CPU rendering if video/image multi-camera

README.md

@@ -28,8 +28,9 @@
 
 
 ## Latest Features
-- Sep 2017: **CMake** installer and **IP camera** support!
-- Jul 2017: [**Windows portable demo**](doc/installation.md#installation---demo)!
+- Mar 2017: Improved [**3-D keypoint reconstruction module**](doc/3d_reconstruction_demo.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).
@@ -51,6 +52,11 @@ For further details, check [all released features](doc/released_features.md) and
 
 
 ## Results
+### 3-D Reconstruction Module
+<p align="center">
+    <img src="media/openpose3d.png", width="360">
+</p>
+
 ### Body Estimation
 <p align="center">
     <img src="doc/media/dance.gif", width="360">

doc/released_features.md

 OpenPose Library - Latest Released Features
 ====================================
 
-- Sep 2017: **CMake** installer and **IP camera** support!
-- Jul 2017: [**Windows portable demo**](doc/installation.md#installation---demo)!
+- Mar 2017: Improved [**3-D keypoint reconstruction module**](doc/3d_reconstruction_demo.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!
 - May 2017: **Windows** version!

examples/openpose/openpose.cpp

@@ -257,6 +257,8 @@ int openPoseDemo()
     const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
                                                   FLAGS_heatmaps_add_PAFs);
     const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
+    // >1 camera view?
+    const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1 || FLAGS_flir_camera);
     // Enabling Google Logging
     const bool enableGoogleLogging = true;
     // Logging
@@ -269,7 +271,7 @@ int openPoseDemo()
     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, FLAGS_3d),
+                                                  op::flagsToRenderMode(FLAGS_render_pose, multipleView),
                                                   poseModel, !FLAGS_disable_blending, (float)FLAGS_alpha_pose,
                                                   (float)FLAGS_alpha_heatmap, FLAGS_part_to_show, FLAGS_model_folder,
                                                   heatMapTypes, heatMapScale, FLAGS_part_candidates,
@@ -277,13 +279,13 @@ 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_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_face_render, multipleView, 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_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_hand_render, multipleView, 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

@@ -259,6 +259,8 @@ int openPoseTutorialWrapper4()
     const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
                                                   FLAGS_heatmaps_add_PAFs);
     const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
+    // >1 camera view?
+    const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1 || FLAGS_flir_camera);
     // Enabling Google Logging
     const bool enableGoogleLogging = true;
     // Logging
@@ -270,7 +272,8 @@ int openPoseTutorialWrapper4()
     // 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, FLAGS_3d),
+                                                  (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, FLAGS_model_folder,
                                                   heatMapTypes, heatMapScale, FLAGS_part_candidates,
@@ -278,13 +281,13 @@ int openPoseTutorialWrapper4()
                                                   enableGoogleLogging, FLAGS_3d};
     // Face configuration (use op::WrapperStructFace{} to disable it)
     const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize,
-                                                  op::flagsToRenderMode(FLAGS_face_render, FLAGS_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_face_render, multipleView, 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_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_hand_render, multipleView, 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_wrapper/1_user_asynchronous_output.cpp

@@ -334,6 +334,8 @@ int openPoseTutorialWrapper1()
     const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
                                                   FLAGS_heatmaps_add_PAFs);
     const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
+    // >1 camera view?
+    const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1 || FLAGS_flir_camera);
     // Enabling Google Logging
     const bool enableGoogleLogging = true;
     // Logging
@@ -345,7 +347,8 @@ int openPoseTutorialWrapper1()
     // 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, FLAGS_3d),
+                                                  (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, FLAGS_model_folder,
                                                   heatMapTypes, heatMapScale, FLAGS_part_candidates,
@@ -353,13 +356,13 @@ int openPoseTutorialWrapper1()
                                                   enableGoogleLogging, FLAGS_3d};
     // Face configuration (use op::WrapperStructFace{} to disable it)
     const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize,
-                                                  op::flagsToRenderMode(FLAGS_face_render, FLAGS_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_face_render, multipleView, 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_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_hand_render, multipleView, 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_wrapper/2_user_synchronous.cpp

