3D visualizer doesn't crash on exit

doc/openpose_3d_reconstruction_demo.md

 OpenPose 3-D Reconstruction Module and Demo
 =============================================
 
+## Contents
+1. [Introduction](#introduction)
+2. [Features](#features)
+3. [Required Hardware](#required-hardware)
+4. [Camera Calibration](#camera-calibration)
+5. [Camera Ordering](#camera-ordering)
+6. [Installing the OpenPose 3-D Reconstruction Module](#installing-the-openpose-3-d-reconstruction-module)
+7. [Known Bug](#known-bug)
+
+
+
+## Introduction
 This experimental module performs 3-D keypoint (body, face, and hand) reconstruction and rendering for 1 person. We will not keep updating it nor solving questions/issues about it at the moment. It requires the user to be familiar with computer vision and camera calibration, including extraction of intrinsic and extrinsic parameters.
 
 
@@ -72,3 +84,10 @@ It should be similar to the following image.
 <p align="center">
     <img src="media/openpose3d.png">
 </p>
+
+
+
+## Known Bug
+FreeGLUT is a quite light library. Due to that, there is a known bug in the 3D module:
+
+1. The window must be closed with the <kbd>Esc</kbd> key. Clicking the close button will cause a core dumped or std::exception error in OpenPose. Reason: There is no way to control the behaviour of the exit button in a FreeGLUT program. Feel free to let us know or create a pull request if you find a workaround applicable to 3-D OpenPose. Another alternative is ussing `--disable_multi_thread` in OpenPose. This would avoid the issue but slow down the program, especially in multi-GPU systems.

doc/release_notes.md

@@ -183,6 +183,7 @@ OpenPose Library - Release Notes
 2. Main bugs fixed:
     1. Slight speed up (~1%) for performing the non-maximum suppression stage only in the body part heatmaps channels, and not also in the PAF channels.
     2. Fixed core-dumped in PoseRenderer with GUI when changed element to be rendered to something else than skeleton.
+    3. 3-D visualizer does not crash on exit anymore.
 
 
 

include/openpose/experimental/3d/renderer.hpp

 #ifndef OPENPOSE_EXPERIMENTAL_3D_RENDERER_HPP
 #define OPENPOSE_EXPERIMENTAL_3D_RENDERER_HPP
 
-#include <thread>
 #include <openpose/core/common.hpp>
 #include <openpose/experimental/3d/datum3D.hpp>
 #include <openpose/pose/enumClasses.hpp>
@@ -15,14 +14,11 @@ namespace op
     public:
         WRender3D(const PoseModel poseModel = PoseModel::COCO_18);
 
-        void initializationOnThread() {}
+        ~WRender3D();
 
-        void workConsumer(const std::shared_ptr<std::vector<Datum3D>>& datumsPtr);
-
-    private:
-        std::thread mRenderThread;
+        void initializationOnThread();
 
-        void visualizationThread();
+        void workConsumer(const std::shared_ptr<std::vector<Datum3D>>& datumsPtr);
     };
 }
 

include/openpose/gui/gui.hpp

@@ -14,9 +14,11 @@ namespace op
     class OP_API Gui
     {
     public:
-        Gui(const Point<int>& outputSize, const bool fullScreen, const std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
+        Gui(const Point<int>& outputSize, const bool fullScreen,
+            const std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
             const std::shared_ptr<std::pair<std::atomic<bool>, std::atomic<int>>>& videoSeekSharedPtr = nullptr,
-            const std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors = {}, const std::vector<std::shared_ptr<Renderer>>& renderers = {});
+            const std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors = {},
+            const std::vector<std::shared_ptr<Renderer>>& renderers = {});
 
         void initializationOnThread();
 

src/openpose/experimental/3d/pointGrey.cpp

@@ -56,7 +56,8 @@ namespace op
                               __LINE__, __FUNCTION__, __FILE__);
 
