Camera resolution works for flir camera, render pose CPU for 3d by default

doc/3d_reconstruction_demo.md

@@ -43,9 +43,10 @@ This demo assumes n arbitrary stereo cameras from the FLIR company (formerly Poi
     - (Ubuntu-only) Open your USB ports following section `Configuring USBFS` in [http://www.ptgrey.com/KB/10685](http://www.ptgrey.com/KB/10685).
     - Install the Spinnaker SDK for your operating system: [https://www.ptgrey.com/support/downloads](https://www.ptgrey.com/support/downloads).
 2. Fujinon 3 MP Varifocal Lens (3.8-13mm, 3.4x Zoom) for each camera.
-    - E.g. [https://www.bhphotovideo.com/c/product/736855-REG/Fujinon_DV3_4X3_8SA_1_3_MP_Varifocal_Lens.html](https://www.bhphotovideo.com/c/product/736855-REG/Fujinon_DV3_4X3_8SA_1_3_MP_Varifocal_Lens.html).
+    - E.g., [https://www.bhphotovideo.com/c/product/736855-REG/Fujinon_DV3_4X3_8SA_1_3_MP_Varifocal_Lens.html](https://www.bhphotovideo.com/c/product/736855-REG/Fujinon_DV3_4X3_8SA_1_3_MP_Varifocal_Lens.html).
 3. 4-Port PCI Express (PCIe) USB 3.0 Card Adapter with 4 dedicated channels.
-    - E.g. [https://www.startech.com/Cards-Adapters/USB-3.0/Cards/PCI-Express-USB-3-Card-4-Dedicated-Channels-4-Port~PEXUSB3S44V](https://www.startech.com/Cards-Adapters/USB-3.0/Cards/PCI-Express-USB-3-Card-4-Dedicated-Channels-4-Port~PEXUSB3S44V).
+    - E.g., the 4 Ext Quad Bus version, PCI Express, from: [https://www.amazon.com/Express-SuperSpeed-Adapter-Dedicated-Channels/dp/B00HJZEA2S/ref=sr_1_1?ie=UTF8&qid=1492197599&sr=8-1&keywords=4%2BPort%2BPCI%2BExpress%2B(PCIe)%2Bdedicated%2Bports&th=1](https://www.amazon.com/Express-SuperSpeed-Adapter-Dedicated-Channels/dp/B00HJZEA2S/ref=sr_1_1?ie=UTF8&qid=1492197599&sr=8-1&keywords=4%2BPort%2BPCI%2BExpress%2B(PCIe)%2Bdedicated%2Bports&th=1).
+    - Alternative: [https://www.startech.com/Cards-Adapters/USB-3.0/Cards/PCI-Express-USB-3-Card-4-Dedicated-Channels-4-Port~PEXUSB3S44V](https://www.startech.com/Cards-Adapters/USB-3.0/Cards/PCI-Express-USB-3-Card-4-Dedicated-Channels-4-Port~PEXUSB3S44V).
 4. USB 3.0 cable for each FLIR camera.
     - From their official website: [https://www.ptgrey.com/5-meter-type-a-to-micro-b-locking-usb-30-cable](https://www.ptgrey.com/5-meter-type-a-to-micro-b-locking-usb-30-cable).
 
@@ -73,7 +74,7 @@ In order to verify that the camera parameters introduced by the user are sorted
 
 
 ## Installing the OpenPose 3-D Reconstruction Module
-Check the [doc/installation.md#openpose-3d-reconstruction-module](./quick_start.md#openpose-3d-reconstruction-module) for installation steps.
+Check the [doc/installation.md#3d-reconstruction-module](./quick_start.md#3d-reconstruction-module) for installation steps.
 
