OpenPose  1.0.0rc2
OpenPose: A Real-Time Multi-Person Key-Point Detection And Multi-Threading C++ Library
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op::Datum Struct Reference

#include <datum.hpp>

Public Member Functions

 Datum ()
 
 Datum (const Datum &datum)
 
Datum & operator= (const Datum &datum)
 
 Datum (Datum &&datum)
 
Datum & operator= (Datum &&datum)
 
virtual ~Datum ()
 
Datum clone () const
 
bool operator< (const Datum &datum) const
 
bool operator> (const Datum &datum) const
 
bool operator<= (const Datum &datum) const
 
bool operator>= (const Datum &datum) const
 
bool operator== (const Datum &datum) const
 
bool operator!= (const Datum &datum) const
 

Public Attributes

unsigned long long id
 
unsigned long long subId
 
unsigned long long subIdMax
 
std::string name
 
unsigned long long frameNumber
 
cv::Mat cvInputData
 
std::vector< Array< float > > inputNetData
 
Array< float > outputData
 
cv::Mat cvOutputData
 
Array< float > poseKeypoints
 
Array< long long > poseIds
 
Array< float > poseScores
 
Array< float > poseHeatMaps
 
std::vector< std::vector
< std::array< float, 3 > > > 		poseCandidates
 
std::vector< Rectangle< float > > faceRectangles
 
Array< float > faceKeypoints
 
Array< float > faceHeatMaps
 
std::vector< std::array
< Rectangle< float >, 2 > > 		handRectangles
 
std::array< Array< float >, 2 > handKeypoints
 
std::array< Array< float >, 2 > handHeatMaps
 
Array< float > poseKeypoints3D
 
Array< float > faceKeypoints3D
 
std::array< Array< float >, 2 > handKeypoints3D
 
cv::Mat cameraMatrix
 
cv::Mat cameraExtrinsics
 
cv::Mat cameraIntrinsics
 
std::vector< double > scaleInputToNetInputs
 
std::vector< Point< int > > netInputSizes
 
double scaleInputToOutput
 
Point< int > netOutputSize
 
double scaleNetToOutput
 
std::pair< int, std::string > elementRendered
 
std::vector< double > adamPosePtr
 
int adamPoseRows
 
std::vector< double > adamTranslationPtr
 
std::vector< double > vtVecPtr
 
int vtVecRows
 
std::vector< double > j0VecPtr
 
int j0VecRows
 
std::vector< double > adamFaceCoeffsExpPtr
 
int adamFaceCoeffsExpRows
 

Detailed Description

Datum: The OpenPose Basic Piece of Information Between Threads Datum is one the main OpenPose classes/structs. The workers and threads share by default a std::shared_ptr<std::vector<Datum>>. It contains all the parameters that the different workers and threads need to exchange.

Constructor & Destructor Documentation

op::Datum::Datum ( )
explicit

Default constructor struct. It simply initializes the struct, id is temporary set to 0 and each other variable is assigned to its default value.

op::Datum::Datum ( const Datum &  datum)

Copy constructor. It performs fast copy: For performance purpose, copying a Datum or Array<T> or cv::Mat just copies the reference, it still shares the same internal data. Modifying the copied element will modify the original one. Use clone() for a slower but real copy, similarly to cv::Mat and Array<T>.

Parameters
datumDatum to be copied.
op::Datum::Datum ( Datum &&  datum)

Move constructor. It destroys the original Datum to be moved.

Parameters
datumDatum to be moved.
virtual op::Datum::~Datum ( )
virtual

Destructor class. Declared virtual so that Datum can be inherited.

Member Function Documentation

Datum op::Datum::clone ( ) const

Clone function. Similar to cv::Mat::clone and Array<T>::clone. It performs a real but slow copy of the data, i.e., even if the copied element is modified, the original one is not.

Returns
The resulting Datum.
bool op::Datum::operator!= ( const Datum &  datum) const
inline

Not equal comparison operator.

Parameters
datumDatum to be compared.
Returns
Whether the instance satisfies the condition with respect to datum.
bool op::Datum::operator< ( const Datum &  datum) const
inline

Less comparison operator.

Parameters
datumDatum to be compared.
Returns
Whether the instance satisfies the condition with respect to datum.
bool op::Datum::operator<= ( const Datum &  datum) const
inline

Less or equal comparison operator.

Parameters
datumDatum to be compared.
Returns
Whether the instance satisfies the condition with respect to datum.
Datum& op::Datum::operator= ( const Datum &  datum)

Copy assignment. Similar to Datum::Datum(const Datum& datum).

