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openpose

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提交 1a544a83 编写于 作者: G gineshidalgo99
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Experimental tracking released

上级 5401f668
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README.md
浏览文件 @ 1a544a83
......@@ -26,6 +26,7 @@
- Compatible with Flir/Point Grey cameras, but provided C++ demos to add your custom input.
- **Calibration toolbox**:
- Easy estimation of distortion, intrinsic, and extrinsic camera parameters.
- **Single-person tracking** for further speed up or visual smoothing.
- **Input**: Image, video, webcam, Flir/Point Grey and IP camera. Included C++ demos to add your custom input.
- **Output**: Basic image + keypoint display/saving (PNG, JPG, AVI, ...), keypoint saving (JSON, XML, YML, ...), and/or keypoints as array class.
- **OS**: Ubuntu (14, 16), Windows (8, 10), Mac OSX, Nvidia TX2.
......@@ -36,6 +37,7 @@
## Latest Features
- Sep 2018: [**Experimental single-person tracker**](doc/quick_start.md#tracking) for further speed up or visual smoothing!
- Jun 2018: [**Combined body-foot model released! 40% faster and 5% more accurate**](doc/installation.md)!
- Jun 2018: [**Python API**](doc/modules/python_module.md) released!
- Jun 2018: [**OpenCL/AMD graphic card version**](doc/installation.md) released!
......@@ -43,10 +45,6 @@
- Jun 2018: [**Mac OSX version (CPU)**](doc/installation.md) released!
- Mar 2018: [**CPU version**](doc/installation.md#cpu-version)!
- Mar 2018: [**3-D keypoint reconstruction module**](doc/modules/3d_reconstruction_module.md) (from multiple camera views)!
- Sep 2017: [**CMake**](doc/installation.md) installer and **IP camera** support!
- Jul 2017: [**Windows portable binaries and demo**](https://github.com/CMU-Perceptual-Computing-Lab/openpose/releases)!
- Jul 2017: **Hands** released!
- Jun 2017: **Face** released!
For further details, check [all released features](doc/released_features.md) and [release notes](doc/release_notes.md).
......
doc/quick_start.md
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......@@ -8,6 +8,7 @@ OpenPose - Quick Start
3. [Running on Images](#running-on-images)
4. [Maximum Accuracy Configuration](#maximum-accuracy-configuration)
5. [3-D Reconstruction](#3-d-reconstruction)
6. [Tracking](#tracking)
2. [Expected Visual Results](#expected-visual-results)
......@@ -167,6 +168,27 @@ build\x64\Release\OpenPoseDemo.exe --flir_camera --3d --number_people_max 1 --fa
### Tracking
1. Runtime huge speed up by reducing the accuracy:
```
# Using OpenPose 1 frame, tracking the following e.g., 5 frames
./build/examples/openpose/openpose.bin --tracking 5 --number_people_max 1
```
2. Runtime speed up while keeping most of the accuracy:
```
:: Using OpenPose 1 frame and tracking another frame
./build/examples/openpose/openpose.bin --tracking 1 --number_people_max 1
```
3. Visual smoothness:
```
# Running both OpenPose and tracking on each frame. Note: There is no speed up/slow down
./build/examples/openpose/openpose.bin --tracking 0 --number_people_max 1
```
## Expected Visual Results
The visual GUI should show the original image with the poses blended on it, similarly to the pose of this gif:
<p align="center">
......
doc/release_notes.md
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......@@ -261,6 +261,7 @@ OpenPose Library - Release Notes
## Current version - future OpenPose 1.4.1
1. Main improvements:
1. Added initial single-person tracker for further speed up or visual smoothing (`--tracking` flag).
2. Functions or parameters renamed:
3. Main bugs fixed:
......
doc/released_features.md
浏览文件 @ 1a544a83
OpenPose Library - Latest Released Features
OpenPose Library - All Released Features
====================================
- Sep 2018: [**Experimental tracker**](./quick_start.md#tracking)!
- Jun 2018: [**Combined body-foot model released! 40% faster and 5% more accurate**](./installation.md)!
- Jun 2018: [**Python API**](./modules/python_module.md) released!
- Jun 2018: [**OpenCL/AMD graphic card version**](./modules/calibration_module.md) released!