 
 

doc/demo_overview.md

@@ -136,7 +136,7 @@ Each flag is divided into flag name, default value, and description.
 - DEFINE_int32(profile_speed,             1000,           "If PROFILER_ENABLED was set in CMake or Makefile.config files, OpenPose will show some runtime statistics at this frame number.");
 2. Producer
 - DEFINE_int32(camera,                    -1,             "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative number (by default), to auto-detect and open the first available camera.");
-- DEFINE_string(camera_resolution,        "1280x720",     "Size of the camera frames to ask for.");
+- DEFINE_string(camera_resolution,        "-1x-1",        "Set the camera resolution (either `--camera` or `--flir_camera`). `-1x-1` will use the default 1280x720 for `--camera`, or the maximum flir camera resolution available for `--flir_camera`");
 - DEFINE_double(camera_fps,               30.0,           "Frame rate for the webcam (only used when saving video from webcam). Set this value to the minimum value between the OpenPose displayed speed and the webcam real frame rate.");
 - DEFINE_string(video,                    "",             "Use a video file instead of the camera. Use `examples/media/video.avi` for our default example video.");
 - DEFINE_string(image_dir,                "",             "Process a directory of images. Use `examples/media/` for our default example folder with 20 images. Read all standard formats (jpg, png, bmp, etc.).");

doc/faq.md

@@ -9,6 +9,7 @@ OpenPose - Frequently Asked Question (FAQ)
     4. [Vide/Webcam Not Working](#video-webcam-not-working)
     5. [Cannot Find OpenPose.dll Error](#cannot-find-openpose.dll-error-windows)
     6. [Free Invalid Pointer Error](#free-invalid-pointer-error)
+    7. [Source Directory does not Contain CMakeLists.txt (Windows)](#source-directory-does-not-contain-cmakelists.txt-windows)
 
 
 
@@ -66,3 +67,10 @@ Note: OpenPose library is not an executable, but a library. So instead clicking
 **Q: I am getting an error of the type: munmap_chunk()/free/invalid pointer.**
 
 **A**: In order to run OpenCV 3.X and Caffe simultaneously, [OpenCV must be compiled without `WITH_GTK` and with `WITH_QT` flags](https://github.com/BVLC/caffe/issues/5282#issuecomment-306063718). On Ubuntu 16.04 the qt5 package is "qt5-default" and the OpenCV cmake option is WITH_QT.
+
+
+
+### Source Directory does not Contain CMakeLists.txt (Windows)
+**Q: I am getting an error of the type: `The source directory {path to file} does not contain a CMakeLists.txt file.`.**
+
+**A**: You might not have writing access to that folder. If you are in Windows, you should not try to install it in `Program Files`.

doc/installation.md

@@ -12,7 +12,7 @@ OpenPose - Installation
 8. [Uninstallation](#uninstallation)
 9. [Optional Settings](#optional-settings)
     1. [MPI Model](#mpi-model)
-    2. [OpenPose 3D Reconstruction Module](#openpose-3d-reconstruction-module)
+    2. [3D Reconstruction Module](#3d-reconstruction-module)
     3. [Compiling without cuDNN](#compiling-without-cudnn)
     4. [Custom Caffe (Ubuntu Only)](#custom-caffe-ubuntu-only)
     5. [Custom OpenCV (Ubuntu Only)](#custom-opencv-ubuntu-only)
@@ -214,7 +214,7 @@ By default, the body MPI model is not downloaded. You can download it by turning
 
 
 
-#### OpenPose 3D Reconstruction Module
+#### 3D Reconstruction Module
 You can include the 3D reconstruction module by:
 
 1. Install the FLIR camera software, Spinnaker SDK. It is a propietary software, so we cannot provide direct download link. Note: You might skip this step if you intend to use the 3-D OpenPose module with a different camera brand.