                 Spinnaker::GenApi::CEnumEntryPtr ptrTriggerModeOff = ptrTriggerMode->GetEntryByName("Off");
-                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerModeOff) || !Spinnaker::GenApi::IsReadable(ptrTriggerModeOff))
+                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerModeOff)
+                    || !Spinnaker::GenApi::IsReadable(ptrTriggerModeOff))
                     error("Unable to disable trigger mode (enum entry retrieval). Aborting...",
                               __LINE__, __FUNCTION__, __FILE__);
 
@@ -69,8 +70,10 @@ namespace op
                 // The trigger source must be set to hardware or software while trigger
                 // mode is off.
                 Spinnaker::GenApi::CEnumerationPtr ptrTriggerSource = iNodeMap.GetNode("TriggerSource");
-                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerSource) || !Spinnaker::GenApi::IsWritable(ptrTriggerSource))
-                    error("Unable to set trigger mode (node retrieval). Aborting...", __LINE__, __FUNCTION__, __FILE__);
+                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerSource)
+                    || !Spinnaker::GenApi::IsWritable(ptrTriggerSource))
+                    error("Unable to set trigger mode (node retrieval). Aborting...",
+                          __LINE__, __FUNCTION__, __FILE__);
 
                 // Set trigger mode to hardware ('Line0')
                 Spinnaker::GenApi::CEnumEntryPtr ptrTriggerSourceHardware = ptrTriggerSource->GetEntryByName("Line0");
@@ -88,7 +91,8 @@ namespace op
                 // Once the appropriate trigger source has been set, turn trigger mode
                 // on in order to retrieve images using the trigger.
                 Spinnaker::GenApi::CEnumEntryPtr ptrTriggerModeOn = ptrTriggerMode->GetEntryByName("On");
-                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerModeOn) || !Spinnaker::GenApi::IsReadable(ptrTriggerModeOn))
+                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerModeOn)
+                    || !Spinnaker::GenApi::IsReadable(ptrTriggerModeOn))
                 {
                     error("Unable to enable trigger mode (enum entry retrieval). Aborting...",
                               __LINE__, __FUNCTION__, __FILE__);
@@ -128,12 +132,14 @@ namespace op
                 // restore the camera to a clean state.
                 //
                 Spinnaker::GenApi::CEnumerationPtr ptrTriggerMode = iNodeMap.GetNode("TriggerMode");
-                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerMode) || !Spinnaker::GenApi::IsReadable(ptrTriggerMode))
+                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerMode)
+                    || !Spinnaker::GenApi::IsReadable(ptrTriggerMode))
                     error("Unable to disable trigger mode (node retrieval). Non-fatal error...",
                               __LINE__, __FUNCTION__, __FILE__);
 
                 Spinnaker::GenApi::CEnumEntryPtr ptrTriggerModeOff = ptrTriggerMode->GetEntryByName("Off");
-                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerModeOff) || !Spinnaker::GenApi::IsReadable(ptrTriggerModeOff))
+                if (!Spinnaker::GenApi::IsAvailable(ptrTriggerModeOff)
+                    || !Spinnaker::GenApi::IsReadable(ptrTriggerModeOff))
                     error("Unable to disable trigger mode (enum entry retrieval). Non-fatal error...",
                               __LINE__, __FUNCTION__, __FILE__);
 
@@ -204,7 +210,7 @@ namespace op
                     if (imagePtr->IsIncomplete())
                     {
                         log("Image incomplete with image status " + std::to_string(imagePtr->GetImageStatus()) + "...",
-                                Priority::High, __LINE__, __FUNCTION__, __FILE__);
+                            Priority::High, __LINE__, __FUNCTION__, __FILE__);
                         imagesExtracted = false;
                         break;
                     }
@@ -389,7 +395,7 @@ namespace op
                         cameraPtr->DeInit();
                     }
 
-                    log("Completed. Releasing...", Priority::High);
+                    log("FLIR (Point-grey) capture completed. Releasing cameras...", Priority::High);
 