......
src/openpose/pose/bodyPartConnectorBase.cpp
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......@@ -609,24 +609,46 @@ namespace op
// const auto numberPeople = intRound(peaksPtr[rootNumberIndex]);
poseKeypoints.reset({numberPeople, (int)numberBodyParts, 3}, 0);
poseScores.reset(numberPeople, 0);
// // 48 channels
// const std::vector<float> average{
// 0.f, -2.76364f, -1.3345f, 0.f, -1.95322f, 3.95679f, -1.20664f, 4.76543f,
// 1.3345f, 0.f, 1.92318f, 3.96891f, 1.17999f, 4.7901f, 0.f, 7.72201f,
// -0.795236f, 7.74017f, -0.723963f, 11.209f, -0.651316f, 15.6972f,
// 0.764623f, 7.74869f, 0.70755f, 11.2307f, 0.612832f, 15.7281f,
// -0.123134f, -3.43515f, 0.111775f, -3.42761f,
// -0.387066f, -3.16603f, 0.384038f, -3.15951f,
// 0.344764f, 12.9666f, 0.624157f, 12.9057f, 0.195454f, 12.565f,
// -1.06074f, 12.9951f, -1.2427f, 12.9309f, -0.800837f, 12.5845f};
// const std::vector<float> sigma{
// 3.39629f, 3.15605f, 3.16913f, 1.8234f, 5.82252f, 5.05674f, 7.09876f, 6.64574f,
// 3.16913f, 1.8234f, 5.79415f, 5.01424f, 7.03866f, 6.62427f, 5.52593f, 6.75962f,
// 5.91224f, 6.87241f, 8.66473f, 10.1792f, 11.5871f, 13.6565f,
// 5.86653f, 6.89568f, 8.68067f, 10.2127f, 11.5954f, 13.6722f,
// 3.3335f, 3.49128f, 3.34476f, 3.50079f,
// 2.93982f, 3.11151f, 2.95006f, 3.11004f,
// 9.69408f, 7.58921f, 9.71193f, 7.44185f, 9.19343f, 7.11157f,
// 9.16848f, 7.86122f, 9.07613f, 7.83682f, 8.91951f, 7.33715f};
// 50 channels
const std::vector<float> average{
0.f, -2.76364f, -1.3345f, 0.f, -1.95322f, 3.95679f, -1.20664f, 4.76543f,
1.3345f, 0.f, 1.92318f, 3.96891f, 1.17999f, 4.7901f, 0.f, 7.72201f,
-0.795236f, 7.74017f, -0.723963f, 11.209f, -0.651316f, 15.6972f,
0.764623f, 7.74869f, 0.70755f, 11.2307f, 0.612832f, 15.7281f,
-0.123134f, -3.43515f, 0.111775f, -3.42761f,
-0.387066f, -3.16603f, 0.384038f, -3.15951f,
0.344764f, 12.9666f, 0.624157f, 12.9057f, 0.195454f, 12.565f,
-1.06074f, 12.9951f, -1.2427f, 12.9309f, -0.800837f, 12.5845f};
0, -6.55251,
0, -4.15062, -1.48818, -4.15506, -2.22408, -0.312264, -1.42204, 0.588495,
1.51044, -4.14629, 2.2113, -0.312283, 1.41081, 0.612377, -0, 3.41112,
-0.932306, 3.45504, -0.899812, 6.79837, -0.794223, 11.4972,
0.919047, 3.46442, 0.902314, 6.81245, 0.79518, 11.5132,
-0.243982, -7.07925, 0.28065, -7.07398,
-0.792812, -7.09374, 0.810145, -7.06958,
0.582387, 7.46846, 0.889349, 7.40577, 0.465088, 7.03969,
-0.96686, 7.46148, -1.20773, 7.38834, -0.762135, 6.99575};
const std::vector<float> sigma{
3.39629f, 3.15605f, 3.16913f, 1.8234f, 5.82252f, 5.05674f, 7.09876f, 6.64574f,
3.16913f, 1.8234f, 5.79415f, 5.01424f, 7.03866f, 6.62427f, 5.52593f, 6.75962f,
5.91224f, 6.87241f, 8.66473f, 10.1792f, 11.5871f, 13.6565f,
5.86653f, 6.89568f, 8.68067f, 10.2127f, 11.5954f, 13.6722f,
3.3335f, 3.49128f, 3.34476f, 3.50079f,
2.93982f, 3.11151f, 2.95006f, 3.11004f,
9.69408f, 7.58921f, 9.71193f, 7.44185f, 9.19343f, 7.11157f,
9.16848f, 7.86122f, 9.07613f, 7.83682f, 8.91951f, 7.33715f};
7.26789, 9.70751,
6.29588, 8.93472, 6.97401, 9.13746, 7.49632, 9.44757, 8.06695, 9.97319,
6.99726, 9.14608, 7.50529, 9.43568, 8.05888, 9.98207, 6.38929, 9.29314,
6.71801, 9.39271, 8.00608, 10.6141, 10.3416, 12.7812,
6.69875, 9.41407, 8.01876, 10.637, 10.3475, 12.7849,
