// ------------------------- OpenPose C++ API Tutorial - Example 16 - Custom Output ------------------------- // Synchronous mode: ideal for production integration. It provides the fastest results with respect to runtime // performance. // In this function, the user can implement its own way to render/display/storage the results. // Third-party dependencies #include // Command-line user interface #define OPENPOSE_FLAGS_DISABLE_DISPLAY #include // OpenPose dependencies #include // 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 WUserOutput : public op::WorkerConsumer>>> { public: void initializationOnThread() {} void workConsumer(const std::shared_ptr>>& datumsPtr) { try { // User's displaying/saving/other processing here // datumPtr->cvOutputData: rendered frame with pose or heatmaps // datumPtr->poseKeypoints: Array with the estimated pose if (datumsPtr != nullptr && !datumsPtr->empty()) { // Show in command line the resulting pose keypoints for body, face and hands 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::opLog("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString()); op::opLog("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString()); // 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)) + "]"); } // Display results (if enabled) if (!FLAGS_no_display) { // Display rendered output 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); // Display image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image) const char key = (char)cv::waitKey(1); if (key == 27) this->stop(); } else op::opLog("Empty cv::Mat as output.", op::Priority::High, __LINE__, __FUNCTION__, __FILE__); } } } catch (const std::exception& e) { this->stop(); 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 // 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; // Initializing the user custom classes // GUI (Display) auto wUserOutput = std::make_shared(); // Add custom processing const auto workerOutputOnNewThread = true; opWrapper.setWorker(op::WorkerType::Output, wUserOutput, workerOutputOnNewThread); // 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(); // OpenPose wrapper op::opLog("Configuring OpenPose...", op::Priority::High); op::Wrapper opWrapper; 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.exec(); // 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(); }