Video can be saved from 3D results

doc/demo_overview.md

@@ -233,6 +233,8 @@ Each flag is divided into flag name, default value, and description.
 - DEFINE_string(write_images_format,      "png",          "File extension and format for `write_images`, e.g., png, jpg or bmp. Check the OpenCV function cv::imwrite for all compatible extensions.");
 - DEFINE_string(write_video,              "",             "Full file path to write rendered frames in motion JPEG video format. It might fail if the final path does not finish in `.avi`. It internally uses cv::VideoWriter. Flag `write_video_fps` controls FPS.");
 - DEFINE_double(write_video_fps,          -1.,            "Frame rate for the recorded video. By default, it will try to get the input frames producer frame rate (e.g., input video or webcam frame rate). If the input frames producer does not have a set FPS (e.g., image_dir or webcam if OpenCV not compiled with its support), set this value accordingly (e.g., to the frame rate displayed by the OpenPose GUI).");
+- DEFINE_string(write_video_3d,           "",             "Analogous to `--write_video`, but applied to the 3D output.");
+- DEFINE_string(write_video_adam,         "",             "Experimental, not available yet. Analogous to `--write_video`, but applied to Adam model.");
 - DEFINE_string(write_json,               "",             "Directory to write OpenPose output in JSON format. It includes body, hand, and face pose keypoints (2-D and 3-D), as well as pose candidates (if `--part_candidates` enabled).");
 - DEFINE_string(write_coco_json,          "",             "Full file path to write people pose data with JSON COCO validation format.");
 - DEFINE_string(write_coco_foot_json,     "",             "Full file path to write people foot pose data with JSON COCO validation format.");
@@ -243,7 +245,6 @@ Each flag is divided into flag name, default value, and description.
 - DEFINE_string(write_keypoint_format,    "yml",          "(Deprecated, use `write_json`) File extension and format for `write_keypoint`: json, xml, yaml & yml. Json not available for OpenCV < 3.0, use `write_json` instead.");
 
 17. Result Saving - Extra Algorithms
-- DEFINE_string(write_video_adam,         "",             "Experimental, not available yet. E.g., `~/Desktop/adamResult.avi`. Flag `write_video_fps` controls FPS.");
 - DEFINE_string(write_bvh,                "",             "Experimental, not available yet. E.g., `~/Desktop/mocapResult.bvh`.");
 