Parameters
datumDatum to be copied.
Returns
The resulting Datum.
Datum& op::Datum::operator= ( Datum &&  datum)

Move assignment. Similar to Datum::Datum(Datum&& datum).

Parameters
datumDatum to be moved.
Returns
The resulting Datum.
bool op::Datum::operator== ( const Datum &  datum) const
inline

Equal comparison operator.

Parameters
datumDatum to be compared.
Returns
Whether the instance satisfies the condition with respect to datum.
bool op::Datum::operator> ( const Datum &  datum) const
inline

Greater comparison operator.

Parameters
datumDatum to be compared.
Returns
Whether the instance satisfies the condition with respect to datum.
bool op::Datum::operator>= ( const Datum &  datum) const
inline

Greater or equal comparison operator.

Parameters
datumDatum to be compared.
Returns
Whether the instance satisfies the condition with respect to datum.

Member Data Documentation

std::vector<double> op::Datum::adamFaceCoeffsExpPtr
int op::Datum::adamFaceCoeffsExpRows
std::vector<double> op::Datum::adamPosePtr
int op::Datum::adamPoseRows
std::vector<double> op::Datum::adamTranslationPtr
cv::Mat op::Datum::cameraExtrinsics

3x4 extrinsic parameters of the camera.

cv::Mat op::Datum::cameraIntrinsics

3x3 intrinsic parameters of the camera.

cv::Mat op::Datum::cameraMatrix

3x4 camera matrix of the camera (equivalent to cameraIntrinsics * cameraExtrinsics).

cv::Mat op::Datum::cvInputData

Original image to be processed in cv::Mat uchar format. Size: (input_width x input_height) x 3 channels

cv::Mat op::Datum::cvOutputData

Rendered image in cv::Mat uchar format. It has been resized to the desired output resolution (e.g. resolution flag in the demo). If outputData is empty, cvOutputData will also be empty. Size: (output_height x output_width) x 3 channels

std::pair<int, std::string> op::Datum::elementRendered

Pair with the element key id POSE_BODY_PART_MAPPING on pose/poseParameters.hpp and its mapped value (e.g. 1 and "Neck").

Array<float> op::Datum::faceHeatMaps

Face pose heatmaps (face parts and/or background) for the whole image. Analogous of bodyHeatMaps applied to face. However, there is no PAFs and the size is different. Size: #people x #face parts (70) x output_net_height x output_net_width

Array<float> op::Datum::faceKeypoints

Face keypoints (x,y,score) locations for each person in the image. It has been resized to the same resolution as poseKeypoints. Size: #people x #face parts (70) x 3 ((x,y) coordinates + score)

Array<float> op::Datum::faceKeypoints3D

Face keypoints (x,y,z,score) locations for each person in the image. It has been resized to the same resolution as poseKeypoints3D. Size: #people x #face parts (70) x 4 ((x,y,z) coordinates + score)

std::vector<Rectangle<float> > op::Datum::faceRectangles

Face detection locations (x,y,width,height) for each person in the image. It is resized to cvInputData.size(). Size: #people

unsigned long long op::Datum::frameNumber

Corresponding frame number. If the producer (e.g., video) starts from frame 0 and does not repeat any frame, then frameNumber should match the field id.

std::array<Array<float>, 2> op::Datum::handHeatMaps

Hand pose heatmaps (hand parts and/or background) for the whole image. Analogous of faceHeatMaps applied to face. Size each Array: #people x #hand parts (21) x output_net_height x output_net_width

std::array<Array<float>, 2> op::Datum::handKeypoints

Hand keypoints (x,y,score) locations for each person in the image. It has been resized to the same resolution as poseKeypoints. handKeypoints[0] corresponds to left hands, and handKeypoints[1] to right ones. Size each Array: #people x #hand parts (21) x 3 ((x,y) coordinates + score)

std::array<Array<float>, 2> op::Datum::handKeypoints3D

Hand keypoints (x,y,z,score) locations for each person in the image. It has been resized to the same resolution as poseKeypoints3D. handKeypoints[0] corresponds to left hands, and handKeypoints[1] to right ones. Size each Array: #people x #hand parts (21) x 4 ((x,y,z) coordinates + score)

std::vector<std::array<Rectangle<float>, 2> > op::Datum::handRectangles

Hand detection locations (x,y,width,height) for each person in the image. It is resized to cvInputData.size(). Size: #people

unsigned long long op::Datum::id

Datum ID. Internally used to sort the Datums if multi-threading is used.

