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04_keypoints_from_images.cpp
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04_keypoints_from_images.cpp
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// ----------------------- OpenPose C++ API Tutorial - Example 4 - Body from images ----------------------
// It reads images, process them, and display them 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.).
// Command-line user intraface
#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_dir, "examples/media/",
"Process a directory of images. 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
bool 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 and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", datumsPtr->at(0)->cvOutputData);
}
else
op::log("Nullptr or empty datumsPtr found.", op::Priority::High);
const auto key = (char)cv::waitKey(1);
return (key == 27);
}
catch (const std::exception& e)
{
op::error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return true;
}
}
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::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString(), op::Priority::High);
op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString(), op::Priority::High);
op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString(), op::Priority::High);
op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString(), op::Priority::High);
}
else
op::log("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::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);
// 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)");
// poseMode
const auto poseMode = op::flagsToPoseMode(FLAGS_body);
// 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);
// 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, 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, FLAGS_model_folder, heatMapTypes, heatMapScaleMode, FLAGS_part_candidates,
(float)FLAGS_render_threshold, FLAGS_number_people_max, FLAGS_maximize_positives, FLAGS_fps_max,
FLAGS_prototxt_path, 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, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_json_variants, FLAGS_write_coco_json_variant,
FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
FLAGS_write_video_with_audio, FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d,
FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host, 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::log("Starting OpenPose demo...", op::Priority::High);
const auto opTimer = op::getTimerInit();
// Configuring OpenPose
op::log("Configuring OpenPose...", op::Priority::High);
op::Wrapper opWrapper{op::ThreadManagerMode::Asynchronous};
configureWrapper(opWrapper);
// Starting OpenPose
op::log("Starting thread(s)...", op::Priority::High);
opWrapper.start();
// Read frames on directory
const auto imagePaths = op::getFilesOnDirectory(FLAGS_image_dir, op::Extensions::Images);
// Process and display images
for (const auto& imagePath : imagePaths)
{
const auto imageToProcess = cv::imread(imagePath);
auto datumProcessed = opWrapper.emplaceAndPop(imageToProcess);
if (datumProcessed != nullptr)
{
printKeypoints(datumProcessed);
if (!FLAGS_no_display)
{
const auto userWantsToExit = display(datumProcessed);
if (userWantsToExit)
{
op::log("User pressed Esc to exit demo.", op::Priority::High);
break;
}
}
}
else
op::log("Image " + imagePath + " 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& e)
{
return -1;
}
}
int main(int argc, char *argv[])
{
// Parsing command line flags
gflags::ParseCommandLineFlags(&argc, &argv, true);
// Running tutorialApiCpp
return tutorialApiCpp();
}