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258 lines
12 KiB
C++
258 lines
12 KiB
C++
// ----------------------- OpenPose C++ API Tutorial - Example 8 - Heatmaps from image -----------------------
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// It reads an image, process it, and displays it with the body heatmaps. In addition, it includes all the
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// OpenPose configuration flags (enable/disable hand, face, output saving, etc.).
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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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#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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// Producer
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DEFINE_string(image_path, "examples/media/COCO_val2014_000000000294.jpg",
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"Process an image. Read all standard formats (jpg, png, bmp, etc.).");
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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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// This worker will just read and return all the jpg files in a directory
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bool display(
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const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr, const int desiredChannel = 0)
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{
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try
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{
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if (datumsPtr != nullptr && !datumsPtr->empty())
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{
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// Note: Heatmaps are in net_resolution size, which does not necessarily match the final image size
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// Read heatmaps
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auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
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// Read desired channel
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const auto numberChannels = poseHeatMaps.getSize(0);
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const auto height = poseHeatMaps.getSize(1);
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const auto width = poseHeatMaps.getSize(2);
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const cv::Mat desiredChannelHeatMap(
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height, width, CV_32F, &poseHeatMaps.getPtr()[desiredChannel % numberChannels*height*width]);
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// Read image used from OpenPose body network (same resolution than heatmaps)
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auto& inputNetData = datumsPtr->at(0)->inputNetData[0];
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const cv::Mat inputNetDataB(
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height, width, CV_32F, &inputNetData.getPtr()[0]);
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const cv::Mat inputNetDataG(
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height, width, CV_32F, &inputNetData.getPtr()[height*width]);
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const cv::Mat inputNetDataR(
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height, width, CV_32F, &inputNetData.getPtr()[2*height*width]);
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cv::Mat netInputImage;
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cv::merge(std::vector<cv::Mat>{inputNetDataB, inputNetDataG, inputNetDataR}, netInputImage);
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netInputImage = (netInputImage+0.5)*255;
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// Turn into uint8 cv::Mat
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cv::Mat netInputImageUint8;
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netInputImage.convertTo(netInputImageUint8, CV_8UC1);
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cv::Mat desiredChannelHeatMapUint8;
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desiredChannelHeatMap.convertTo(desiredChannelHeatMapUint8, CV_8UC1);
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// Combining both images
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cv::Mat imageToRender;
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cv::applyColorMap(desiredChannelHeatMapUint8, desiredChannelHeatMapUint8, cv::COLORMAP_JET);
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cv::addWeighted(netInputImageUint8, 0.5, desiredChannelHeatMapUint8, 0.5, 0., imageToRender);
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// Display image
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if (!imageToRender.empty())
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cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", imageToRender);
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else
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op::opLog("Empty cv::Mat as output.", op::Priority::High, __LINE__, __FUNCTION__, __FILE__);
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}
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else
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op::opLog("Nullptr or empty datumsPtr found.", op::Priority::High);
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const auto key = (char)cv::waitKey(1);
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return (key == 27);
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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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return true;
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}
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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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try
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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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const auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
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const auto numberChannels = poseHeatMaps.getSize(0);
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const auto height = poseHeatMaps.getSize(1);
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const auto width = poseHeatMaps.getSize(2);
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op::opLog("Body heatmaps has " + std::to_string(numberChannels) + " channels, and each channel has a"
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" dimension of " + std::to_string(width) + " x " + std::to_string(height) + " pixels.",
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op::Priority::High);
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}
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else
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op::opLog("Nullptr or empty datumsPtr found.", op::Priority::High);
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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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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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// 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::opLog("Starting OpenPose demo...", op::Priority::High);
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const auto opTimer = op::getTimerInit();
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// Required flags to enable heatmaps
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FLAGS_heatmaps_add_parts = true;
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FLAGS_heatmaps_add_bkg = true;
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FLAGS_heatmaps_add_PAFs = true;
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FLAGS_heatmaps_scale = 2;
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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::Asynchronous};
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configureWrapper(opWrapper);
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// Starting OpenPose
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op::opLog("Starting thread(s)...", op::Priority::High);
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opWrapper.start();
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// Process and display image
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const cv::Mat cvImageToProcess = cv::imread(FLAGS_image_path);
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const op::Matrix imageToProcess = OP_CV2OPCONSTMAT(cvImageToProcess);
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auto datumProcessed = opWrapper.emplaceAndPop(imageToProcess);
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if (datumProcessed != nullptr)
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{
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printKeypoints(datumProcessed);
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if (!FLAGS_no_display)
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{
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const auto numberChannels = datumProcessed->at(0)->poseHeatMaps.getSize(0);
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for (auto desiredChannel = 0 ; desiredChannel < numberChannels ; desiredChannel++)
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if (display(datumProcessed, desiredChannel))
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break;
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}
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}
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else
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op::opLog("Image could not be processed.", op::Priority::High);
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// Info
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op::opLog("NOTE: In addition with the user flags, this demo has auto-selected the following flags:\n"
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"\t`--heatmaps_add_parts --heatmaps_add_bkg --heatmaps_add_PAFs`",
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op::Priority::High);
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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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