                     // Clear camera list before releasing upImpl->mSystemPtr
                     upImpl->mCameraList.Clear();
@@ -398,7 +404,7 @@ namespace op
                     upImpl->mSystemPtr->ReleaseInstance();
                 }
 
-                log("Done! Exitting...", Priority::High);
+                log("Cameras released! Exitting program.", Priority::High);
             }
             catch (const Spinnaker::Exception& e)
             {
@@ -504,14 +510,14 @@ namespace op
 
                     // Remove buffer --> Always get newest frame
                     Spinnaker::GenApi::INodeMap& snodeMap = cameraPtr->GetTLStreamNodeMap();
-                    Spinnaker::GenApi::CEnumerationPtr ptrBufferHandlingMode = snodeMap.GetNode("StreamBufferHandlingMode");
+                    Spinnaker::GenApi::CEnumerationPtr ptrBufferHandlingMode = snodeMap.GetNode(
+                        "StreamBufferHandlingMode");
                     if (!Spinnaker::GenApi::IsAvailable(ptrBufferHandlingMode)
                         || !Spinnaker::GenApi::IsWritable(ptrBufferHandlingMode))
                         error("Unable to change buffer handling mode", __LINE__, __FUNCTION__, __FILE__);
 
                     Spinnaker::GenApi::CEnumEntryPtr ptrBufferHandlingModeNewest = ptrBufferHandlingMode->GetEntryByName(
-                        "NewestFirstOverwrite"
-                    );
+                        "NewestFirstOverwrite");
                     if (!Spinnaker::GenApi::IsAvailable(ptrBufferHandlingModeNewest)
                         || !IsReadable(ptrBufferHandlingModeNewest))
                         error("Unable to set buffer handling mode to newest (entry 'NewestFirstOverwrite' retrieval)."
@@ -539,15 +545,15 @@ namespace op
                     auto cameraPtr = upImpl->mCameraList.GetByIndex(i);
 
                     // Set acquisition mode to continuous
-                    Spinnaker::GenApi::CEnumerationPtr ptrAcquisitionMode = cameraPtr->GetNodeMap().GetNode("AcquisitionMode");
+                    Spinnaker::GenApi::CEnumerationPtr ptrAcquisitionMode = cameraPtr->GetNodeMap().GetNode(
+                        "AcquisitionMode");
                     if (!Spinnaker::GenApi::IsAvailable(ptrAcquisitionMode)
                         || !Spinnaker::GenApi::IsWritable(ptrAcquisitionMode))
-                        error("Unable to set acquisition mode to continuous (node retrieval; camera " + std::to_string(i)
-                                  + "). Aborting...", __LINE__, __FUNCTION__, __FILE__);
+                        error("Unable to set acquisition mode to continuous (node retrieval; camera "
+                              + std::to_string(i) + "). Aborting...", __LINE__, __FUNCTION__, __FILE__);
 
                     Spinnaker::GenApi::CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName(
-                        "Continuous"
-                    );
+                        "Continuous");
                     if (!Spinnaker::GenApi::IsAvailable(ptrAcquisitionModeContinuous)
                         || !Spinnaker::GenApi::IsReadable(ptrAcquisitionModeContinuous))
                         error("Unable to set acquisition mode to continuous (entry 'continuous' retrieval "
@@ -571,7 +577,8 @@ namespace op
                         "DeviceSerialNumber"
                     );
 
-                    if (Spinnaker::GenApi::IsAvailable(ptrStringSerial) && Spinnaker::GenApi::IsReadable(ptrStringSerial))
+                    if (Spinnaker::GenApi::IsAvailable(ptrStringSerial)
+                        && Spinnaker::GenApi::IsReadable(ptrStringSerial))
                     {
                         strSerialNumbers[i] = ptrStringSerial->GetValue();
                         log("Camera " + std::to_string(i) + " serial number set to "
@@ -607,7 +614,10 @@ namespace op
                     // Images to userDatum
                     auto datums3d = std::make_shared<std::vector<Datum3D>>(cvMats.size());
                     for (auto i = 0u ; i < cvMats.size() ; i++)
+                    {
                         datums3d->at(i).cvInputData = cvMats.at(i);
+                        datums3d->at(i).cvOutputData = (*datums3d)[i].cvInputData;
+                    }
                     // Profiling speed
                     if (!cvMats.empty())
                     {

