openpose/examples/tutorial_api_cpp/6_synchronous_custom_postprocessing.cpp

// ------------------------- OpenPose C++ API Tutorial - Example 6 - XXXXXXXXXXXXX -------------------------
// If the user wants to learn to use the OpenPose library, we highly recommend to start with the
// examples in `examples/tutorial_api_cpp/`.
// This example summarizes all the functionality of the OpenPose library:
    // 1. Read folder of images / video / webcam  (`producer` module)
    // 2. Extract and render body keypoint / heatmap / PAF of that image (`pose` module)
    // 3. Extract and render face keypoint / heatmap / PAF of that image (`face` module)
    // 4. Save the results on disk (`filestream` module)
    // 5. Display the rendered pose (`gui` module)
    // Everything in a multi-thread scenario (`thread` module)
    // Points 2 to 5 are included in the `wrapper` module
// In addition to the previous OpenPose modules, we also need to use:
    // 1. `core` module:
        // For the Array<float> class that the `pose` module needs
        // For the Datum struct that the `thread` module sends between the queues
    // 2. `utilities` module: for the error & logging functions, i.e. op::error & op::log respectively
// This file should only be used for the user to take specific examples.

// Command-line user intraface
#include <openpose/flags.hpp>
// OpenPose dependencies
#include <openpose/headers.hpp>

// If the user needs his own variables, he can inherit the op::Datum struct and add them in there.
// UserDatum can be directly used by the OpenPose wrapper because it inherits from op::Datum, just define
// WrapperT<std::vector<UserDatum>> instead of Wrapper (or equivalently WrapperT<std::vector<UserDatum>>)
struct UserDatum : public op::Datum
{
    bool boolThatUserNeedsForSomeReason;

    UserDatum(const bool boolThatUserNeedsForSomeReason_ = false) :
        boolThatUserNeedsForSomeReason{boolThatUserNeedsForSomeReason_}
    {}
};

// The W-classes can be implemented either as a template or as simple classes given
// that the user usually knows which kind of data he will move between the queues,
// in this case we assume a std::shared_ptr of a std::vector of UserDatum

// This worker will just invert the image
class WUserPostProcessing : public op::Worker<std::shared_ptr<std::vector<UserDatum>>>
{
public:
    WUserPostProcessing()
    {
        // User's constructor here
    }

    void initializationOnThread() {}

    void work(std::shared_ptr<std::vector<UserDatum>>& datumsPtr)
    {
        // User's post-processing (after OpenPose processing & before OpenPose outputs) here
            // datum.cvOutputData: rendered frame with pose or heatmaps
            // datum.poseKeypoints: Array<float> with the estimated pose
        try
        {
            if (datumsPtr != nullptr && !datumsPtr->empty())
                for (auto& datum : *datumsPtr)
                    cv::bitwise_not(datum.cvOutputData, datum.cvOutputData);
        }
        catch (const std::exception& e)
        {
            this->stop();
            op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
        }
    }
};

int openPoseDemo()
{
    try
    {
        op::log("Starting OpenPose demo...", op::Priority::High);
        const auto timerBegin = std::chrono::high_resolution_clock::now();

        // logging_level
        op::check(0 <= FLAGS_logging_level && FLAGS_logging_level <= 255, "Wrong logging_level value.",
                  __LINE__, __FUNCTION__, __FILE__);
        op::ConfigureLog::setPriorityThreshold((op::Priority)FLAGS_logging_level);
        op::Profiler::setDefaultX(FLAGS_profile_speed);
        // // For debugging
        // // Print all logging messages
        // op::ConfigureLog::setPriorityThreshold(op::Priority::None);
        // // Print out speed values faster
        // op::Profiler::setDefaultX(100);

        // Applying user defined configuration - GFlags to program variables
        // outputSize
        const auto outputSize = op::flagsToPoint(FLAGS_output_resolution, "-1x-1");
        // netInputSize
        const auto netInputSize = op::flagsToPoint(FLAGS_net_resolution, "-1x368");
        // faceNetInputSize
        const auto faceNetInputSize = op::flagsToPoint(FLAGS_face_net_resolution, "368x368 (multiples of 16)");
        // handNetInputSize
        const auto handNetInputSize = op::flagsToPoint(FLAGS_hand_net_resolution, "368x368 (multiples of 16)");
        // producerType
        const auto producerSharedPtr = op::flagsToProducer(FLAGS_image_dir, FLAGS_video, FLAGS_ip_camera, FLAGS_camera,
                                                           FLAGS_flir_camera, FLAGS_camera_resolution, FLAGS_camera_fps,
                                                           FLAGS_camera_parameter_folder, !FLAGS_frame_keep_distortion,
                                                           (unsigned int) FLAGS_3d_views, FLAGS_flir_camera_index);
        // poseModel
        const auto poseModel = op::flagsToPoseModel(FLAGS_model_pose);
        // JSON saving
        if (!FLAGS_write_keypoint.empty())
            op::log("Flag `write_keypoint` is deprecated and will eventually be removed."
                    " Please, use `write_json` instead.", op::Priority::Max);
        // keypointScale
        const auto keypointScale = op::flagsToScaleMode(FLAGS_keypoint_scale);
        // heatmaps to add
        const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
                                                      FLAGS_heatmaps_add_PAFs);
        const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
        // >1 camera view?
        const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1 || FLAGS_flir_camera);
        // Enabling Google Logging
        const bool enableGoogleLogging = true;
        // Logging
        op::log("", op::Priority::Low, __LINE__, __FUNCTION__, __FILE__);

        // OpenPose wrapper
        op::log("Configuring OpenPose wrapper...", op::Priority::Low, __LINE__, __FUNCTION__, __FILE__);
        op::WrapperT<std::vector<UserDatum>> opWrapper;

