Added and cleaned some examples

doc/modules/python_module.md

@@ -25,12 +25,14 @@ To compile, enable `BUILD_PYTHON` in cmake. Pybind selects the latest version of
 ## Installation
 Check [doc/installation.md#python-module](../installation.md#python-api) for installation steps.
 
-The Python API requires Numpy for array management, and OpenCV for image loading. They can be installed via:
+The Python API requires python-dev, Numpy (for array management), and OpenCV (for image loading). They can be installed via:
 
 ```
 # Python 2
+sudo apt-get install python-dev
 sudo pip install numpy opencv-python
 # Python 3 (recommended)
+sudo apt-get install python3-dev
 sudo pip3 install numpy opencv-python
 ```
 

doc/release_notes.md

@@ -314,6 +314,7 @@ OpenPose Library - Release Notes
     31. Replaced the old Python wrapper for an updated Pybind11 wrapper version, that includes all the functionality of the C++ API.
     32. Function getFilesOnDirectory() can extra all basic image file types at once without requiring to manually enumerate them.
     33. Added the flags `--face_detector` and `--hand_detector`, that enable the user to select the face/hand rectangle detector that is used for the later face/hand keypoint detection. It includes OpenCV (for face), and also allows the user to provide its own input. Flag `--hand_tracking` is removed and integrated into this flag too.
+    34. Maximum queue size per OpenPose thread is configurable through the Wrapper class.
 2. Functions or parameters renamed:
     1. By default, python example `tutorial_developer/python_2_pose_from_heatmaps.py` was using 2 scales starting at -1x736, changed to 1 scale at -1x368.
     2. WrapperStructPose default parameters changed to match those of the OpenPose demo binary.

doc/standalone_face_or_hand_keypoint_detector.md

@@ -10,14 +10,14 @@ Note that this method will be faster than the current system if there is few peo
 ```
 
 ## Custom Standalone Face or Hand Keypoint Detector
-Check the examples in `examples/tutorial_api_cpp/`, in particular [examples/tutorial_api_cpp/09_face_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/09_face_from_image.cpp) and [examples/tutorial_api_cpp/10_hand_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/10_hand_from_image.cpp). The provide examples of face and/or hand keypoint detection given a known bounding box or rectangle for the face and/or hand locations. These examples are equivalent to use the following flags:
+Check the examples in `examples/tutorial_api_cpp/`, in particular [examples/tutorial_api_cpp/06_face_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/06_face_from_image.cpp) and [examples/tutorial_api_cpp/07_hand_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/07_hand_from_image.cpp). The provide examples of face and/or hand keypoint detection given a known bounding box or rectangle for the face and/or hand locations. These examples are equivalent to use the following flags:
 ```
 # Face
-examples/tutorial_api_cpp/09_face_from_image.cpp --body_disable --face --face_detector 2
+examples/tutorial_api_cpp/06_face_from_image.cpp --body_disable --face --face_detector 2
 # Hands
-examples/tutorial_api_cpp/10_hand_from_image.cpp --body_disable --hand --hand_detector 2
+examples/tutorial_api_cpp/07_hand_from_image.cpp --body_disable --hand --hand_detector 2
 ```
 
 Note: both `FaceExtractor` and `HandExtractor` classes requires as input **squared rectangles**.
 
-Advance solution: If you wanna use the whole OpenPose framework, you can use the synchronous examples of the `tutorial_api_cpp` folder with the configuration used for [examples/tutorial_api_cpp/09_face_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/09_face_from_image.cpp) and [examples/tutorial_api_cpp/10_hand_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/10_hand_from_image.cpp).
+Advance solution: If you wanna use the whole OpenPose framework, you can use the synchronous examples of the `tutorial_api_cpp` folder with the configuration used for [examples/tutorial_api_cpp/06_face_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/06_face_from_image.cpp) and [examples/tutorial_api_cpp/07_hand_from_image.cpp](https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/examples/tutorial_api_cpp/07_hand_from_image.cpp).