src/openpose/experimental/3d/renderer.cpp

@@ -2,6 +2,8 @@
 #include <stdio.h>
 #ifdef BUILD_MODULE_3D
     #include <GL/glut.h>
+    #include <GL/freeglut_ext.h> // glutLeaveMainLoop
+    #include <GL/freeglut_std.h>
 #endif
 #include <opencv2/opencv.hpp>
 #include <openpose/face/faceParameters.hpp>
@@ -33,6 +35,7 @@ namespace op
 
         Keypoints3D gKeypoints3D;
         PoseModel sPoseModel = PoseModel::COCO_18;
+        int sLastKeyPressed = -1;
 
         CameraMode gCameraMode = CameraMode::CAM_DEFAULT;
 
@@ -223,7 +226,8 @@ namespace op
 
             const auto gridNum = 10;
             const auto width = 50.;//sqrt(Distance(gGloorPts.front(),gGloorCenter)*2 /gridNum) * 1.2;
-            const cv::Point3f origin = gGloorCenter - gGloorAxis1*(width*gridNum / 2) - gGloorAxis2*(width*gridNum / 2);
+            const cv::Point3f origin = gGloorCenter - gGloorAxis1*(width*gridNum / 2)
+                                     - gGloorAxis2*(width*gridNum / 2);
             const cv::Point3f axis1 = gGloorAxis1 * width;
             const cv::Point3f axis2 = gGloorAxis2 * width;
             for (auto y = 0; y <= gridNum; ++y)
@@ -354,6 +358,55 @@ namespace op
                 }
             }
         }
+
+        void keyPressed(const unsigned char key, const int x, const int y)
+        {
+            try
+            {
+                UNUSED(x);
+                UNUSED(y);
+                const std::lock_guard<std::mutex> lock{gKeypoints3D.mutex};
+                sLastKeyPressed = key;
+            }
+            catch (const std::exception& e)
+            {
+                error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+            }
+        }
+
+        void initializeVisualization()
+        {
+            try
+            {
+                char *my_argv[] = { NULL };
+                int my_argc = 0;
+                glutInit(&my_argc, my_argv);
+
+                // setup the size, position, and display mode for new windows
+                glutInitWindowSize(1280, 720);
+                glutInitWindowPosition(200, 0);
+                // glutSetOption(GLUT_MULTISAMPLE,8);
+                // Ideally adding also GLUT_BORDERLESS | GLUT_CAPTIONLESS should fix the problem of disabling the `x`
+                // button, but it does not work (tested in Ubuntu)
+                glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH | GLUT_MULTISAMPLE);
+
+                // create and set up a window
+                glutCreateWindow(GUI_NAME.c_str());
+                initGraphics();
+                glutDisplayFunc(renderMain);
+                glutMouseFunc(mouseButton);
+                glutMotionFunc(mouseMotion);
+                glutIdleFunc(idleFunc);
+                // Full screen would fix the problem of disabling `x` button
+                // glutFullScreen();
+                // Key presses
+                glutKeyboardFunc(keyPressed);
+            }
+            catch (const std::exception& e)
+            {
+                error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+            }
+        }
     #endif
 
     WRender3D::WRender3D(const PoseModel poseModel)
@@ -363,10 +416,6 @@ namespace op
             #ifdef BUILD_MODULE_3D
                 // Update sPoseModel
                 sPoseModel = poseModel;
-                // Init display
-                cv::imshow(GUI_NAME, cv::Mat( 500, 500, CV_8UC3, cv::Scalar{ 0,0,0 } ));
-                //Run OpenGL
-                mRenderThread = std::thread{ &WRender3D::visualizationThread, this };
             #else
                 UNUSED(poseModel);
                 error("OpenPose must be compiled with `BUILD_MODULE_3D` in order to use this class.",
@@ -379,6 +428,37 @@ namespace op
         }
     }
 