 18. UDP Communication

doc/quick_start.md

@@ -130,10 +130,10 @@ build\x64\Release\OpenPoseDemo.exe --flir_camera --3d --number_people_max 1
 build\x64\Release\OpenPoseDemo.exe --flir_camera --3d --number_people_max 1 --face --hand
 ```
 
-2. Saving 3-D keypoints
+2. Saving 3-D keypoints and video
 ```
 # Ubuntu and Mac (same flags for Windows version)
-./build/examples/openpose/openpose.bin --flir_camera --3d --number_people_max 1 --write_json output_folder_path/
+./build/examples/openpose/openpose.bin --flir_camera --3d --number_people_max 1 --write_json output_folder_path/ --write_video_3d output_folder_path/video_3d.avi
 ```
 
 3. Fast stereo camera image saving (without keypoint detection) for later post-processing

doc/release_notes.md

@@ -295,6 +295,7 @@ OpenPose Library - Release Notes
     25. Frame undistortion can be applied not only to FLIR cameras, but also to all other input sources (image, webcam, video, etc.).
     26. Calibration improvements:
         1. Improved chessboard orientation detection, more robust and less errors.
+    27. Video with the 3D output can be saved with the new `--write_video_3d` flag.
 2. Functions or parameters renamed:
     1. By default, python example `tutorial_developer/python_2_pose_from_heatmaps.py` was using 2 scales starting at -1x736, changed to 1 scale at -1x368.
     2. WrapperStructPose default parameters changed to match those of the OpenPose demo binary.

examples/openpose/openpose.cpp

@@ -101,8 +101,8 @@ int openPoseDemo()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapper.configure(wrapperStructOutput);
         // GUI (comment or use default argument to disable any visual output)
         const op::WrapperStructGui wrapperStructGui{

examples/tutorial_add_module/1_custom_post_processing.cpp

@@ -114,8 +114,8 @@ int tutorialAddModule1()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // GUI (comment or use default argument to disable any visual output)
         const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/3_keypoints_from_image_configurable.cpp

@@ -114,8 +114,8 @@ int tutorialApiCpp3()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapper.configure(wrapperStructOutput);
         // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
         // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/4_asynchronous_loop_custom_input_and_output.cpp

@@ -247,8 +247,8 @@ int tutorialApiCpp4()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
         // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/5_asynchronous_loop_custom_output.cpp

@@ -196,8 +196,8 @@ int tutorialApiCpp5()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
         // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/6_synchronous_custom_postprocessing.cpp

@@ -164,8 +164,8 @@ int tutorialApiCpp6()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // GUI (comment or use default argument to disable any visual output)
         const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/7_synchronous_custom_input.cpp

@@ -193,8 +193,8 @@ int tutorialApiCpp7()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // GUI (comment or use default argument to disable any visual output)
         const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/8_synchronous_custom_output.cpp

@@ -211,8 +211,8 @@ int tutorialApiCpp8()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
         // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/9_synchronous_custom_all.cpp

@@ -304,8 +304,8 @@ int tutorialApiCpp9()
             FLAGS_cli_verbose, FLAGS_write_keypoint, op::stringToDataFormat(FLAGS_write_keypoint_format),
             FLAGS_write_json, FLAGS_write_coco_json, FLAGS_write_coco_foot_json, FLAGS_write_coco_json_variant,
             FLAGS_write_images, FLAGS_write_images_format, FLAGS_write_video, FLAGS_write_video_fps,
-            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_adam, FLAGS_write_bvh, FLAGS_udp_host,
-            FLAGS_udp_port};
+            FLAGS_write_heatmaps, FLAGS_write_heatmaps_format, FLAGS_write_video_3d, FLAGS_write_video_adam,
+            FLAGS_write_bvh, FLAGS_udp_host, FLAGS_udp_port};
         opWrapperT.configure(wrapperStructOutput);
         // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
         // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

include/openpose/core/datum.hpp

@@ -70,6 +70,11 @@ namespace op
          */
         cv::Mat cvOutputData;
 
+        /**
+         * Rendered 3D image in cv::Mat uchar format.
+         */
+        cv::Mat cvOutputData3D;
+
         // ------------------------------ Resulting Array<float> data parameters ------------------------------ //
         /**
          * Body pose (x,y,score) locations for each person in the image.

include/openpose/filestream/headers.hpp

@@ -24,5 +24,6 @@
 #include <openpose/filestream/wPoseSaver.hpp>
 #include <openpose/filestream/wUdpSender.hpp>
 #include <openpose/filestream/wVideoSaver.hpp>
+#include <openpose/filestream/wVideoSaver3D.hpp>
 
 #endif // OPENPOSE_FILESTREAM_HEADERS_HPP

include/openpose/filestream/wVideoSaver3D.hpp

+#ifndef OPENPOSE_FILESTREAM_W_VIDEO_SAVER_3D_HPP
+#define OPENPOSE_FILESTREAM_W_VIDEO_SAVER_3D_HPP
+
+#include <openpose/core/common.hpp>
+#include <openpose/filestream/videoSaver.hpp>
+#include <openpose/thread/workerConsumer.hpp>
+
+namespace op
+{
+    template<typename TDatums>
+    class WVideoSaver3D : public WorkerConsumer<TDatums>
+    {
+    public:
+        explicit WVideoSaver3D(const std::shared_ptr<VideoSaver>& videoSaver);
+
+        virtual ~WVideoSaver3D();
+
+        void initializationOnThread();
+
+        void workConsumer(const TDatums& tDatums);
+
+    private:
+        std::shared_ptr<VideoSaver> spVideoSaver;
+
