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

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wPoseTriangulation.hpp
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1 #ifndef OPENPOSE_3D_W_POSE_TRIANGULATION_HPP
2 #define OPENPOSE_3D_W_POSE_TRIANGULATION_HPP
3
4 #include <openpose/core/common.hpp>
5 #include <openpose/3d/poseTriangulation.hpp>
6 #include <openpose/thread/worker.hpp>
7
8 namespace op
9 {
10 template<typename TDatums>
11 class WPoseTriangulation : public Worker<TDatums>
12 {
13 public:
14 explicit WPoseTriangulation(const std::shared_ptr<PoseTriangulation>& poseTriangulation);
15
16 virtual ~WPoseTriangulation();
17
18 void initializationOnThread();
19
20 void work(TDatums& tDatums);
21
22 private:
23 const std::shared_ptr<PoseTriangulation> spPoseTriangulation;
24
25 DELETE_COPY(WPoseTriangulation);
26 };
27 }
28
29
30
31
32
33 // Implementation
34 #include <openpose/utilities/pointerContainer.hpp>
35 namespace op
36 {
37 template<typename TDatums>
38 WPoseTriangulation<TDatums>::WPoseTriangulation(const std::shared_ptr<PoseTriangulation>& poseTriangulation) :
39 spPoseTriangulation{poseTriangulation}
40 {
41 }
42
43 template<typename TDatums>
44 WPoseTriangulation<TDatums>::~WPoseTriangulation()
45 {
46 }
47
48 template<typename TDatums>
49 void WPoseTriangulation<TDatums>::initializationOnThread()
50 {
51 try
52 {
53 spPoseTriangulation->initializationOnThread();
54 }
55 catch (const std::exception& e)
56 {
57 error(e.what(), __LINE__, __FUNCTION__, __FILE__);
58 }
59 }
60
61 template<typename TDatums>
62 void WPoseTriangulation<TDatums>::work(TDatums& tDatums)
63 {
64 try
65 {
66 if (checkNoNullNorEmpty(tDatums))
67 {
68 // Debugging log
69 dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
70 // Profiling speed
71 const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
72 // 3-D triangulation and reconstruction
73 std::vector<cv::Mat> cameraMatrices;
74 std::vector<Array<float>> poseKeypointVector;
75 std::vector<Array<float>> faceKeypointVector;
76 std::vector<Array<float>> leftHandKeypointVector;
77 std::vector<Array<float>> rightHandKeypointVector;
78 std::vector<Point<int>> imageSizes;
79 for (auto& datumsElement : *tDatums)
80 {
81 poseKeypointVector.emplace_back(datumsElement.poseKeypoints);
82 faceKeypointVector.emplace_back(datumsElement.faceKeypoints);
83 leftHandKeypointVector.emplace_back(datumsElement.handKeypoints[0]);
84 rightHandKeypointVector.emplace_back(datumsElement.handKeypoints[1]);
85 cameraMatrices.emplace_back(datumsElement.cameraMatrix);
86 imageSizes.emplace_back(Point<int>{datumsElement.cvInputData.cols,
87 datumsElement.cvInputData.rows});
88 }
89 // Pose 3-D reconstruction
90 auto poseKeypoints3Ds = spPoseTriangulation->reconstructArray(
91 {poseKeypointVector, faceKeypointVector, leftHandKeypointVector, rightHandKeypointVector},
92 cameraMatrices, imageSizes);
93 // Assign to all tDatums
94 for (auto& datumsElement : *tDatums)
95 {
96 datumsElement.poseKeypoints3D = poseKeypoints3Ds[0];
97 datumsElement.faceKeypoints3D = poseKeypoints3Ds[1];
98 datumsElement.handKeypoints3D[0] = poseKeypoints3Ds[2];
99 datumsElement.handKeypoints3D[1] = poseKeypoints3Ds[3];
100 }
101 // Profiling speed
102 Profiler::timerEnd(profilerKey);
103 Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__);
104 // Debugging log
105 dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
106 }
107 }
108 catch (const std::exception& e)
109 {
110 this->stop();
111 tDatums = nullptr;
112 error(e.what(), __LINE__, __FUNCTION__, __FILE__);
113 }
114 }
115
116 COMPILE_TEMPLATE_DATUM(WPoseTriangulation);
117 }
118
119 #endif // OPENPOSE_3D_W_POSE_TRIANGULATION_HPP
op::Priority::Low
op::WPoseTriangulation::~WPoseTriangulation
virtual ~WPoseTriangulation()
Definition: wPoseTriangulation.hpp:44
op::Worker
Definition: worker.hpp:9
op::Point< int >
common.hpp
op::Profiler::timerInit
static const std::string timerInit(const int line, const std::string &function, const std::string &file)
op::error
OP_API void error(const std::string &message, const int line=-1, const std::string &function="", const std::string &file="")
pointerContainer.hpp
op::WPoseTriangulation::WPoseTriangulation
WPoseTriangulation(const std::shared_ptr< PoseTriangulation > &poseTriangulation)
Definition: wPoseTriangulation.hpp:38
op::dLog
void dLog(const T &message, const Priority priority=Priority::Max, const int line=-1, const std::string &function="", const std::string &file="")
Definition: errorAndLog.hpp:53
worker.hpp
op::checkNoNullNorEmpty
bool checkNoNullNorEmpty(const TPointerContainer &tPointerContainer)
Definition: pointerContainer.hpp:7
op::Profiler::printAveragedTimeMsOnIterationX
static void printAveragedTimeMsOnIterationX(const std::string &key, const int line, const std::string &function, const std::string &file, const unsigned long long x=DEFAULT_X)
op::WPoseTriangulation
Definition: wPoseTriangulation.hpp:11
poseTriangulation.hpp
op::WPoseTriangulation::work
void work(TDatums &tDatums)
Definition: wPoseTriangulation.hpp:62
op::WPoseTriangulation::initializationOnThread
void initializationOnThread()
Definition: wPoseTriangulation.hpp:49
op::COMPILE_TEMPLATE_DATUM
COMPILE_TEMPLATE_DATUM(WPoseTriangulation)
op::Profiler::timerEnd
static void timerEnd(const std::string &key)