examples/tutorial_api_cpp/01_body_from_image_default.cpp

@@ -46,30 +46,30 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
             // Alternative 1
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
+            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString(), op::Priority::High);
 
             // // Alternative 2
-            // op::log(datumsPtr->at(0).poseKeypoints);
+            // op::log(datumsPtr->at(0).poseKeypoints, op::Priority::High);
 
             // // Alternative 3
             // std::cout << datumsPtr->at(0).poseKeypoints << std::endl;
 
             // // Alternative 4 - Accesing each element of the keypoints
-            // op::log("\nKeypoints:");
+            // op::log("\nKeypoints:", op::Priority::High);
             // const auto& poseKeypoints = datumsPtr->at(0).poseKeypoints;
-            // op::log("Person pose keypoints:");
+            // op::log("Person pose keypoints:", op::Priority::High);
             // for (auto person = 0 ; person < poseKeypoints.getSize(0) ; person++)
             // {
-            //     op::log("Person " + std::to_string(person) + " (x, y, score):");
+            //     op::log("Person " + std::to_string(person) + " (x, y, score):", op::Priority::High);
             //     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::log(valueToPrint);
+            //         op::log(valueToPrint, op::Priority::High);
             //     }
             // }
-            // op::log(" ");
+            // op::log(" ", op::Priority::High);
         }
         else
             op::log("Nullptr or empty datumsPtr found.", op::Priority::High);

examples/tutorial_api_cpp/02_whole_body_from_image_default.cpp

@@ -45,10 +45,10 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         // Example: How to use the pose keypoints
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);

examples/tutorial_api_cpp/03_keypoints_from_image.cpp

-// ----------------------- OpenPose C++ API Tutorial - Example 3 - Body from image configurable -----------------------
+// ----------------------- 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.).
 
@@ -47,10 +47,10 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         // Example: How to use the pose keypoints
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);

examples/tutorial_api_cpp/04_keypoints_from_images.cpp

-// ----------------------- OpenPose C++ API Tutorial - Example 4 - Body from images configurable ----------------------
+// ----------------------- 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.).
 
@@ -25,15 +25,14 @@ bool display(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& dat
         // User's displaying/saving/other processing here
             // datum.cvOutputData: rendered frame with pose or heatmaps
             // datum.poseKeypoints: Array<float> with the estimated pose
-        char key = ' ';
         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);
-            key = (char)cv::waitKey(1);
         }
         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)
@@ -50,10 +49,10 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         // Example: How to use the pose keypoints
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);

examples/tutorial_api_cpp/05_keypoints_from_images_multi_gpu.cpp

-// --------------- OpenPose C++ API Tutorial - Example 5 - Body from images configurable and multi GPU ---------------
+// --------------- OpenPose C++ API Tutorial - Example 5 - Body from images and multi GPU ---------------
 // 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.).
 
@@ -31,15 +31,14 @@ bool display(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& dat
         // User's displaying/saving/other processing here
             // datum.cvOutputData: rendered frame with pose or heatmaps
             // datum.poseKeypoints: Array<float> with the estimated pose
-        char key = ' ';
         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);
-            key = (char)cv::waitKey(1);
         }
         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)
@@ -56,10 +55,10 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         // Example: How to use the pose keypoints
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);
@@ -177,9 +176,6 @@ int tutorialApiCpp()
         // Read frames on directory
         const auto imagePaths = op::getFilesOnDirectory(FLAGS_image_dir, op::Extensions::Images);
 
-        // Read number of GPUs in your system
-        const auto numberGPUs = op::getGpuNumber();
-
         // Process and display images
         // Option a) Harder to implement but the fastest method
         // Create 2 different threads:
@@ -188,6 +184,9 @@ int tutorialApiCpp()
         // Option b) Much easier and faster to implement but slightly slower runtime performance
         if (!FLAGS_latency_is_irrelevant_and_computer_with_lots_of_ram)
         {
+            // Read number of GPUs in your system
+            const auto numberGPUs = op::getGpuNumber();
+
             for (auto imageBaseId = 0u ; imageBaseId < imagePaths.size() ; imageBaseId+=numberGPUs)
             {
                 // Read and push images into OpenPose wrapper

examples/tutorial_api_cpp/06_face_from_image.cpp

@@ -50,10 +50,10 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         // Example: How to use the pose keypoints
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);
@@ -100,15 +100,14 @@ void configureWrapper(op::Wrapper& opWrapper)
         // >1 camera view?