@@ -125,6 +125,10 @@ DEFINE_bool(3d,                         false,          "Running OpenPose 3-D re
                                                         " 2) Performing 3-D reconstruction from the multiple views. 3) Displaying 3-D reconstruction"
                                                         " results. Note that it will only display 1 person. If multiple people is present, it will"
                                                         " fail.");
+DEFINE_int32(3d_views,                  1,              "Complementary option to `--image_dir` or `--video`. OpenPose will read as many images per"
+                                                        " iteration, allowing tasks such as stereo camera processing (`--3d`). Note that"
+                                                        " `--camera_parameters_folder` must be set. OpenPose must find as many `xml` files in the"
+                                                        " parameter folder as this number indicates.");
 // OpenPose Rendering
 DEFINE_int32(part_to_show,              0,              "Prediction channel to visualize (default: 0). 0 for all the body parts, 1-18 for each body"
                                                         " part heat map, 19 for the background heat map, 20 for all the body part heat maps"
@@ -404,6 +408,8 @@ int openPoseTutorialWrapper2()
     const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
                                                   FLAGS_heatmaps_add_PAFs);
     const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
+    // >1 camera view?
+    const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1);
     // Enabling Google Logging
     const bool enableGoogleLogging = true;
     // Logging
@@ -431,7 +437,8 @@ int openPoseTutorialWrapper2()
     op::log("Configuring OpenPose wrapper.", op::Priority::Low, __LINE__, __FUNCTION__, __FILE__);
     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, FLAGS_3d),
+                                                  (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, FLAGS_model_folder,
                                                   heatMapTypes, heatMapScale, FLAGS_part_candidates,
@@ -439,13 +446,13 @@ int openPoseTutorialWrapper2()
                                                   enableGoogleLogging, FLAGS_3d};
     // Face configuration (use op::WrapperStructFace{} to disable it)
     const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize,
-                                                  op::flagsToRenderMode(FLAGS_face_render, FLAGS_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_face_render, multipleView, 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_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_hand_render, multipleView, FLAGS_render_pose),
                                                   (float)FLAGS_hand_alpha_pose, (float)FLAGS_hand_alpha_heatmap,
                                                   (float)FLAGS_hand_render_threshold};
     // Consumer (comment or use default argument to disable any output)

examples/tutorial_wrapper/3_user_asynchronous.cpp

@@ -125,6 +125,10 @@ DEFINE_bool(3d,                         false,          "Running OpenPose 3-D re
                                                         " 2) Performing 3-D reconstruction from the multiple views. 3) Displaying 3-D reconstruction"
                                                         " results. Note that it will only display 1 person. If multiple people is present, it will"
                                                         " fail.");
+DEFINE_int32(3d_views,                  1,              "Complementary option to `--image_dir` or `--video`. OpenPose will read as many images per"
+                                                        " iteration, allowing tasks such as stereo camera processing (`--3d`). Note that"
+                                                        " `--camera_parameters_folder` must be set. OpenPose must find as many `xml` files in the"
+                                                        " parameter folder as this number indicates.");
 // OpenPose Rendering
 DEFINE_int32(part_to_show,              0,              "Prediction channel to visualize (default: 0). 0 for all the body parts, 1-18 for each body"
                                                         " part heat map, 19 for the background heat map, 20 for all the body part heat maps"
@@ -362,6 +366,8 @@ int openPoseTutorialWrapper3()
     const auto heatMapTypes = op::flagsToHeatMaps(FLAGS_heatmaps_add_parts, FLAGS_heatmaps_add_bkg,
                                                   FLAGS_heatmaps_add_PAFs);
     const auto heatMapScale = op::flagsToHeatMapScaleMode(FLAGS_heatmaps_scale);
+    // >1 camera view?
+    const auto multipleView = (FLAGS_3d || FLAGS_3d_views > 1);
     // Enabling Google Logging
     const bool enableGoogleLogging = true;
     // Logging
@@ -372,7 +378,8 @@ int openPoseTutorialWrapper3()
     // 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, FLAGS_3d),
+                                                  (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, FLAGS_model_folder,
                                                   heatMapTypes, heatMapScale, FLAGS_part_candidates,
@@ -380,13 +387,13 @@ int openPoseTutorialWrapper3()
                                                   enableGoogleLogging, FLAGS_3d};
     // Face configuration (use op::WrapperStructFace{} to disable it)
     const op::WrapperStructFace wrapperStructFace{FLAGS_face, faceNetInputSize,
-                                                  op::flagsToRenderMode(FLAGS_face_render, FLAGS_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_face_render, multipleView, 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_3d, FLAGS_render_pose),
+                                                  op::flagsToRenderMode(FLAGS_hand_render, multipleView, FLAGS_render_pose),
                                                   (float)FLAGS_hand_alpha_pose, (float)FLAGS_hand_alpha_heatmap,
                                                   (float)FLAGS_hand_render_threshold};
     // Consumer (comment or use default argument to disable any output)