examples/openpose/openpose.cpp

@@ -45,7 +45,9 @@ DEFINE_int32(profile_speed,             1000,           "If PROFILER_ENABLED was
 // Producer
 DEFINE_int32(camera,                    -1,             "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative"
                                                         " number (by default), to auto-detect and open the first available camera.");
-DEFINE_string(camera_resolution,        "1280x720",     "Size of the camera frames to ask for.");
+DEFINE_string(camera_resolution,        "-1x-1",        "Set the camera resolution (either `--camera` or `--flir_camera`). `-1x-1` will use the"
+                                                        " default 1280x720 for `--camera`, or the maximum flir camera resolution available for"
+                                                        " `--flir_camera`");
 DEFINE_double(camera_fps,               30.0,           "Frame rate for the webcam (only used when saving video from webcam). Set this value to the"
                                                         " minimum value between the OpenPose displayed speed and the webcam real frame rate.");
 DEFINE_string(video,                    "",             "Use a video file instead of the camera. Use `examples/media/video.avi` for our default"
@@ -266,7 +268,8 @@ int openPoseDemo()
     // Pose configuration (use WrapperStructPose{} for default and recommended configuration)
     const op::WrapperStructPose wrapperStructPose{!FLAGS_body_disable, netInputSize, outputSize, keypointScale,
                                                   FLAGS_num_gpu, FLAGS_num_gpu_start, FLAGS_scale_number,
-                                                  (float)FLAGS_scale_gap, op::flagsToRenderMode(FLAGS_render_pose),
+                                                  (float)FLAGS_scale_gap,
+                                                  op::flagsToRenderMode(FLAGS_render_pose, FLAGS_3d, FLAGS_render_pose),
                                                   poseModel, !FLAGS_disable_blending, (float)FLAGS_alpha_pose,
                                                   (float)FLAGS_alpha_heatmap, FLAGS_part_to_show, FLAGS_model_folder,
                                                   heatMapTypes, heatMapScale, FLAGS_part_candidates,
@@ -274,13 +277,13 @@ int openPoseDemo()
                                                   enableGoogleLogging, FLAGS_3d, FLAGS_identification};
     // Face configuration (use op::WrapperStructFace{} to disable it)
     const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize,
-                                                  op::flagsToRenderMode(FLAGS_face_render, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_face_render, FLAGS_3d, FLAGS_render_pose),
                                                   (float)FLAGS_face_alpha_pose, (float)FLAGS_face_alpha_heatmap,
                                                   (float)FLAGS_face_render_threshold};
     // Hand configuration (use op::WrapperStructHand{} to disable it)
     const op::WrapperStructHand wrapperStructHand{FLAGS_hand, handNetInputSize, FLAGS_hand_scale_number,
                                                   (float)FLAGS_hand_scale_range, FLAGS_hand_tracking,
-                                                  op::flagsToRenderMode(FLAGS_hand_render, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_hand_render, FLAGS_3d, FLAGS_render_pose),
                                                   (float)FLAGS_hand_alpha_pose, (float)FLAGS_hand_alpha_heatmap,
                                                   (float)FLAGS_hand_render_threshold};
     // Producer (use default to disable any input)

examples/tutorial_add_module/1_custom_post_processing.cpp

@@ -54,7 +54,9 @@ DEFINE_int32(profile_speed,             1000,           "If PROFILER_ENABLED was
 // Producer
 DEFINE_int32(camera,                    -1,             "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative"
                                                         " number (by default), to auto-detect and open the first available camera.");
-DEFINE_string(camera_resolution,        "1280x720",     "Size of the camera frames to ask for.");
+DEFINE_string(camera_resolution,        "-1x-1",        "Set the camera resolution (either `--camera` or `--flir_camera`). `-1x-1` will use the"
+                                                        " default 1280x720 for `--camera`, or the maximum flir camera resolution available for"
+                                                        " `--flir_camera`");
 DEFINE_double(camera_fps,               30.0,           "Frame rate for the webcam (only used when saving video from webcam). Set this value to the"
                                                         " minimum value between the OpenPose displayed speed and the webcam real frame rate.");
 DEFINE_string(video,                    "",             "Use a video file instead of the camera. Use `examples/media/video.avi` for our default"