         const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1);
         // Face and hand detectors
-        const auto faceDetector = op::Detector::Provided;
+        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 auto bodyEnable = false;
         const op::WrapperStructPose wrapperStructPose{
-            bodyEnable, netInputSize, outputSize, keypointScaleMode, FLAGS_num_gpu, FLAGS_num_gpu_start,
+            !FLAGS_body_disable, 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,
@@ -116,9 +115,8 @@ void configureWrapper(op::Wrapper& opWrapper)
             FLAGS_prototxt_path, FLAGS_caffemodel_path, enableGoogleLogging};
         opWrapper.configure(wrapperStructPose);
         // Face configuration (use op::WrapperStructFace{} to disable it)
-        const auto face = true;
         const op::WrapperStructFace wrapperStructFace{
-            face, faceDetector, faceNetInputSize,
+            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);
@@ -158,6 +156,11 @@ int tutorialApiCpp()
         op::log("Starting OpenPose demo...", op::Priority::High);
         const auto opTimer = op::getTimerInit();
 
+        // Required flags to enable heatmaps
+        FLAGS_body_disable = true;
+        FLAGS_face = true;
+        FLAGS_face_detector = 2;
+
         // Configuring OpenPose
         op::log("Configuring OpenPose...", op::Priority::High);
         op::Wrapper opWrapper{op::ThreadManagerMode::Asynchronous};
@@ -196,7 +199,7 @@ int tutorialApiCpp()
             op::log("Image could not be processed.", op::Priority::High);
 
         // Info
-        op::log("NOTE: In addition with the user flags, this demo has auto-selected the following flags:"
+        op::log("NOTE: In addition with the user flags, this demo has auto-selected the following flags:\n"
                 " `--body_disable --face --face_detector 2`", op::Priority::High);
 
         // Measuring total time

examples/tutorial_api_cpp/07_hand_from_image.cpp

@@ -50,10 +50,10 @@ void printKeypoints(const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>
         // Example: How to use the pose keypoints
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
-            op::log("Body keypoints: " + datumsPtr->at(0)->poseKeypoints.toString());
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);
@@ -101,14 +101,13 @@ void configureWrapper(op::Wrapper& opWrapper)
         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::Detector::Provided;
+        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 auto bodyEnable = false;
         const op::WrapperStructPose wrapperStructPose{
-            bodyEnable, netInputSize, outputSize, keypointScaleMode, FLAGS_num_gpu, FLAGS_num_gpu_start,
+            !FLAGS_body_disable, 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,
@@ -122,9 +121,8 @@ void configureWrapper(op::Wrapper& opWrapper)
             (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 auto hand = true;
         const op::WrapperStructHand wrapperStructHand{
-            hand, handDetector, handNetInputSize, FLAGS_hand_scale_number, (float)FLAGS_hand_scale_range,
+            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);
@@ -158,6 +156,11 @@ int tutorialApiCpp()
         op::log("Starting OpenPose demo...", op::Priority::High);
         const auto opTimer = op::getTimerInit();
 
+        // Required flags to enable heatmaps
+        FLAGS_body_disable = true;
+        FLAGS_hand = true;
+        FLAGS_hand_detector = 2;
+
         // Configuring OpenPose
         op::log("Configuring OpenPose...", op::Priority::High);
         op::Wrapper opWrapper{op::ThreadManagerMode::Asynchronous};
@@ -205,7 +208,7 @@ int tutorialApiCpp()
             op::log("Image could not be processed.", op::Priority::High);
 
         // Info
-        op::log("NOTE: In addition with the user flags, this demo has auto-selected the following flags:"
+        op::log("NOTE: In addition with the user flags, this demo has auto-selected the following flags:\n"
                 " `--body_disable --hand --hand_detector 2`", op::Priority::High);
 
         // Measuring total time

examples/tutorial_api_cpp/08_heatmaps_from_image.cpp

+// ----------------------- OpenPose C++ API Tutorial - Example 8 - Heatmaps from image -----------------------