7.30923, 9.7324, 7.27886, 9.73406,
7.35978, 9.7289, 7.28914, 9.67711,
7.93153, 8.10845, 7.95577, 8.01729, 7.56865, 7.87314,
7.4655, 8.25336, 7.43958, 8.26333, 7.33667, 7.97446};
// To get ideal distance
const auto numberBodyPartsAndBkgAndPAFChannels = numberBodyParts + 1 + bodyPartPairs.size();
const auto heatMapOffset = heatMapSize.area();
......@@ -647,7 +669,10 @@ namespace op
{
if (bpOrig != rootIndex)
{
const auto bpChannel = (bpOrig < rootIndex ? bpOrig : bpOrig-1);
// // 48 channels
// const auto bpChannel = (bpOrig < rootIndex ? bpOrig : bpOrig-1);
// 50 channels
const auto bpChannel = bpOrig;
// Get ideal distance
const auto offsetIndex = numberBodyPartsAndBkgAndPAFChannels + 2*bpChannel;
const auto* mapX = heatMapPtr + offsetIndex * heatMapOffset;
......
src/openpose/tracking/personTracker.cpp
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......@@ -299,23 +299,23 @@ namespace op
{
if (personEntries.size() && !poseIds.empty())
{
int dims[] = { (int)personEntries.size(), (int)personEntries.begin()->second.keypoints.size(), 3 };
cv::Mat opArrayMat(3,dims,CV_32FC1);
poseKeypoints.reset(
{(int)personEntries.size(), (int)personEntries.begin()->second.keypoints.size(), 3});
for (auto i=0; i<poseIds.getSize(0); i++)
{
const int id = poseIds[i];
const PersonTrackerEntry& pe = personEntries.at(id);
for (int j=0; j<dims[1]; j++)
const int baseIndexY = i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2);
for (int j=0 ; j<poseKeypoints.getSize(1) ; j++)
{
const auto baseIndex = i*dims[1]*dims[2] + j*dims[2];
opArrayMat.at<float>(baseIndex + 0) = pe.keypoints[j].x;
opArrayMat.at<float>(baseIndex + 1) = pe.keypoints[j].y;
opArrayMat.at<float>(baseIndex + 2) = (int)pe.status[j];
const auto baseIndex = baseIndexY + j*poseKeypoints.getSize(2);
poseKeypoints[baseIndex] = pe.keypoints[j].x;
poseKeypoints[baseIndex+1] = pe.keypoints[j].y;
poseKeypoints[baseIndex+2] = (int)pe.status[j];
if (pe.keypoints[j].x == 0 && pe.keypoints[j].y == 0)
opArrayMat.at<float>(baseIndex + 2) = 0;
poseKeypoints[baseIndex+2] = 0;
}
}
poseKeypoints.setFrom(opArrayMat);
}
}
catch (const std::exception& e)
......@@ -359,8 +359,8 @@ namespace op
{
try
{
error("PersonTracker (`tracking` flag) buggy and not working yet, but we are working on it!"
" Coming soon!", __LINE__, __FUNCTION__, __FILE__);
log("Person tracking (`tracking` flag) is in experimental phase. Please, let us know if you"
" find any bug on this alpha version.", op::Priority::High);
}
catch (const std::exception& e)
{
......@@ -377,6 +377,14 @@ namespace op
{
try
{
// Sanity Checks
if (poseKeypoints.getSize(0) > 1)
error("Person tracking (`--tracking` flag) is in experimental phase and only allows tracking of up"
" to 1 person at the time. Please, also include the `--number_people_max 1` flag when using"
" the `--tracking` flag. Tracking more than one person at the time is not expected as"
" short- nor medium-term goal.",
__LINE__, __FUNCTION__, __FILE__);
/*
* 1. Get poseKeypoints for all people - Checks
* 2. If last image is empty or mPersonEntries is empty (& poseKeypoints and poseIds has data or crash it)
......
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