examples/tutorial_thread/1_openpose_read_and_display.cpp

@@ -31,7 +31,9 @@ DEFINE_int32(logging_level,             3,              "The logging level. Inte
 // Producer
 DEFINE_int32(camera,                    -1,             "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative"
                                                         " number (by default), to auto-detect and open the first available camera.");
-DEFINE_string(camera_resolution,        "1280x720",     "Size of the camera frames to ask for.");
+DEFINE_string(camera_resolution,        "-1x-1",        "Set the camera resolution (either `--camera` or `--flir_camera`). `-1x-1` will use the"
+                                                        " default 1280x720 for `--camera`, or the maximum flir camera resolution available for"
+                                                        " `--flir_camera`");
 DEFINE_double(camera_fps,               30.0,           "Frame rate for the webcam (only used when saving video from webcam). Set this value to the"
                                                         " minimum value between the OpenPose displayed speed and the webcam real frame rate.");
 DEFINE_string(video,                    "",             "Use a video file instead of the camera. Use `examples/media/video.avi` for our default"

examples/tutorial_thread/2_user_processing_function.cpp

@@ -32,7 +32,9 @@ DEFINE_int32(logging_level,             3,              "The logging level. Inte
 // Producer
 DEFINE_int32(camera,                    -1,             "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative"
                                                         " number (by default), to auto-detect and open the first available camera.");
-DEFINE_string(camera_resolution,        "1280x720",     "Size of the camera frames to ask for.");
+DEFINE_string(camera_resolution,        "-1x-1",        "Set the camera resolution (either `--camera` or `--flir_camera`). `-1x-1` will use the"
+                                                        " default 1280x720 for `--camera`, or the maximum flir camera resolution available for"
+                                                        " `--flir_camera`");
 DEFINE_double(camera_fps,               30.0,           "Frame rate for the webcam (only used when saving video from webcam). Set this value to the"
                                                         " minimum value between the OpenPose displayed speed and the webcam real frame rate.");
 DEFINE_string(video,                    "",             "Use a video file instead of the camera. Use `examples/media/video.avi` for our default"

examples/tutorial_wrapper/1_user_asynchronous_output.cpp

@@ -44,7 +44,9 @@ DEFINE_int32(profile_speed,             1000,           "If PROFILER_ENABLED was
 // Producer
 DEFINE_int32(camera,                    -1,             "The camera index for cv::VideoCapture. Integer in the range [0, 9]. Select a negative"
                                                         " number (by default), to auto-detect and open the first available camera.");
-DEFINE_string(camera_resolution,        "1280x720",     "Size of the camera frames to ask for.");
+DEFINE_string(camera_resolution,        "-1x-1",        "Set the camera resolution (either `--camera` or `--flir_camera`). `-1x-1` will use the"
+                                                        " default 1280x720 for `--camera`, or the maximum flir camera resolution available for"
+                                                        " `--flir_camera`");
 DEFINE_double(camera_fps,               30.0,           "Frame rate for the webcam (only used when saving video from webcam). Set this value to the"
                                                         " minimum value between the OpenPose displayed speed and the webcam real frame rate.");
 DEFINE_string(video,                    "",             "Use a video file instead of the camera. Use `examples/media/video.avi` for our default"

include/openpose/producer/flirReader.hpp

@@ -18,7 +18,7 @@ namespace op
         /**
          * Constructor of FlirReader. It opens all the available FLIR cameras
          */
-        explicit FlirReader(const std::string& cameraParametersPath);
+        explicit FlirReader(const std::string& cameraParametersPath, const Point<int>& cameraResolution);
 
         ~FlirReader();
 

include/openpose/producer/spinnakerWrapper.hpp

@@ -15,7 +15,7 @@ namespace op
         /**
          * Constructor of SpinnakerWrapper. It opens all the available FLIR cameras
          */
-        explicit SpinnakerWrapper(const std::string& cameraParameterPath);
+        explicit SpinnakerWrapper(const std::string& cameraParameterPath, const Point<int>& cameraResolution);
 
         ~SpinnakerWrapper();
 

include/openpose/utilities/flagsToOpenPose.hpp

@@ -23,7 +23,7 @@ namespace op
     OP_API std::shared_ptr<Producer> flagsToProducer(const std::string& imageDirectory, const std::string& videoPath,
                                                      const std::string& ipCameraPath, const int webcamIndex,
                                                      const bool flirCamera = false,
-                                                     const std::string& webcamResolution = "1280x720",
+                                                     const std::string& cameraResolution = "-1x-1",
                                                      const double webcamFps = 30.,
                                                      const std::string& cameraParameterPath = "models/cameraParameters/",
                                                      const unsigned int imageDirectoryStereo = 1);
@@ -32,7 +32,8 @@ namespace op
                                                     const bool heatMapsAddBkg = false,
                                                     const bool heatMapsAddPAFs = false);
 