+// It reads an image, process it, and displays it with the body heatmaps. 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_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
+bool display(
+    const std::shared_ptr<std::vector<std::shared_ptr<op::Datum>>>& datumsPtr, const int desiredChannel = 0)
+{
+    try
+    {
+        if (datumsPtr != nullptr && !datumsPtr->empty())
+        {
+            // Note: Heatmaps are in net_resolution size, which does not necessarily match the final image size
+            // Read heatmaps
+            auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
+            // Read desired channel
+            const auto numberChannels = poseHeatMaps.getSize(0);
+            const auto height = poseHeatMaps.getSize(1);
+            const auto width = poseHeatMaps.getSize(2);
+            const cv::Mat desiredChannelHeatMap(
+                height, width, CV_32F, &poseHeatMaps.getPtr()[desiredChannel % numberChannels*height*width]);
+            // Read image used from OpenPose body network (same resolution than heatmaps)
+            auto& inputNetData = datumsPtr->at(0)->inputNetData[0];
+            const cv::Mat inputNetDataB(
+                height, width, CV_32F, &inputNetData.getPtr()[0]);
+            const cv::Mat inputNetDataG(
+                height, width, CV_32F, &inputNetData.getPtr()[height*width]);
+            const cv::Mat inputNetDataR(
+                height, width, CV_32F, &inputNetData.getPtr()[2*height*width]);
+            cv::Mat netInputImage;
+            cv::merge({inputNetDataB, inputNetDataG, inputNetDataR}, netInputImage);
+            netInputImage = (netInputImage+0.5)*255;
+            // Turn into uint8 cv::Mat
+            cv::Mat netInputImageUint8;
+            netInputImage.convertTo(netInputImageUint8, CV_8UC1);
+            cv::Mat desiredChannelHeatMapUint8;
+            desiredChannelHeatMap.convertTo(desiredChannelHeatMapUint8, CV_8UC1);
+            // Combining both images
+            cv::Mat imageToRender;
+            cv::applyColorMap(desiredChannelHeatMapUint8, desiredChannelHeatMapUint8, cv::COLORMAP_JET);
+            cv::addWeighted(netInputImageUint8, 0.5, desiredChannelHeatMapUint8, 0.5, 0., imageToRender);
+            // Display image
+            cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", imageToRender);
+        }
+        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())
+        {
+            const auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
+            const auto numberChannels = poseHeatMaps.getSize(0);
+            const auto height = poseHeatMaps.getSize(1);
+            const auto width = poseHeatMaps.getSize(2);
+            op::log("Body heatmaps has " + std::to_string(numberChannels) + " channels, and each channel has a"
+                    " dimension of " + std::to_string(width) + " x " + std::to_string(height) + " pixels.",
+                    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)");
+        // 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{
+            !FLAGS_body_disable, 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, 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_foot_json, 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();
+
+        // Required flags to enable heatmaps
+        FLAGS_heatmaps_add_parts = true;
+        FLAGS_heatmaps_add_bkg = true;
+        FLAGS_heatmaps_add_PAFs = true;
+        FLAGS_heatmaps_scale = 2;
+
+        // 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();
+
+        // Process and display image
+        const auto imageToProcess = cv::imread(FLAGS_image_path);
+        auto datumProcessed = opWrapper.emplaceAndPop(imageToProcess);
+        if (datumProcessed != nullptr)
+        {
+            printKeypoints(datumProcessed);
+            if (!FLAGS_no_display)
+            {
+                const auto numberChannels = datumProcessed->at(0)->poseHeatMaps.getSize(0);
+                for (auto desiredChannel = 0 ; desiredChannel < numberChannels ; desiredChannel++)
+                    if (display(datumProcessed, desiredChannel))
+                        break;
+            }
+        }
+        else
+            op::log("Image could not be processed.", op::Priority::High);
+
+        // Info
+        op::log("NOTE: In addition with the user flags, this demo has auto-selected the following flags:\n"
+                " `--heatmaps_add_parts --heatmaps_add_bkg --heatmaps_add_PAFs`",
