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https://github.com/gosticks/openpose.git
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Added 3d asynchronous functionality and example
This commit is contained in:
Gines Hidalgo
@@ -0,0 +1,240 @@
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// ------------------------- OpenPose C++ API Tutorial - Example 10 - Custom Input -------------------------
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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 create frames (e.g., reading his own folder of images)
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// and emplaces/pushes the frames to OpenPose.
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// Third-party dependencies
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#include <opencv2/opencv.hpp>
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// Command-line user interface
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#define OPENPOSE_FLAGS_DISABLE_PRODUCER
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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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// Producer
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DEFINE_string(video, "3d_4camera_video.avi",
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"Use a video file instead of the camera. Use `examples/media/video.avi` for our default example video.");
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DEFINE_string(camera_parameter_path, "models/cameraParameters/flir/",
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"String with the folder where the camera parameters are located. If there is only 1 XML file (for single"
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" video, webcam, or images from the same camera), you must specify the whole XML file path (ending in .xml).");
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// This worker will just read and return all the basic image file formats in a directory
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class UserInputClass
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{
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public:
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UserInputClass(const std::string& videoPath, const std::string& cameraParameterPath) :
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mClosed{false},
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mFrameCounter{0ull},
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mVideoCapture{videoPath}
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{
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if (!mVideoCapture.isOpened())
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{
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mClosed = true;
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op::error("No video " + videoPath + " opened.", __LINE__, __FUNCTION__, __FILE__);
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}
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// Create CameraParameterReader
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mCameraParameterReader.readParameters(cameraParameterPath);
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}
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std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>> createDatum()
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{
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if (mClosed)
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{
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op::opLog("Video already closed, nullptr returned.", op::Priority::High);
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return nullptr;
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}
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// Read cv::Mat
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cv::Mat cvInputData;
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mVideoCapture >> cvInputData;
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// If empty frame -> return nullptr
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if (cvInputData.empty())
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{
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// Close program when empty frame
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op::opLog("Empty frame detected, closing program.", op::Priority::High);
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mClosed = true;
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return nullptr;
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}
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// Create new datum and add 3D information (cv::Mat splitted and camera parameters)
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auto datumsPtr = std::make_shared<std::vector<std::shared_ptr<op::Datum>>>();
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op::createMultiviewTDatum<op::Datum>(datumsPtr, mFrameCounter, mCameraParameterReader, (void*)&cvInputData);
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return datumsPtr;
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}
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bool isFinished() const
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{
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return mClosed;
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}
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private:
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bool mClosed;
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unsigned long long mFrameCounter;
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cv::VideoCapture mVideoCapture;
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op::CameraParameterReader mCameraParameterReader;
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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::checkBool(
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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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// outputSize
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const auto outputSize = op::flagsToPoint(op::String(FLAGS_output_resolution), "-1x-1");
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// netInputSize
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const auto netInputSize = op::flagsToPoint(op::String(FLAGS_net_resolution), "-1x368");
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// faceNetInputSize
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const auto faceNetInputSize = op::flagsToPoint(op::String(FLAGS_face_net_resolution), "368x368 (multiples of 16)");
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// handNetInputSize
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const auto handNetInputSize = op::flagsToPoint(op::String(FLAGS_hand_net_resolution), "368x368 (multiples of 16)");
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// poseMode
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const auto poseMode = op::flagsToPoseMode(FLAGS_body);
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// poseModel
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const auto poseModel = op::flagsToPoseModel(op::String(FLAGS_model_pose));
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// JSON saving
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if (!FLAGS_write_keypoint.empty())
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op::opLog(
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"Flag `write_keypoint` is deprecated and will eventually be removed. Please, use `write_json`"
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" 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);
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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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poseMode, 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, op::String(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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op::String(FLAGS_prototxt_path), op::String(FLAGS_caffemodel_path),
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(float)FLAGS_upsampling_ratio, 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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// 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, op::String(FLAGS_write_keypoint), op::stringToDataFormat(FLAGS_write_keypoint_format),
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op::String(FLAGS_write_json), op::String(FLAGS_write_coco_json), FLAGS_write_coco_json_variants,
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FLAGS_write_coco_json_variant, op::String(FLAGS_write_images), op::String(FLAGS_write_images_format),
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op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
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op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
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op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
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op::String(FLAGS_udp_port)};
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opWrapper.configure(wrapperStructOutput);
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// GUI (comment or use default argument to disable any visual output)
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const op::WrapperStructGui wrapperStructGui{
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op::flagsToDisplayMode(FLAGS_display, FLAGS_3d), !FLAGS_no_gui_verbose, FLAGS_fullscreen};
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opWrapper.configure(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::opLog("Starting OpenPose demo...", op::Priority::High);
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const auto opTimer = op::getTimerInit();
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// Required flags to enable 3-D
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FLAGS_3d = true;
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FLAGS_number_people_max = 1;
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FLAGS_3d_min_views = 3;
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FLAGS_output_resolution = "320x256"; // Optional, but otherwise it gets too big to render in real time
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// FLAGS_3d_views = X; // Not required because it only affects OpenPose producers (rather than custom ones)
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// Configuring OpenPose
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op::opLog("Configuring OpenPose...", op::Priority::High);
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op::Wrapper opWrapper{op::ThreadManagerMode::AsynchronousIn};
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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::opLog("Starting thread(s)...", op::Priority::High);
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opWrapper.start();
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// User processing
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UserInputClass userInputClass(FLAGS_video, FLAGS_camera_parameter_path);
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bool userWantsToExit = false;
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while (!userWantsToExit && !userInputClass.isFinished())
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{
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if (!opWrapper.isRunning())
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{
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op::opLog("OpenPose wrapper is no longer running, exiting video.", op::Priority::High);
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break;
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}
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// Push frame
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auto datumToProcess = userInputClass.createDatum();
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if (datumToProcess != nullptr)
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{
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auto successfullyEmplaced = opWrapper.waitAndEmplace(datumToProcess);
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if (!successfullyEmplaced)
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op::opLog("Processed datum could not be emplaced.", op::Priority::High);
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}
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}
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op::opLog("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&)
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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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@@ -9,13 +9,14 @@ set(EXAMPLE_FILES
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08_heatmaps_from_image.cpp
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09_keypoints_from_heatmaps.cpp
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10_asynchronous_custom_input.cpp
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11_asynchronous_custom_output.cpp
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12_asynchronous_custom_input_output_and_datum.cpp
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13_synchronous_custom_input.cpp
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14_synchronous_custom_preprocessing.cpp
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15_synchronous_custom_postprocessing.cpp
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16_synchronous_custom_output.cpp
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17_synchronous_custom_all_and_datum.cpp)
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11_asynchronous_custom_input_multi_camera.cpp
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12_asynchronous_custom_output.cpp
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13_asynchronous_custom_input_output_and_datum.cpp
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14_synchronous_custom_input.cpp
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15_synchronous_custom_preprocessing.cpp
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16_synchronous_custom_postprocessing.cpp
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17_synchronous_custom_output.cpp
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18_synchronous_custom_all_and_datum.cpp)
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include(${CMAKE_SOURCE_DIR}/cmake/Utils.cmake)
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