std::vector<Array<float> > op::Datum::inputNetData

Original image to be processed in Array<float> format. It has been resized to the net input resolution, as well as reformatted Array<float> format to be compatible with the net. If >1 scales, each scale is right- and bottom-padded to fill the greatest resolution. The scales are sorted from bigger to smaller. Vector size: #scales Each array size: 3 x input_net_height x input_net_width

std::vector<double> op::Datum::j0VecPtr
int op::Datum::j0VecRows
std::string op::Datum::name

Name used when saving the data to disk (e.g. write_images or write_keypoint flags in the demo).

std::vector<Point<int> > op::Datum::netInputSizes

Size(s) (width x height) of the image(s) fed to the pose deep net. The size of the std::vector corresponds to the number of scales.

Point<int> op::Datum::netOutputSize

Size (width x height) of the image returned by the deep net.

Array<float> op::Datum::outputData

Rendered image in Array<float> format. It consists of a blending of the cvInputData and the pose/body part(s) heatmap/PAF(s). If rendering is disabled (e.g. no_render_pose flag in the demo), outputData will be empty. Size: 3 x output_net_height x output_net_width

std::vector<std::vector<std::array<float,3> > > op::Datum::poseCandidates

Body pose candidates for the whole image. This parameter is by default empty and disabled for performance. It can be enabled with candidates_body. Candidates refer to all the detected body parts, before being assembled into people. Note that the number of candidates is equal or higher than the number of body parts after being assembled into people. Size: #body parts x min(part candidates, POSE_MAX_PEOPLE) x 3 (x,y,score). Rather than vector, it should ideally be: std::array<std::vector<std::array<float,3>>, #BP> poseCandidates;

Array<float> op::Datum::poseHeatMaps

Body pose heatmaps (body parts, background and/or PAFs) for the whole image. This parameter is by default empty and disabled for performance. Each group (body parts, background and PAFs) can be individually enabled. #heatmaps = #body parts (if enabled) + 1 (if background enabled) + 2 x PAFs (if enabled). Each PAF has 2 consecutive channels, one for x- and one for y-coordinates. Order heatmaps: body parts + background (as appears in POSE_BODY_PART_MAPPING) + (x,y) channel of each PAF (sorted as appears in POSE_BODY_PART_PAIRS). See pose/poseParameters.hpp. The user can choose the heatmaps normalization: ranges [0, 1], [-1, 1] or [0, 255]. Check the heatmaps_scale flag in the examples/tutorial_wrapper/ for more details. Size: #heatmaps x output_net_height x output_net_width

Array<long long> op::Datum::poseIds

People ID It returns a person ID for each body pose, providing temporal consistency. The ID will be the same one for a person across frames. I.e. this ID allows to keep track of the same person in time. If either person identification is disabled or poseKeypoints is empty, poseIds will also be empty. Size: #people

Array<float> op::Datum::poseKeypoints

Body pose (x,y,score) locations for each person in the image. It has been resized to the desired output resolution (e.g. resolution flag in the demo). Size: #people x #body parts (e.g. 18 for COCO or 15 for MPI) x 3 ((x,y) coordinates + score)

Array<float> op::Datum::poseKeypoints3D

Body pose (x,y,z,score) locations for each person in the image. Size: #people x #body parts (e.g. 18 for COCO or 15 for MPI) x 4 ((x,y,z) coordinates + score)

Array<float> op::Datum::poseScores

Body pose global confidence/score for each person in the image. It does not only consider the score of each body keypoint, but also the score of each PAF association. Optimized for COCO evaluation metric. It will highly penalyze people with missing body parts (e.g. cropped people on the borders of the image). If poseKeypoints is empty, poseScores will also be empty. Size: #people

std::vector<double> op::Datum::scaleInputToNetInputs

Scale ratio between the input Datum::cvInputData and the net input size.

double op::Datum::scaleInputToOutput

Scale ratio between the input Datum::cvInputData and the output Datum::cvOutputData.

double op::Datum::scaleNetToOutput

Scale ratio between the net output and the final output Datum::cvOutputData.

unsigned long long op::Datum::subId

Datum sub-ID. Internally used to sort the Datums if multi-threading is used.

unsigned long long op::Datum::subIdMax

Datum maximum sub-ID. Used to sort the Datums if multi-threading is used.

std::vector<double> op::Datum::vtVecPtr
int op::Datum::vtVecRows
The documentation for this struct was generated from the following file: