OpenCL and 3D working again

cmake/Utils.cmake

@@ -19,7 +19,7 @@ endfunction (download_model)
 function(download_zip FILE_NAME URL DOWNLOAD_PATH CHECKSUM)
   set(FULL_FILE_PATH "${DOWNLOAD_PATH}/${FILE_NAME}")
   if (NOT EXISTS ${FULL_FILE_PATH})
-    message(STATUS "Downloading ${URL}...")
+    message(STATUS "Downloading ${URL}/${FILE_NAME}...")
     file(DOWNLOAD "${URL}/${FILE_NAME}" "${DOWNLOAD_PATH}/${FILE_NAME}"
         EXPECTED_MD5 ${CHECKSUM})
     message(STATUS "Extracting ${FULL_FILE_PATH}...")

doc/prerequisites.md

@@ -103,7 +103,10 @@ NOTE: These instructions are only required when compiling OpenPose brom source.
     - CMake automatically downloads all the Windows DLLs. Alternatively, you might prefer to download them manually:
         - Dependencies:
             - Note: Leave the zip files in `3rdparty/windows/` so that CMake does not try to download them again.
-            - [Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_15_2019_05_16.zip): Unzip as `3rdparty/windows/caffe/`.
+            - Caffe (if you are not sure which one you need, donwload the default one):
+                - [CUDA Caffe (Default)](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_15_2019_05_16.zip): Unzip as `3rdparty/windows/caffe/`.
+                - [CPU Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_cpu_2018_05_27.zip): Unzip as `3rdparty/windows/caffe_cpu/`.
+                - [OpenCL Caffe](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe_opencl_2018_02_13.zip): Unzip as `3rdparty/windows/caffe_opencl/`.
             - [Caffe dependencies](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/caffe3rdparty_15_2019_03_14.zip): Unzip as `3rdparty/windows/caffe3rdparty/`.
             - [OpenCV 4.0.1](http://posefs1.perception.cs.cmu.edu/OpenPose/3rdparty/windows/opencv_401_v14_15_2019_03_14.zip): Unzip as `3rdparty/windows/opencv/`.
 6. **Eigen prerequisite** (optional, only required for some specific extra functionality, such as extrinsic camera calibration):

src/openpose/3d/poseTriangulation.cpp

@@ -154,9 +154,9 @@ namespace op
         }
     }
 
-    double triangulateWithOptimization(cv::Mat& reconstructedPoint, const std::vector<cv::Mat>& cameraMatrices,
-                                       const std::vector<cv::Point2d>& pointsOnEachCamera,
-                                       const double reprojectionMaxAcceptable)
+    double triangulateWithOptimization(
+        cv::Mat& reconstructedPoint, const std::vector<cv::Mat>& cameraMatrices,
+        const std::vector<cv::Point2d>& pointsOnEachCamera, const double reprojectionMaxAcceptable)
     {
         try
         {
@@ -356,7 +356,7 @@ namespace op
             {
                 if (!keypoints.empty())
                 {
-                    detectionMissed++;
+                    ++detectionMissed;
                     if (detectionMissed > 1)
                     {
                         numberBodyParts = keypoints.getSize(1);
@@ -372,7 +372,7 @@ namespace op
                 std::vector<int> indexesUsed;
                 std::vector<std::vector<cv::Point2d>> xyPoints;
                 std::vector<std::vector<cv::Mat>> cameraMatricesPerPoint;
-                for (auto part = 0; part < numberBodyParts; part++)
+                for (auto part = 0; part < numberBodyParts; ++part)
                 {
                     // Create vector of points
                     // auto missedPoint = false;
@@ -383,7 +383,7 @@ namespace op
                     for (auto i = 0u ; i < keypointsVector.size() ; i++)
                     {
                         const auto& keypoints = keypointsVector[i];
-                        if (isValidKeypoint(&keypoints[baseIndex], imageSizes[i]))
+                        if (!keypoints.empty() && isValidKeypoint(&keypoints[baseIndex], imageSizes[i]))
                         {
                             xyPointsElement.emplace_back(
                                 cv::Point2d{keypoints[baseIndex], keypoints[baseIndex+1]});
@@ -408,9 +408,9 @@ namespace op
                 const auto imageRatio = std::sqrt(imageSizes[0].x * imageSizes[0].y / 1310720.);
                 const auto reprojectionMaxAcceptable = 25 * imageRatio;
                 std::vector<double> reprojectionErrors(xyPoints.size());
-                keypoints3D.reset({ 1, numberBodyParts, 4 }, 0.f);
                 if (!xyPoints.empty())
                 {
+                    keypoints3D.reset({ 1, numberBodyParts, 4 }, 0.f);
                     // Do 3D reconstruction
                     std::vector<cv::Point3f> xyzPoints(xyPoints.size());
                     for (auto i = 0u; i < xyPoints.size(); i++)
@@ -434,7 +434,7 @@ namespace op
                     // 20 pixels for 1280x1024 image
                     bool atLeastOnePointProjected = false;
                     const auto lastChannelLength = keypoints3D.getSize(2);
-                    for (auto index = 0u; index < indexesUsed.size(); index++)
+                    for (auto index = 0u; index < indexesUsed.size(); ++index)
                     {
                         if (std::isfinite(xyzPoints[index].x) && std::isfinite(xyzPoints[index].y)
                             && std::isfinite(xyzPoints[index].z)

src/openpose/net/bodyPartConnectorBaseCL.cpp

@@ -11,7 +11,8 @@
 namespace op
 {
     #ifdef USE_OPENCL
-        typedef cl::KernelFunctor<cl::Buffer, cl::Buffer, cl::Buffer, cl::Buffer, cl::Buffer, unsigned int, int, int, int, float, float> PAFScoreKernelFunctor;
+        typedef cl::KernelFunctor<cl::Buffer, cl::Buffer, cl::Buffer, cl::Buffer, cl::Buffer, unsigned int, int, int,
+            int, float, float, float> PAFScoreKernelFunctor;
         const std::string pafScoreKernel = MULTI_LINE_STRING(
 
             int intRoundGPU(const Type a)
@@ -19,9 +20,10 @@ namespace op
                 return (int)(a+0.5);
             }
 
-            Type process(__global const Type* bodyPartA, __global const Type* bodyPartB, __global const Type* mapX, __global const Type* mapY,
-                                         const int heatmapWidth, const int heatmapHeight, const Type interThreshold,
-                                         const Type interMinAboveThreshold, const Type defaultNmsThreshold)
+            Type process(
+                __global const Type* bodyPartA, __global const Type* bodyPartB, __global const Type* mapX,
+                __global const Type* mapY, const int heatmapWidth, const int heatmapHeight, const Type interThreshold,
+                const Type interMinAboveThreshold, const Type defaultNmsThreshold)
             {
                 const Type vectorAToBX = bodyPartB[0] - bodyPartA[0];
                 const Type vectorAToBY = bodyPartB[1] - bodyPartA[1];
@@ -67,7 +69,7 @@ namespace op
                         const Type l2Dist = sqrt((Type)(vectorAToBX*vectorAToBX + vectorAToBY*vectorAToBY));
                         const Type threshold = sqrt((Type)(heatmapWidth*heatmapHeight))/150; // 3.3 for 368x656, 6.6 for 2x resolution
                         if (l2Dist < threshold)
-                            return T(defaultNmsThreshold+1e-6); // Without 1e-6 will not work because I use strict greater
+                            return Type(defaultNmsThreshold+1e-6); // Without 1e-6 will not work because I use strict greater
                     }
                 }
                 return -1;