openpose/examples/tutorial_api_cpp/12_asynchronous_custom_output.cpp

// ------------------------- OpenPose C++ API Tutorial - Example 11 - Custom Output -------------------------
// Asynchronous mode: ideal for fast prototyping when performance is not an issue.
// In this function, the user can implement its own way to render/display/storage the results.

// Third-party dependencies
#include <opencv2/opencv.hpp>
// Command-line user interface
#define OPENPOSE_FLAGS_DISABLE_DISPLAY
#include <openpose/flags.hpp>
// OpenPose dependencies
#include <openpose/headers.hpp>

// Custom OpenPose flags
// 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
class UserOutputClass
{
public:
 bool display(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr)
 {
 // User's displaying/saving/other processing here
 // datumPtr->cvOutputData: rendered frame with pose or heatmaps
 // datumPtr->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)
 const cv::Mat cvMat = OP_OP2CVCONSTMAT(datumsPtr->at(0)->cvOutputData);
 if (!cvMat.empty())
 cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", cvMat);
 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);
 const auto key = (char)cv::waitKey(1);
 return (key == 27);
 }
 void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr)
 {
 // Example: How to use the pose keypoints
 if (datumsPtr != nullptr && !datumsPtr->empty())
 {
 op::opLog("\nKeypoints:");
 // Accessing each element of the keypoints
 const auto& poseKeypoints = datumsPtr->at(0)->poseKeypoints;
 op::opLog("Person pose keypoints:");
 for (auto person = 0 ; person < poseKeypoints.getSize(0) ; person++)
 {
 op::opLog("Person " + std::to_string(person) + " (x, y, score):");
 for (auto bodyPart = 0 ; bodyPart < poseKeypoints.getSize(1) ; bodyPart++)
 {
 std::string valueToPrint;
 for (auto xyscore = 0 ; xyscore < poseKeypoints.getSize(2) ; xyscore++)
 {
 valueToPrint += std::to_string( poseKeypoints[{person, bodyPart, xyscore}] ) + " ";
 }
 op::opLog(valueToPrint);
 }
 }
 op::opLog(" ");
 // Alternative: just getting std::string equivalent
 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);
 // Heatmaps
 const auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
 if (!poseHeatMaps.empty())
 {
 op::opLog("Pose heatmaps size: [" + std::to_string(poseHeatMaps.getSize(0)) + ", "
 + std::to_string(poseHeatMaps.getSize(1)) + ", "
 + std::to_string(poseHeatMaps.getSize(2)) + "]");
 const auto& faceHeatMaps = datumsPtr->at(0)->faceHeatMaps;
 op::opLog("Face heatmaps size: [" + std::to_string(faceHeatMaps.getSize(0)) + ", "
 + std::to_string(faceHeatMaps.getSize(1)) + ", "
 + std::to_string(faceHeatMaps.getSize(2)) + ", "
 + std::to_string(faceHeatMaps.getSize(3)) + "]");
 const auto& handHeatMaps = datumsPtr->at(0)->handHeatMaps;
 op::opLog("Left hand heatmaps size: [" + std::to_string(handHeatMaps[0].getSize(0)) + ", "
 + std::to_string(handHeatMaps[0].getSize(1)) + ", "
 + std::to_string(handHeatMaps[0].getSize(2)) + ", "
 + std::to_string(handHeatMaps[0].getSize(3)) + "]");
 op::opLog("Right hand heatmaps size: [" + std::to_string(handHeatMaps[1].getSize(0)) + ", "
 + std::to_string(handHeatMaps[1].getSize(1)) + ", "
 + std::to_string(handHeatMaps[1].getSize(2)) + ", "
 + std::to_string(handHeatMaps[1].getSize(3)) + "]");
 }
 }
 else
 op::opLog("Nullptr or empty datumsPtr found.", op::Priority::High);
 }
};

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
 // producerType
 op::ProducerType producerType;
 op::String producerString;
 std::tie(producerType, producerString) = op::flagsToProducer(
 op::String(FLAGS_image_dir), op::String(FLAGS_video), op::String(FLAGS_ip_camera), FLAGS_camera,
 FLAGS_flir_camera, FLAGS_flir_camera_index);
 // cameraSize
 const auto cameraSize = op::flagsToPoint(op::String(FLAGS_camera_resolution), "-1x-1");
 // 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 || FLAGS_flir_camera);
 // 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);
 // Producer (use default to disable any input)
 const op::WrapperStructInput wrapperStructInput{
 producerType, producerString, FLAGS_frame_first, FLAGS_frame_step, FLAGS_frame_last,
 FLAGS_process_real_time, FLAGS_frame_flip, FLAGS_frame_rotate, FLAGS_frames_repeat,
 cameraSize, op::String(FLAGS_camera_parameter_path), FLAGS_frame_undistort, FLAGS_3d_views};
 opWrapper.configure(wrapperStructInput);
 // 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::AsynchronousOut};
 configureWrapper(opWrapper);

 // Start, run, and stop processing - exec() blocks this thread until OpenPose wrapper has finished
 op::opLog("Starting thread(s)...", op::Priority::High);
 opWrapper.start();

 // User processing
 UserOutputClass userOutputClass;
 bool userWantsToExit = false;
 while (!userWantsToExit)
 {
 // Pop frame
 std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>> datumProcessed;
 if (opWrapper.waitAndPop(datumProcessed))
 {
 if (!FLAGS_no_display)
 userWantsToExit = userOutputClass.display(datumProcessed);;
 userOutputClass.printKeypoints(datumProcessed);
 }
 // If OpenPose finished reading images
 else if (!opWrapper.isRunning())
 break;
 // Something else happened
 else
 op::opLog("Processed datum could not be emplaced.", op::Priority::High);
 }

 op::opLog("Stopping thread(s)", op::Priority::High);
 opWrapper.stop();

 // 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();
}