)");
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// handNetInputSize
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const auto handNetInputSize = op::flagsToPoint(FLAGS_hand_net_resolution, "368x368 (multiples of 16)");
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// poseModel
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const auto poseModel = op::flagsToPoseModel(FLAGS_model_pose);
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// JSON saving
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if (!FLAGS_write_keypoint.empty())
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op::log("Flag `write_keypoint` is deprecated and will eventually be removed."
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" Please, use `write_json` instead.", op::Priority::Max);
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// keypointScaleMode
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const auto keypointScaleMode = op::flagsToScaleMode(FLAGS_keypoint_scale);
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// heatmaps to add
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const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
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FLAGS_heatmaps_add_PAFs);
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const auto heatMapScaleMode = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
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// >1 camera view?
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const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1 || FLAGS_flir_camera);
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// Face and hand detectors
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const auto faceDetector = op::flagsToDetector(FLAGS_face_detector);
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const auto handDetector = op::flagsToDetector(FLAGS_hand_detector);
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// Enabling Google Logging
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const bool enableGoogleLogging = true;
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// Pose configuration (use WrapperStructPose{} for default and recommended configuration)
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const op::WrapperStructPose wrapperStructPose{
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!FLAGS_body_disable, netInputSize, outputSize, keypointScaleMode, FLAGS_num_gpu, FLAGS_num_gpu_start,
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FLAGS_scale_number, (float)FLAGS_scale_gap, op::flagsToRenderMode(FLAGS_render_pose, multipleView),
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poseModel, !FLAGS_disable_blending, (float)FLAGS_alpha_pose, (float)FLAGS_alpha_heatmap,
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FLAGS_part_to_show, FLAGS_model_folder, heatMapTypes, heatMapScaleMode, FLAGS_part_candidates,
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(float)FLAGS_render_threshold, FLAGS_number_people_max, FLAGS_maximize_positives, FLAGS_fps_max,
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FLAGS_prototxt_path, FLAGS_caffemodel_path, enableGoogleLogging};
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opWrapper.configure(wrapperStructPose);
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// Face configuration (use op::WrapperStructFace{} to disable it)
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const op::WrapperStructFace wrapperStructFace{
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FLAGS_face, faceDetector, faceNetInputSize,
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op::flagsToRenderMode(FLAGS_face_render, multipleView, FLAGS_render_pose),
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(float)FLAGS_face_alpha_pose, (float)FLAGS_face_alpha_heatmap, (float)FLAGS_face_render_threshold};
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opWrapper.configure(wrapperStructFace);
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// Hand configuration (use op::WrapperStructHand{} to disable it)
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const op::WrapperStructHand wrapperStructHand{
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FLAGS_hand, handDetector, handNetInputSize, FLAGS_hand_scale_number, (float)FLAGS_hand_scale_range,
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op::flagsToRenderMode(FLAGS_hand_render, multipleView, FLAGS_render_pose), (float)FLAGS_hand_alpha_pose,
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(float)FLAGS_hand_alpha_heatmap, (float)FLAGS_hand_render_threshold};
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opWrapper.configure(wrapperStructHand);
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// Extra functionality configuration (use op::WrapperStructExtra{} to disable it)
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const op::WrapperStructExtra wrapperStructExtra{
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FLAGS_3d, FLAGS_3d_min_views, FLAGS_identification, FLAGS_tracking, FLAGS_ik_threads};
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opWrapper.configure(wrapperStructExtra);
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// Producer (use default to disable any input)
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const op::WrapperStructInput wrapperStructInput{
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producerType, producerString, FLAGS_frame_first, FLAGS_frame_step, FLAGS_frame_last,
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FLAGS_process_real_time, FLAGS_frame_flip, FLAGS_frame_rotate, FLAGS_frames_repeat,
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cameraSize, FLAGS_camera_parameter_path, FLAGS_frame_undistort, FLAGS_3d_views};
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opWrapper.configure(wrapperStructInput);
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// Output (comment or use default argument to disable any output)
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const op::WrapperStructOutput wrapperStructOutput{
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FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
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FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
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FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
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FLAGS_write_video_with_audio, FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d,
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FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
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opWrapper.configure(wrapperStructOutput);
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// No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
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// Set to single-thread (for sequential processing and/or debugging and/or reducing latency)
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if (FLAGS_disable_multi_thread)
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opWrapper.disableMultiThreading();
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}
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catch (const std::exception& e)
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{
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op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
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}
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}
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int tutorialApiCpp()
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{
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try
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{
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op::log("Starting OpenPose demo...", op::Priority::High);
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const auto opTimer = op::getTimerInit();
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// Configuring OpenPose
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op::log("Configuring OpenPose...", op::Priority::High);
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op::Wrapper opWrapper{op::ThreadManagerMode::AsynchronousOut};
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configureWrapper(opWrapper);
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// Start, run, and stop processing - exec() blocks this thread until OpenPose wrapper has finished
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op::log("Starting thread(s)...", op::Priority::High);
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opWrapper.start();
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// User processing
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UserOutputClass userOutputClass;
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bool userWantsToExit = false;
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while (!userWantsToExit)
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{
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// Pop frame
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std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>> datumProcessed;
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if (opWrapper.waitAndPop(datumProcessed))
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{
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if (!FLAGS_no_display)
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userWantsToExit = userOutputClass.display(datumProcessed);;
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userOutputClass.printKeypoints(datumProcessed);
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}
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// If OpenPose finished reading images
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else if (!opWrapper.isRunning())
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break;
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// Something else happened
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else
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op::log("Processed datum could not be emplaced.", op::Priority::High);
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}
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op::log("Stopping thread(s)", op::Priority::High);
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opWrapper.stop();
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// Measuring total time
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op::printTime(opTimer, "OpenPose demo successfully finished. Total time: ", " seconds.", op::Priority::High);
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// Return
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return 0;
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}
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catch (const std::exception& e)
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{
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return -1;
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}
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}
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int main(int argc, char *argv[])
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{
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// Parsing command line flags
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gflags::ParseCommandLineFlags(&argc, &argv, true);
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// Running tutorialApiCpp
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return tutorialApiCpp();
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}
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