// ----------------------- 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.). // Third-party dependencies #include // Command-line user interface #define OPENPOSE_FLAGS_DISABLE_PRODUCER #define OPENPOSE_FLAGS_DISABLE_DISPLAY #include // OpenPose dependencies #include // 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>>& 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(std::vector{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 if (!imageToRender.empty()) cv::imshow(OPEN_POSE_NAME_AND_VERSION + " - Tutorial C++ API", imageToRender); else op::opLog("Empty cv::Mat as output.", op::Priority::High, __LINE__, __FUNCTION__, __FILE__); } else op::opLog("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>>& 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::opLog("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::opLog("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::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 // 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); // 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{ poseMode, 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, 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); // 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(); // 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::opLog("Configuring OpenPose...", op::Priority::High); op::Wrapper opWrapper{op::ThreadManagerMode::Asynchronous}; configureWrapper(opWrapper); // Starting OpenPose op::opLog("Starting thread(s)...", op::Priority::High); opWrapper.start(); // Process and display image const cv::Mat cvImageToProcess = cv::imread(FLAGS_image_path); const op::Matrix imageToProcess = OP_CV2OPCONSTMAT(cvImageToProcess); 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::opLog("Image could not be processed.", op::Priority::High); // Info op::opLog("NOTE: In addition with the user flags, this demo has auto-selected the following flags:\n" "\t`--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&) { return -1; } } int main(int argc, char *argv[]) { // Parsing command line flags gflags::ParseCommandLineFlags(&argc, &argv, true); // Running tutorialApiCpp return tutorialApiCpp(); }