wUdpSender.hpp

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#ifndef OPENPOSE_FILESTREAM_W_UDP_SENDER_HPP
#define OPENPOSE_FILESTREAM_W_UDP_SENDER_HPP

#include <openpose/core/common.hpp>
#include <openpose/filestream/udpSender.hpp>
#include <openpose/thread/workerConsumer.hpp>

namespace op
{
    template<typename TDatums>
    class WUdpSender : public WorkerConsumer<TDatums>
    {
    public:
        explicit WUdpSender(const std::shared_ptr<UdpSender>& udpSender);

        void initializationOnThread();

        void workConsumer(const TDatums& tDatums);

    private:
        const std::shared_ptr<UdpSender> spUdpSender;

        DELETE_COPY(WUdpSender);
    };
}





// Implementation
#include <openpose/utilities/pointerContainer.hpp>
namespace op
{
    template<typename TDatums>
    WUdpSender<TDatums>::WUdpSender(const std::shared_ptr<UdpSender>& udpSender) :
        spUdpSender{udpSender}
    {
    }

    template<typename TDatums>
    void WUdpSender<TDatums>::initializationOnThread()
    {
    }

    template<typename TDatums>
    void WUdpSender<TDatums>::workConsumer(const TDatums& tDatums)
    {
        try
        {
            if (checkNoNullNorEmpty(tDatums))
            {
                // Debugging log
                dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
                // Profiling speed
                const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
                // Send though UDP communication
#ifdef USE_3D_ADAM_MODEL
                const auto& tDatum = (*tDatums)[0];
                if (!tDatum.poseKeypoints3D.empty())
                {
                    const auto& adamPose = tDatum.adamPose; // Eigen::Matrix<double, 62, 3, Eigen::RowMajor>
                    const auto& adamTranslation = tDatum.adamTranslation; // Eigen::Vector3d(3, 1)
                    const auto adamFaceCoeffsExp = tDatum.adamFaceCoeffsExp; // Eigen::VectorXd resized to (200, 1)
                    //const float mouth_open = tDatum.mouthOpening; // tDatum.mouth_open;
                    //const float leye_open = tDatum.rightEyeOpening; // tDatum.leye_open;
                    //const float reye_open = tDatum.leftEyeOpening; // tDatum.reye_open;
                    //const float dist_root_foot = Datum.distanceRootFoot; // tDatum.dist_root_foot;
                    // m_adam_t:
                    //     1. Total translation (centimeters) of the root in camera/global coordinate representation.
                    // m_adam_pose:
                    //     1. First row is global rotation, in AngleAxis representation. Radians (not degrees!)
                    //     2. Rest are joint-angles in Euler-Angle representation. Degrees.
                    spUdpSender->sendJointAngles(adamPose.data(), adamPose.rows(),
                                                 adamTranslation.data(),
                                                 adamFaceCoeffsExp.data(), adamFaceCoeffsExp.rows());
                }
#endif
                // Profiling speed
                Profiler::timerEnd(profilerKey);
                Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__);
                // Debugging log
                dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
            }
        }
        catch (const std::exception& e)
        {
            this->stop();
            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
        }
    }

    COMPILE_TEMPLATE_DATUM(WUdpSender);
}

#endif // OPENPOSE_FILESTREAM_W_UDP_SENDER_HPP