        // Initializing the user custom classes
        // Processing
        auto wUserPostProcessing = std::make_shared<WUserPostProcessing>();
        // Add custom processing
        const auto workerProcessingOnNewThread = true;
        opWrapper.setWorker(op::WorkerType::PostProcessing, wUserPostProcessing, workerProcessingOnNewThread);

        // Pose configuration (use WrapperStructPose{} for default and recommended configuration)
        const op::WrapperStructPose wrapperStructPose{
            !FLAGS_body_disable, netInputSize, outputSize, keypointScale, FLAGS_num_gpu, FLAGS_num_gpu_start,
            FLAGS_scale_number, (float)FLAGS_scale_gap, op::flagsToRenderMode(FLAGS_render_pose, multipleView),
            poseModel, !FLAGS_disable_blending, (float)FLAGS_alpha_pose, (float)FLAGS_alpha_heatmap,
            FLAGS_part_to_show, FLAGS_model_folder, heatMapTypes, heatMapScale, FLAGS_part_candidates,
            (float)FLAGS_render_threshold, FLAGS_number_people_max, enableGoogleLogging};
        // Face configuration (use op::WrapperStructFace{} to disable it)
        const op::WrapperStructFace wrapperStructFace{
            FLAGS_face, faceNetInputSize, op::flagsToRenderMode(FLAGS_face_render, multipleView, FLAGS_render_pose),
            (float)FLAGS_face_alpha_pose, (float)FLAGS_face_alpha_heatmap, (float)FLAGS_face_render_threshold};
        // Hand configuration (use op::WrapperStructHand{} to disable it)
        const op::WrapperStructHand wrapperStructHand{
            FLAGS_hand, handNetInputSize, FLAGS_hand_scale_number, (float)FLAGS_hand_scale_range, FLAGS_hand_tracking,
            op::flagsToRenderMode(FLAGS_hand_render, multipleView, FLAGS_render_pose), (float)FLAGS_hand_alpha_pose,
            (float)FLAGS_hand_alpha_heatmap, (float)FLAGS_hand_render_threshold};
        // Producer (use default to disable any input)
        const op::WrapperStructInput wrapperStructInput{
            producerSharedPtr, FLAGS_frame_first, FLAGS_frame_last, FLAGS_process_real_time, FLAGS_frame_flip,
            FLAGS_frame_rotate, FLAGS_frames_repeat};
        // Extra functionality configuration (use op::WrapperStructExtra{} to disable it)
        const op::WrapperStructExtra wrapperStructExtra{
            FLAGS_3d, FLAGS_3d_min_views, FLAGS_identification, FLAGS_tracking, FLAGS_ik_threads};
        // Consumer (comment or use default argument to disable any output)
        const op::WrapperStructOutput wrapperStructOutput{
            op::flagsToDisplayMode(FLAGS_display, FLAGS_3d), !FLAGS_no_gui_verbose, FLAGS_fullscreen,
            FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format), FLAGS_write_json,
            FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_images, FLAGS_write_images_format,
            FLAGS_write_video, FLAGS_camera_fps, FLAGS_write_heatmaps, FLAGS_write_heatmaps_format,
            FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
        // Configure wrapper
        opWrapper.configure(wrapperStructPose, wrapperStructFace, wrapperStructHand, wrapperStructExtra,
                            wrapperStructInput, wrapperStructOutput);
        // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)
        if (FLAGS_disable_multi_thread)
            opWrapper.disableMultiThreading();

        // Start processing
        // Two different ways of running the program on multithread environment
        op::log("Starting thread(s)...", op::Priority::High);
        // Start, run & stop threads - it blocks this thread until all others have finished
        opWrapper.exec();

        // // Option b) Keeping this thread free in case you want to do something else meanwhile, e.g. profiling the GPU
        // memory
        // // VERY IMPORTANT NOTE: if OpenCV is compiled with Qt support, this option will not work. Qt needs the main
        // // thread to plot visual results, so the final GUI (which uses OpenCV) would return an exception similar to:
        // // `QMetaMethod::invoke: Unable to invoke methods with return values in queued connections`
        // // Start threads
        // opWrapper.start();
        // // Profile used GPU memory
        //     // 1: wait ~10sec so the memory has been totally loaded on GPU
        //     // 2: profile the GPU memory
        // const auto sleepTimeMs = 10;
        // for (auto i = 0 ; i < 10000/sleepTimeMs && opWrapper.isRunning() ; i++)
        //     std::this_thread::sleep_for(std::chrono::milliseconds{sleepTimeMs});
        // op::Profiler::profileGpuMemory(__LINE__, __FUNCTION__, __FILE__);
        // // Keep program alive while running threads
        // while (opWrapper.isRunning())
        //     std::this_thread::sleep_for(std::chrono::milliseconds{sleepTimeMs});
        // // Stop and join threads
        // op::log("Stopping thread(s)", op::Priority::High);
        // opWrapper.stop();

        // Measuring total time
        const auto now = std::chrono::high_resolution_clock::now();
        const auto totalTimeSec = (double)std::chrono::duration_cast<std::chrono::nanoseconds>(now-timerBegin).count()
                                * 1e-9;
        const auto message = "OpenPose demo successfully finished. Total time: "
                           + std::to_string(totalTimeSec) + " seconds.";
        op::log(message, op::Priority::High);

        // Return successful message
        return 0;
    }
    catch (const std::exception& e)
    {
        op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
        return -1;
    }
}

int main(int argc, char *argv[])
{
    // Parsing command line flags
    gflags::ParseCommandLineFlags(&argc, &argv, true);

    // Running openPoseDemo
    return openPoseDemo();
}