+    WRender3D::~WRender3D()
+    {
+        try
+        {
+            #ifdef BUILD_MODULE_3D
+                glutLeaveMainLoop();
+            #endif
+        }
+        catch (const std::exception& e)
+        {
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+        }
+    }
+
+    void WRender3D::initializationOnThread()
+    {
+        #ifdef BUILD_MODULE_3D
+            try
+            {
+                // Init display
+                cv::imshow(GUI_NAME, cv::Mat(500, 500, CV_8UC3, cv::Scalar{ 0,0,0 }));
+                // OpenGL - Initialization
+                initializeVisualization();
+            }
+            catch (const std::exception& e)
+            {
+                error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+            }
+        #endif
+    }
+
     void WRender3D::workConsumer(const std::shared_ptr<std::vector<Datum3D>>& datumsPtr)
     {
         #ifdef BUILD_MODULE_3D
@@ -408,18 +488,27 @@ namespace op
                     gKeypoints3D.mLeftHandKeypoints = datumsPtr->at(0).leftHandKeypoints3D;
                     gKeypoints3D.mRightHandKeypoints = datumsPtr->at(0).rightHandKeypoints3D;
                     gKeypoints3D.validKeypoints = true;
+                    // Esc pressed -> Close program
+                    if (sLastKeyPressed == 27)
+                        this->stop();
                     lock.unlock();
                     // Profiling speed
                     Profiler::timerEnd(profilerKey);
                     Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__);
                 }
                 // Render images
-                // It sleeps 1 ms just to let the user see the output. Change to 33ms for normal 30 fps display if too fast
-                cv::waitKey(1);
+                // It sleeps 1 ms just to let the user see the 2D visual output
+                // Change to 33ms for normal 30 fps display if too fast
+                if ((char)cv::waitKey(1) == 27)
+                    this->stop();
+                // OpenCL - Run main loop event
+                // It is run outside loop, or it would get visually stuck if loop to slow
+                glutMainLoopEvent();
+                // This alternative can only be called once, and it will block the thread until program exit
+                // glutMainLoop();
             }
             catch (const std::exception& e)
             {
-                log("Some kind of unexpected error happened.");
                 this->stop();
                 error(e.what(), __LINE__, __FUNCTION__, __FILE__);
             }
@@ -427,38 +516,4 @@ namespace op
             UNUSED(datumsPtr);
         #endif
     }
-
-    void WRender3D::visualizationThread()
-    {
-        #ifdef BUILD_MODULE_3D
-            try
-            {
-                char *my_argv[] = { NULL };
-                int my_argc = 0;
-                glutInit(&my_argc, my_argv);
-
-                // setup the size, position, and display mode for new windows
-                glutInitWindowSize(1280, 720);
-                glutInitWindowPosition(200, 0);
-                // glutSetOption(GLUT_MULTISAMPLE,8);
-                glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH | GLUT_MULTISAMPLE);
-
-                // create and set up a window
-                glutCreateWindow(GUI_NAME.c_str());
-                initGraphics();
-                glutDisplayFunc(renderMain);
-                glutMouseFunc(mouseButton);
-                glutMotionFunc(mouseMotion);
-                glutIdleFunc(idleFunc);
-
-                glutMainLoop();
-
-                this->stop();
-            }
-            catch (const std::exception& e)
-            {
-                error(e.what(), __LINE__, __FUNCTION__, __FILE__);
-            }
-        #endif
-    }
 }

src/openpose/gui/gui.cpp

@@ -18,7 +18,8 @@ namespace op
             if (!helpCvMat.empty())
             {
                 const auto fullScreen = false;
-                FrameDisplayer frameDisplayer{OPEN_POSE_TEXT + " - GUI Help", Point<int>{helpCvMat.cols, helpCvMat.rows}, fullScreen};
+                FrameDisplayer frameDisplayer{OPEN_POSE_TEXT + " - GUI Help",
+                                              Point<int>{helpCvMat.cols, helpCvMat.rows}, fullScreen};
                 frameDisplayer.displayFrame(helpCvMat, 33);
             }
         }
@@ -28,8 +29,10 @@ namespace op
         }
     }
 