-    OP_API RenderMode flagsToRenderMode(const int renderFlag, const int renderPoseFlag = -2);
+    OP_API RenderMode flagsToRenderMode(const int renderFlag, const bool gpuBuggy = false,
+                                        const int renderPoseFlag = -2);
 
     OP_API DisplayMode flagsToDisplayMode(const int display, const bool enabled3d);
 

src/openpose/core/nmsCaffe.cpp

@@ -95,7 +95,7 @@ namespace op
                     // GPU ID
                     mGpuID = gpuID;
                 #else
-                    UNUSED(mGpuID);
+                    UNUSED(gpuID);
                 #endif
                 // Array sizes
                 upImpl->mTopSize = std::array<int, 4>{topBlob->shape(0), topBlob->shape(1),

src/openpose/core/resizeAndMergeCaffe.cpp

@@ -86,7 +86,7 @@ namespace op
                     // GPU ID
                     mGpuID = gpuID;
                 #else
-                    UNUSED(mGpuID);
+                    UNUSED(gpuID);
                 #endif
             #else
                 UNUSED(bottom);

src/openpose/gui/gui3D.cpp

@@ -275,7 +275,7 @@ namespace op
 
             glTranslatef(-gMouseXPan, gMouseYPan, -gMouseZPan);
 
-            renderFloor();
+            // renderFloor(); // Disabled, how to know where the floor is?
             std::unique_lock<std::mutex> lock{gKeypoints3D.mutex};
             if (gKeypoints3D.validKeypoints)
             {

src/openpose/producer/flirReader.cpp

@@ -4,14 +4,16 @@
 
 namespace op
 {
-    FlirReader::FlirReader(const std::string& cameraParametersPath) :
+    FlirReader::FlirReader(const std::string& cameraParametersPath, const Point<int>& cameraResolution) :
         Producer{ProducerType::FlirCamera},
-        mSpinnakerWrapper{cameraParametersPath},
+        mSpinnakerWrapper{cameraParametersPath, cameraResolution},
         mFrameNameCounter{0}
     {
         try
         {
+            // Get resolution
             const auto resolution = mSpinnakerWrapper.getResolution();
+            // Set resolution
             set(CV_CAP_PROP_FRAME_WIDTH, resolution.x);
             set(CV_CAP_PROP_FRAME_HEIGHT, resolution.y);
         }
@@ -140,7 +142,7 @@ namespace op
                 return -1.;
             else
             {
-                log("Unknown property", Priority::Max, __LINE__, __FUNCTION__, __FILE__);
+                log("Unknown property.", Priority::Max, __LINE__, __FUNCTION__, __FILE__);
                 return -1.;
             }
         }
@@ -164,7 +166,7 @@ namespace op
             else if (capProperty == CV_CAP_PROP_FRAME_COUNT || capProperty == CV_CAP_PROP_FPS)
                 log("This property is read-only.", Priority::Max, __LINE__, __FUNCTION__, __FILE__);
             else
-                log("Unknown property", Priority::Max, __LINE__, __FUNCTION__, __FILE__);
+                log("Unknown property.", Priority::Max, __LINE__, __FUNCTION__, __FILE__);
         }
         catch (const std::exception& e)
         {

src/openpose/producer/spinnakerWrapper.cpp

@@ -334,7 +334,7 @@ namespace op
         #endif
     };
 
-    SpinnakerWrapper::SpinnakerWrapper(const std::string& cameraParameterPath)
+    SpinnakerWrapper::SpinnakerWrapper(const std::string& cameraParameterPath, const Point<int>& resolution)
         #ifdef WITH_FLIR_CAMERA
             : upImpl{new ImplSpinnakerWrapper{}}
         #endif
@@ -342,6 +342,9 @@ namespace op
         #ifdef WITH_FLIR_CAMERA
             try
             {
+                // Clean previous unclosed builds (e.g. if core dumped in the previous code using the cameras)
+                release();
+
                 upImpl->mInitialized = true;
 
