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345 lines
16 KiB
C++
345 lines
16 KiB
C++
// ------------------------- OpenPose C++ API Tutorial - Example 9 - XXXXXXXXXXXXX -------------------------
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// Synchronous mode: ideal for performance. The user can add his own frames producer / post-processor / consumer to the OpenPose wrapper or use the
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// default ones.
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// This example shows the user how to use the OpenPose wrapper class:
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// 1. User reads images
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// 2. Extract and render keypoint / heatmap / PAF of that image
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// 3. Save the results on disk
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// 4. User displays the rendered pose
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// Everything in a multi-thread scenario
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// In addition to the previous OpenPose modules, we also need to use:
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// 1. `core` module:
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// For the Array<float> class that the `pose` module needs
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// For the Datum struct that the `thread` module sends between the queues
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// 2. `utilities` module: for the error & logging functions, i.e., op::error & op::log respectively
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// This file should only be used for the user to take specific examples.
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// Command-line user intraface
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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_dir, "examples/media/",
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"Process a directory of images. Read all standard formats (jpg, png, bmp, etc.).");
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// If the user needs his own variables, he can inherit the op::Datum struct and add them in there.
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// UserDatum can be directly used by the OpenPose wrapper because it inherits from op::Datum, just define
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// WrapperT<std::vector<std::shared_ptr<UserDatum>>> instead of Wrapper
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// (or equivalently WrapperT<std::vector<std::shared_ptr<UserDatum>>>)
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struct UserDatum : public op::Datum
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{
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bool boolThatUserNeedsForSomeReason;
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UserDatum(const bool boolThatUserNeedsForSomeReason_ = false) :
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boolThatUserNeedsForSomeReason{boolThatUserNeedsForSomeReason_}
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{}
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};
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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 UserDatum
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// This worker will just read and return all the jpg files in a directory
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class WUserInput : public op::WorkerProducer<std::shared_ptr<std::vector<std::shared_ptr<UserDatum>>>>
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{
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public:
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WUserInput(const std::string& directoryPath) :
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mImageFiles{op::getFilesOnDirectory(directoryPath, "jpg")},
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// If we want "jpg" + "png" images
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// mImageFiles{op::getFilesOnDirectory(directoryPath, std::vector<std::string>{"jpg", "png"})},
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mCounter{0}
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{
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if (mImageFiles.empty())
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op::error("No images found on: " + directoryPath, __LINE__, __FUNCTION__, __FILE__);
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}
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void initializationOnThread() {}
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std::shared_ptr<std::vector<std::shared_ptr<UserDatum>>> workProducer()
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{
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try
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{
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// Close program when empty frame
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if (mImageFiles.size() <= mCounter)
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{
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op::log("Last frame read and added to queue. Closing program after it is processed.",
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op::Priority::High);
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// This funtion stops this worker, which will eventually stop the whole thread system once all the
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// frames have been processed
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this->stop();
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return nullptr;
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}
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else
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{
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// Create new datum
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auto datumsPtr = std::make_shared<std::vector<std::shared_ptr<UserDatum>>>();
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datumsPtr->emplace_back();
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auto& datumPtr = datumsPtr->at(0);
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// Fill datum
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datumPtr->cvInputData = cv::imread(mImageFiles.at(mCounter++));
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// If empty frame -> return nullptr
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if (datumPtr->cvInputData.empty())
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{
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op::log("Empty frame detected on path: " + mImageFiles.at(mCounter-1) + ". Closing program.",
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op::Priority::High);
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this->stop();
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datumsPtr = nullptr;
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}
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return datumsPtr;
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}
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}
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catch (const std::exception& e)
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{
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this->stop();
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op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
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return nullptr;
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}
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}
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private:
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const std::vector<std::string> mImageFiles;
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unsigned long long mCounter;
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};
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// This worker will just invert the image
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class WUserPostProcessing : public op::Worker<std::shared_ptr<std::vector<std::shared_ptr<UserDatum>>>>
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{
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public:
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WUserPostProcessing()
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{
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// User's constructor here
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}
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void initializationOnThread() {}
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void work(std::shared_ptr<std::vector<std::shared_ptr<UserDatum>>>& datumsPtr)
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{
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// User's post-processing (after OpenPose processing & before OpenPose outputs) 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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try
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{
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if (datumsPtr != nullptr && !datumsPtr->empty())
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for (auto& datumPtr : *datumsPtr)
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cv::bitwise_not(datumPtr->cvOutputData, datumPtr->cvOutputData);
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}
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catch (const std::exception& e)
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{
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this->stop();
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op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
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}
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}
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};
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// This worker will just read and return all the jpg files in a directory
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class WUserOutput : public op::WorkerConsumer<std::shared_ptr<std::vector<std::shared_ptr<UserDatum>>>>
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{
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public:
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void initializationOnThread() {}
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void workConsumer(const std::shared_ptr<std::vector<std::shared_ptr<UserDatum>>>& datumsPtr)
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{
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try
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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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if (datumsPtr != nullptr && !datumsPtr->empty())
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{
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// Show in command line the resulting pose keypoints for body, face and hands
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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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// Display rendered output image
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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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const char key = (char)cv::waitKey(1);
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if (key == 27)
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this->stop();
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}
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}
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catch (const std::exception& e)
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{
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this->stop();
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op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
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}
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}
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};
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int tutorialApiCpp9()
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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 timerBegin = std::chrono::high_resolution_clock::now();
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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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// 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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// keypointScale
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const auto keypointScale = 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 heatMapScale = 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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// Enabling Google Logging
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const bool enableGoogleLogging = true;
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// Initializing the user custom classes
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// Frames producer (e.g., video, webcam, ...)
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auto wUserInput = std::make_shared<WUserInput>(FLAGS_image_dir);
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// Processing
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auto wUserPostProcessing = std::make_shared<WUserPostProcessing>();
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// GUI (Display)
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auto wUserOutput = std::make_shared<WUserOutput>();
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// OpenPose wrapper
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op::log("Configuring OpenPose...", op::Priority::High);
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op::WrapperT<UserDatum> opWrapperT;
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// Add custom input
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const auto workerInputOnNewThread = false;
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opWrapperT.setWorker(op::WorkerType::Input, wUserInput, workerInputOnNewThread);
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// Add custom processing
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const auto workerProcessingOnNewThread = false;
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opWrapperT.setWorker(op::WorkerType::PostProcessing, wUserPostProcessing, workerProcessingOnNewThread);
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// Add custom output
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const auto workerOutputOnNewThread = true;
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opWrapperT.setWorker(op::WorkerType::Output, wUserOutput, workerOutputOnNewThread);
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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, keypointScale, 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, heatMapScale, 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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enableGoogleLogging};
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opWrapperT.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, faceNetInputSize, 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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opWrapperT.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, handNetInputSize, FLAGS_hand_scale_number, (float)FLAGS_hand_scale_range, FLAGS_hand_tracking,
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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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opWrapperT.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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opWrapperT.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, 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_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
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FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
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opWrapperT.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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opWrapperT.disableMultiThreading();
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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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opWrapperT.exec();
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// Measuring total time
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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()
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* 1e-9;
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const auto message = "OpenPose demo successfully finished. Total time: "
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+ std::to_string(totalTimeSec) + " seconds.";
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op::log(message, op::Priority::High);
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// Return successful message
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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 tutorialApiCpp9
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return tutorialApiCpp9();
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}
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