-    void handleWaitKey(bool& guiPaused, FrameDisplayer& frameDisplayer, std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors,
-                       std::vector<std::shared_ptr<Renderer>>& renderers, std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
+    void handleWaitKey(bool& guiPaused, FrameDisplayer& frameDisplayer,
+                       std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors,
+                       std::vector<std::shared_ptr<Renderer>>& renderers,
+                       std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
                        std::shared_ptr<std::pair<std::atomic<bool>, std::atomic<int>>>& spVideoSeek)
     {
         try
@@ -91,13 +94,16 @@ namespace op
                         poseExtractor->increase(PoseProperty::NMSThreshold, 0.005f * (castedKey=='-' ? -1 : 1));
                 else if (castedKey=='_' || castedKey=='+')
                     for (auto& poseExtractor : poseExtractors)
-                        poseExtractor->increase(PoseProperty::ConnectMinSubsetScore, 0.005f * (castedKey=='_' ? -1 : 1));
+                        poseExtractor->increase(PoseProperty::ConnectMinSubsetScore,
+                                                0.005f * (castedKey=='_' ? -1 : 1));
                 else if (castedKey=='[' || castedKey==']')
                     for (auto& poseExtractor : poseExtractors)
-                        poseExtractor->increase(PoseProperty::ConnectInterThreshold, 0.005f * (castedKey=='[' ? -1 : 1));
+                        poseExtractor->increase(PoseProperty::ConnectInterThreshold,
+                                                0.005f * (castedKey=='[' ? -1 : 1));
                 else if (castedKey=='{' || castedKey=='}')
                     for (auto& poseExtractor : poseExtractors)
-                        poseExtractor->increase(PoseProperty::ConnectInterMinAboveThreshold, (castedKey=='{' ? -0.1f : 0.1f));
+                        poseExtractor->increase(PoseProperty::ConnectInterMinAboveThreshold,
+                                                (castedKey=='{' ? -0.1f : 0.1f));
                 else if (castedKey==';' || castedKey=='\'')
                     for (auto& poseExtractor : poseExtractors)
                         poseExtractor->increase(PoseProperty::ConnectMinSubsetCnt, (castedKey==';' ? -1 : 1));
@@ -130,7 +136,8 @@ namespace op
     }
 
     void handleUserInput(FrameDisplayer& frameDisplayer, std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors,
-                         std::vector<std::shared_ptr<Renderer>>& renderers, std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
+                         std::vector<std::shared_ptr<Renderer>>& renderers,
+                         std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
                          std::shared_ptr<std::pair<std::atomic<bool>, std::atomic<int>>>& spVideoSeek)
     {
         try
@@ -150,9 +157,11 @@ namespace op
         }
     }
 
-    Gui::Gui(const Point<int>& outputSize, const bool fullScreen, const std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
+    Gui::Gui(const Point<int>& outputSize, const bool fullScreen,
+             const std::shared_ptr<std::atomic<bool>>& isRunningSharedPtr,
              const std::shared_ptr<std::pair<std::atomic<bool>, std::atomic<int>>>& videoSeekSharedPtr,
-             const std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors, const std::vector<std::shared_ptr<Renderer>>& renderers) :
+             const std::vector<std::shared_ptr<PoseExtractor>>& poseExtractors,
+             const std::vector<std::shared_ptr<Renderer>>& renderers) :
         mFrameDisplayer{OPEN_POSE_TEXT, outputSize, fullScreen},
         mPoseExtractors{poseExtractors},
         mRenderers{renderers},