                 // Print application build information
@@ -485,6 +488,44 @@ namespace op
 
                     log("Camera " + std::to_string(i) + " acquisition mode set to continuous...", Priority::High);
 
+                    // Set camera resolution
+                    // Retrieve GenICam nodemap
+                    auto& iNodeMap = cameraPtr->GetNodeMap();
+                    // Set offset
+                    Spinnaker::GenApi::CIntegerPtr ptrOffsetX = iNodeMap.GetNode("OffsetX");
+                    ptrOffsetX->SetValue(0);
+                    Spinnaker::GenApi::CIntegerPtr ptrOffsetY = iNodeMap.GetNode("OffsetY");
+                    ptrOffsetY->SetValue(0);
+                    // Set resolution
+                    if (resolution.x > 0 && resolution.y > 0)
+                    {
+                        // WARNING: setting the obset would require auto-change in the camera matrix parameters
+                        // Set offset
+                        // const Spinnaker::GenApi::CIntegerPtr ptrWidthMax = iNodeMap.GetNode("WidthMax");
+                        // const Spinnaker::GenApi::CIntegerPtr ptrHeightMax = iNodeMap.GetNode("HeightMax");
+                        // ptrOffsetX->SetValue((ptrWidthMax->GetValue() - resolution.x) / 2);
+                        // ptrOffsetY->SetValue((ptrHeightMax->GetValue() - resolution.y) / 2);
+                        // Set Width
+                        Spinnaker::GenApi::CIntegerPtr ptrWidth = iNodeMap.GetNode("Width");
+                        ptrWidth->SetValue(resolution.x);
+                        // Set width
+                        Spinnaker::GenApi::CIntegerPtr ptrHeight = iNodeMap.GetNode("Height");
+                        ptrHeight->SetValue(resolution.y);
+                    }
+                    else
+                    {
+                        const Spinnaker::GenApi::CIntegerPtr ptrWidthMax = iNodeMap.GetNode("WidthMax");
+                        const Spinnaker::GenApi::CIntegerPtr ptrHeightMax = iNodeMap.GetNode("HeightMax");
+                        // Set Width
+                        Spinnaker::GenApi::CIntegerPtr ptrWidth = iNodeMap.GetNode("Width");
+                        ptrWidth->SetValue(ptrWidthMax->GetValue());
+                        // Set width
+                        Spinnaker::GenApi::CIntegerPtr ptrHeight = iNodeMap.GetNode("Height");
+                        ptrHeight->SetValue(ptrHeightMax->GetValue());
+                        log("Choosing maximum resolution for flir camera (" + std::to_string(ptrWidth->GetValue())
+                            + " x " + std::to_string(ptrHeight->GetValue()) + ").", Priority::High);
+                    }
+
                     // Begin acquiring images
                     cameraPtr->BeginAcquisition();
 
@@ -523,6 +564,7 @@ namespace op
                     upImpl->mResolution = Point<int>{cvMats[0].cols, cvMats[0].rows};
 
                 log("\nRunning for all cameras...\n\n*** IMAGE ACQUISITION ***\n", Priority::High);
+
             }
             catch (const Spinnaker::Exception& e)
             {
@@ -649,14 +691,13 @@ namespace op
                     // GetByIndex(); this is an alternative to retrieving cameras as
                     // Spinnaker::CameraPtr objects that can be quick and easy for small tasks.
                     //
-                    for (auto i = 0; i < upImpl->mCameraList.GetSize(); i++)
-                        upImpl->mCameraList.GetByIndex(i)->EndAcquisition();
-
                     for (auto i = 0; i < upImpl->mCameraList.GetSize(); i++)
                     {
                         // Select camera
                         auto cameraPtr = upImpl->mCameraList.GetByIndex(i);
 
+                        cameraPtr->EndAcquisition();
+
                         // Retrieve GenICam nodemap
                         auto& iNodeMap = cameraPtr->GetNodeMap();
 