+                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();
+}

examples/tutorial_api_cpp/10_asynchronous_custom_output.cpp

@@ -22,15 +22,14 @@ public:
         // User's displaying/saving/other processing here
             // datumPtr->cvOutputData: rendered frame with pose or heatmaps
             // datumPtr->poseKeypoints: Array<float> with the estimated pose
-        char key = ' ';
         if (datumsPtr != nullptr && !datumsPtr->empty())
         {
             cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", datumsPtr->at(0)->cvOutputData);
             // Display image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
-            key = (char)cv::waitKey(1);
         }
         else
             op::log("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)
@@ -57,9 +56,9 @@ public:
             }
             op::log(" ");
             // Alternative: just getting std::string equivalent
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);
             // Heatmaps
             const auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
             if (!poseHeatMaps.empty())

examples/tutorial_api_cpp/11_asynchronous_custom_input_output_and_datum.cpp

@@ -103,15 +103,14 @@ public:
             // User's displaying/saving/other processing here
                 // datumPtr->cvOutputData: rendered frame with pose or heatmaps
                 // datumPtr->poseKeypoints: Array<float> with the estimated pose
-            char key = ' ';
             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);
-                key = (char)cv::waitKey(1);
             }
             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)
@@ -142,9 +141,9 @@ public:
             }
             op::log(" ");
             // Alternative: just getting std::string equivalent
-            op::log("Face keypoints: " + datumsPtr->at(0)->faceKeypoints.toString());
-            op::log("Left hand keypoints: " + datumsPtr->at(0)->handKeypoints[0].toString());
-            op::log("Right hand keypoints: " + datumsPtr->at(0)->handKeypoints[1].toString());
+            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);
             // Heatmaps
             const auto& poseHeatMaps = datumsPtr->at(0)->poseHeatMaps;
             if (!poseHeatMaps.empty())

examples/tutorial_api_cpp/CMakeLists.txt

@@ -6,7 +6,7 @@ set(EXAMPLE_FILES
     05_keypoints_from_images_multi_gpu.cpp
     06_face_from_image.cpp
     07_hand_from_image.cpp
-    # 08_heatmaps_from_image.cpp
+    08_heatmaps_from_image.cpp
     09_asynchronous_custom_input.cpp
     10_asynchronous_custom_output.cpp
     11_asynchronous_custom_input_output_and_datum.cpp

scripts/travis/run_tests.sh

@@ -33,8 +33,9 @@ if [[ $RUN_EXAMPLES == true ]] ; then
   echo " "
 
   echo "Tutorial API C++: Example 5..."
-  ./build/examples/tutorial_api_cpp/05_keypoints_from_images_multi_gpu.bin --net_resolution -1x32 --write_json output/ --write_images output/ --no_display
   ./build/examples/tutorial_api_cpp/05_keypoints_from_images_multi_gpu.bin --net_resolution -1x32 --write_json output/ --write_images output/ --no_display --latency_is_irrelevant_and_computer_with_lots_of_ram
+  # Default configuration of this demo requires getGpuNumber(), which is not implement for CPU-only mode
+  # ./build/examples/tutorial_api_cpp/05_keypoints_from_images_multi_gpu.bin --net_resolution -1x32 --write_json output/ --write_images output/ --no_display
   echo " "
 
   echo "Tutorial API C++: Example 6..."
@@ -45,9 +46,9 @@ if [[ $RUN_EXAMPLES == true ]] ; then
   ./build/examples/tutorial_api_cpp/07_hand_from_image.bin --hand_net_resolution 32x32 --write_json output/ --write_images output/ --no_display
   echo " "
 
-  # echo "Tutorial API C++: Example 8..."
-  # ./build/examples/tutorial_api_cpp/08_heatmaps_from_image.bin --hand_net_resolution 32x32 --write_json output/ --write_images output/ --no_display
-  # echo " "
+  echo "Tutorial API C++: Example 8..."
+  ./build/examples/tutorial_api_cpp/08_heatmaps_from_image.bin --hand_net_resolution 32x32 --write_json output/ --write_images output/ --no_display
+  echo " "
 
   echo "Tutorial API C++: Example 9..."
   ./build/examples/tutorial_api_cpp/09_asynchronous_custom_input.bin --image_dir examples/media/ --net_resolution -1x32 --write_json output/ --write_images output/ --display 0