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03_keypoints_from_image.cpp
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03_keypoints_from_image.cpp
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// ----------------------- OpenPose C++ API Tutorial - Example 3 - Body from image -----------------------
// It reads an image, process it, and displays it with the pose (and optionally hand and face) keypoints. In addition,
// it includes all the OpenPose configuration flags (enable/disable hand, face, output saving, etc.).
// Third-party dependencies
#include <opencv2/opencv.hpp>
// Command-line user interface
#define OPENPOSE_FLAGS_DISABLE_PRODUCER
#define OPENPOSE_FLAGS_DISABLE_DISPLAY
#include <openpose/flags.hpp>
// OpenPose dependencies
#include <openpose/headers.hpp>
// Custom OpenPose flags
// Producer
DEFINE_string(image_path, "examples/media/COCO_val2014_000000000294.jpg",
"Process an image. Read all standard formats (jpg, png, bmp, etc.).");
// Display
DEFINE_bool(no_display, false,
"Enable to disable the visual display.");
// This worker will just read and return all the jpg files in a directory
void display(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr)
{
try
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != nullptr && !datumsPtr->empty())
{
// Display image
const cv::Mat cvMat = OP_OP2CVCONSTMAT(datumsPtr->at(0)->cvOutputData);
if (!cvMat.empty())
{
cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", cvMat);
cv::waitKey(0);
}
else
op::opLog("Empty cv::Mat as output.", op::Priority::High, __LINE__, __FUNCTION__, __FILE__);
}
else
op::opLog("Nullptr or empty datumsPtr found.", op::Priority::High);
}
catch (const std::exception& e)
{
op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr)
{
try
{
// Example: How to use the pose keypoints
if (datumsPtr != nullptr && !datumsPtr->empty())
{
op::opLog("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString(), op::Priority::High);
op::opLog("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString(), op::Priority::High);
op::opLog("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString(), op::Priority::High);
op::opLog("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString(), op::Priority::High);
}
else
op::opLog("Nullptr or empty datumsPtr found.", op::Priority::High);
}
catch (const std::exception& e)
{
op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void configureWrapper(op::Wrapper& opWrapper)
{
try
{
// Configuring OpenPose
// logging_level
op::checkBool(
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);
// Applying user defined configuration - GFlags to program variables
// outputSize
const auto outputSize = op::flagsToPoint(op::String(FLAGS_output_resolution), "-1x-1");
// netInputSize
const auto netInputSize = op::flagsToPoint(op::String(FLAGS_net_resolution), "-1x368");
// faceNetInputSize
const auto faceNetInputSize = op::flagsToPoint(op::String(FLAGS_face_net_resolution), "368x368 (multiples of 16)");
// handNetInputSize
const auto handNetInputSize = op::flagsToPoint(op::String(FLAGS_hand_net_resolution), "368x368 (multiples of 16)");
// poseMode
const auto poseMode = op::flagsToPoseMode(FLAGS_body);
// poseModel
const auto poseModel = op::flagsToPoseModel(op::String(FLAGS_model_pose));
// JSON saving
if (!FLAGS_write_keypoint.empty())
op::opLog(
"Flag `write_keypoint` is deprecated and will eventually be removed. Please, use `write_json`"
" instead.", op::Priority::Max);
// keypointScaleMode
const auto keypointScaleMode = 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 heatMapScaleMode = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
// >1 camera view?
const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1);
// Face and hand detectors
const auto faceDetector = op::flagsToDetector(FLAGS_face_detector);
const auto handDetector = op::flagsToDetector(FLAGS_hand_detector);
// Enabling Google Logging
const bool enableGoogleLogging = true;
// Pose configuration (use WrapperStructPose{} for default and recommended configuration)
const op::WrapperStructPose wrapperStructPose{
poseMode, netInputSize, FLAGS_net_resolution_dynamic, outputSize, keypointScaleMode, 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, op::String(FLAGS_model_folder),
heatMapTypes, heatMapScaleMode, FLAGS_part_candidates, (float)FLAGS_render_threshold,
FLAGS_number_people_max, FLAGS_maximize_positives, FLAGS_fps_max, op::String(FLAGS_prototxt_path),
op::String(FLAGS_caffemodel_path), (float)FLAGS_upsampling_ratio, enableGoogleLogging};
opWrapper.configure(wrapperStructPose);
// Face configuration (use op::WrapperStructFace{} to disable it)
const op::WrapperStructFace wrapperStructFace{
FLAGS_face, faceDetector, 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};
opWrapper.configure(wrapperStructFace);
// Hand configuration (use op::WrapperStructHand{} to disable it)
const op::WrapperStructHand wrapperStructHand{
FLAGS_hand, handDetector, handNetInputSize, FLAGS_hand_scale_number, (float)FLAGS_hand_scale_range,
op::flagsToRenderMode(FLAGS_hand_render, multipleView, FLAGS_render_pose), (float)FLAGS_hand_alpha_pose,
(float)FLAGS_hand_alpha_heatmap, (float)FLAGS_hand_render_threshold};
opWrapper.configure(wrapperStructHand);
// 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};
opWrapper.configure(wrapperStructExtra);
// Output (comment or use default argument to disable any output)
const op::WrapperStructOutput wrapperStructOutput{
FLAGS_cli_verbose, op::String(FLAGS_write_keypoint), op::stringToDataFormat(FLAGS_write_keypoint_format),
op::String(FLAGS_write_json), op::String(FLAGS_write_coco_json), FLAGS_write_coco_json_variants,
FLAGS_write_coco_json_variant, op::String(FLAGS_write_images), op::String(FLAGS_write_images_format),
op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
op::String(FLAGS_udp_port)};
opWrapper.configure(wrapperStructOutput);
// No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
// Set to single-thread (for sequential processing and/or debugging and/or reducing latency)
if (FLAGS_disable_multi_thread)
opWrapper.disableMultiThreading();
}
catch (const std::exception& e)
{
op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
int tutorialApiCpp()
{
try
{
op::opLog("Starting OpenPose demo...", op::Priority::High);
const auto opTimer = op::getTimerInit();
// Configuring OpenPose
op::opLog("Configuring OpenPose...", op::Priority::High);
op::Wrapper opWrapper{op::ThreadManagerMode::Asynchronous};
configureWrapper(opWrapper);
// Starting OpenPose
op::opLog("Starting thread(s)...", op::Priority::High);
opWrapper.start();
// Process and display image
const cv::Mat cvImageToProcess = cv::imread(FLAGS_image_path);
const op::Matrix imageToProcess = OP_CV2OPCONSTMAT(cvImageToProcess);
auto datumProcessed = opWrapper.emplaceAndPop(imageToProcess);
if (datumProcessed != nullptr)
{
printKeypoints(datumProcessed);
if (!FLAGS_no_display)
display(datumProcessed);
}
else
op::opLog("Image could not be processed.", op::Priority::High);
// Measuring total time
op::printTime(opTimer, "OpenPose demo successfully finished. Total time: ", " seconds.", op::Priority::High);
// Return
return 0;
}
catch (const std::exception&)
{
return -1;
}
}
int main(int argc, char *argv[])
{
// Parsing command line flags
gflags::ParseCommandLineFlags(&argc, &argv, true);
// Running tutorialApiCpp
return tutorialApiCpp();
}