@@ -689,6 +730,29 @@ namespace op
 
                     log("Cameras released! Exiting program.", Priority::High);
                 }
+                else
+                {
+                    // Open general system
+                    auto systemPtr = Spinnaker::System::GetInstance();
+                    auto cameraList = systemPtr->GetCameras();
+                    if (cameraList.GetSize() > 0)
+                    {
+
+                        for (int i = 0; i < cameraList.GetSize(); i++)
+                        {
+                            // Select camera
+                            auto cameraPtr = cameraList.GetByIndex(i);
+                            // Begin
+                            cameraPtr->Init();
+                            cameraPtr->BeginAcquisition();
+                            // End
+                            cameraPtr->EndAcquisition();
+                            cameraPtr->DeInit();
+                        }
+                    }
+                    cameraList.Clear();
+                    systemPtr->ReleaseInstance();
+                }
             }
             catch (const Spinnaker::Exception& e)
             {

src/openpose/utilities/flagsToOpenPose.cpp

@@ -136,7 +136,7 @@ namespace op
 
     std::shared_ptr<Producer> flagsToProducer(const std::string& imageDirectory, const std::string& videoPath,
                                               const std::string& ipCameraPath, const int webcamIndex,
-                                              const bool flirCamera, const std::string& webcamResolution,
+                                              const bool flirCamera, const std::string& cameraResolution,
                                               const double webcamFps, const std::string& cameraParameterPath,
                                               const unsigned int imageDirectoryStereo)
     {
@@ -152,16 +152,22 @@ namespace op
                 return std::make_shared<VideoReader>(videoPath);
             else if (type == ProducerType::IPCamera)
                 return std::make_shared<IpCameraReader>(ipCameraPath);
-            else if (type == ProducerType::FlirCamera)
-                return std::make_shared<FlirReader>(cameraParameterPath);
-            else if (type == ProducerType::Webcam)
+            // Flir camera
+            if (type == ProducerType::FlirCamera)
             {
                 // cameraFrameSize
-                const auto webcamFrameSize = op::flagsToPoint(webcamResolution, "1280x720");
+                const auto cameraFrameSize = op::flagsToPoint(cameraResolution, "-1x-1");
+                return std::make_shared<FlirReader>(cameraParameterPath, cameraFrameSize);
+            }
+            // Webcam
+            if (type == ProducerType::Webcam)
+            {
+                // cameraFrameSize
+                const auto cameraFrameSize = op::flagsToPoint(cameraResolution, "1280x720");
                 if (webcamIndex >= 0)
                 {
                     const auto throwExceptionIfNoOpened = true;
-                    return std::make_shared<WebcamReader>(webcamIndex, webcamFrameSize, webcamFps,
+                    return std::make_shared<WebcamReader>(webcamIndex, cameraFrameSize, webcamFps,
                                                           throwExceptionIfNoOpened);
                 }
                 else
@@ -170,7 +176,7 @@ namespace op
                     std::shared_ptr<WebcamReader> webcamReader;
                     for (auto index = 0 ; index < 10 ; index++)
                     {
-                        webcamReader = std::make_shared<WebcamReader>(index, webcamFrameSize, webcamFps,
+                        webcamReader = std::make_shared<WebcamReader>(index, cameraFrameSize, webcamFps,
                                                                       throwExceptionIfNoOpened);
                         if (webcamReader->isOpened())
                         {
@@ -214,7 +220,7 @@ namespace op
         }
     }
 
-    RenderMode flagsToRenderMode(const int renderFlag, const int renderPoseFlag)
+    RenderMode flagsToRenderMode(const int renderFlag, const bool gpuBuggy, const int renderPoseFlag)
     {
         try
         {
@@ -222,7 +228,7 @@ namespace op
             if (renderFlag == -1 && renderPoseFlag == -2)
             {
                 #ifdef USE_CUDA
-                    return RenderMode::Gpu;
+                    return (gpuBuggy ? RenderMode::Cpu : RenderMode::Gpu);
                 #else
                     return RenderMode::Cpu;
                 #endif