+        DELETE_COPY(WVideoSaver3D);
+    };
+}
+
+
+
+
+
+// Implementation
+#include <openpose/utilities/pointerContainer.hpp>
+namespace op
+{
+    template<typename TDatums>
+    WVideoSaver3D<TDatums>::WVideoSaver3D(const std::shared_ptr<VideoSaver>& videoSaver) :
+        spVideoSaver{videoSaver}
+    {
+    }
+
+    template<typename TDatums>
+    WVideoSaver3D<TDatums>::~WVideoSaver3D()
+    {
+    }
+
+    template<typename TDatums>
+    void WVideoSaver3D<TDatums>::initializationOnThread()
+    {
+    }
+
+    template<typename TDatums>
+    void WVideoSaver3D<TDatums>::workConsumer(const TDatums& tDatums)
+    {
+        try
+        {
+            if (checkNoNullNorEmpty(tDatums))
+            {
+                // Debugging log
+                dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
+                // Profiling speed
+                const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
+                // T* to T
+                auto& tDatumsNoPtr = *tDatums;
+                // Record video(s)
+                if (!tDatumsNoPtr.empty())
+                    spVideoSaver->write(tDatumsNoPtr[0].cvOutputData3D);
+                // Profiling speed
+                Profiler::timerEnd(profilerKey);
+                Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__);
+                // Debugging log
+                dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
+            }
+        }
+        catch (const std::exception& e)
+        {
+            this->stop();
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+        }
+    }
+
+    COMPILE_TEMPLATE_DATUM(WVideoSaver3D);
+}
+
+#endif // OPENPOSE_FILESTREAM_W_VIDEO_SAVER_3D_HPP

include/openpose/flags.hpp

@@ -219,6 +219,8 @@ DEFINE_double(write_video_fps,          -1.,            "Frame rate for the reco
                                                         " frame rate (e.g., input video or webcam frame rate). If the input frames producer does not"
                                                         " have a set FPS (e.g., image_dir or webcam if OpenCV not compiled with its support), set"
                                                         " this value accordingly (e.g., to the frame rate displayed by the OpenPose GUI).");
+DEFINE_string(write_video_3d,           "",             "Analogous to `--write_video`, but applied to the 3D output.");
+DEFINE_string(write_video_adam,         "",             "Experimental, not available yet. Analogous to `--write_video`, but applied to Adam model.");
 DEFINE_string(write_json,               "",             "Directory to write OpenPose output in JSON format. It includes body, hand, and face pose"
                                                         " keypoints (2-D and 3-D), as well as pose candidates (if `--part_candidates` enabled).");
 DEFINE_string(write_coco_json,          "",             "Full file path to write people pose data with JSON COCO validation format.");
@@ -235,8 +237,6 @@ DEFINE_string(write_keypoint,           "",             "(Deprecated, use `write
 DEFINE_string(write_keypoint_format,    "yml",          "(Deprecated, use `write_json`) File extension and format for `write_keypoint`: json, xml,"
                                                         " yaml & yml. Json not available for OpenCV < 3.0, use `write_json` instead.");
 // Result Saving - Extra Algorithms
-DEFINE_string(write_video_adam,         "",             "Experimental, not available yet. E.g., `~/Desktop/adamResult.avi`. Flag `write_video_fps`"
-                                                        " controls FPS.");
 DEFINE_string(write_bvh,                "",             "Experimental, not available yet. E.g., `~/Desktop/mocapResult.bvh`.");
 // UDP Communication
 DEFINE_string(udp_host,                 "",             "Experimental, not available yet. IP for UDP communication. E.g., `192.168.0.1`.");

include/openpose/gui/gui3D.hpp

@@ -20,7 +20,8 @@ namespace op
               const std::vector<std::shared_ptr<HandExtractorNet>>& handExtractorNets = {},
               const std::vector<std::shared_ptr<Renderer>>& renderers = {},
               const PoseModel poseModel = PoseModel::BODY_25,
-              const DisplayMode displayMode = DisplayMode::DisplayAll);
+              const DisplayMode displayMode = DisplayMode::DisplayAll,
+              const bool copyGlToCvMat = false);
 
         virtual ~Gui3D();
 
@@ -30,6 +31,11 @@ namespace op
                           const Array<float>& leftHandKeypoints3D, const Array<float>& rightHandKeypoints3D);
 
         virtual void update();
+
+        virtual cv::Mat readCvMat();
+
+    private:
+        const bool mCopyGlToCvMat;
     };
 }
 

include/openpose/gui/wGui3D.hpp

@@ -86,6 +86,12 @@ namespace op
                 }
                 // Refresh/update GUI
                 spGui3D->update();
+                // Read OpenCV mat equivalent
+                if (!tDatums->empty())
+                {
+                    auto& tDatum = (*tDatums)[0];
+                    tDatum.cvOutputData3D = spGui3D->readCvMat();
+                }
                 // Profiling speed
                 if (!tDatums->empty())
                 {

include/openpose/wrapper/wrapperAuxiliary.hpp

@@ -645,8 +645,9 @@ namespace op
                                                                      wrapperStructOutput.writeImagesFormat);
                 outputWs.emplace_back(std::make_shared<WImageSaver<TDatumsSP>>(imageSaver));
             }
-            // Write frames as *.avi video on hard disk
-            if (!wrapperStructOutput.writeVideo.empty() || !wrapperStructOutput.writeBvh.empty())
+            auto originalVideoFps = 0.;
+            if (!wrapperStructOutput.writeVideo.empty() || !wrapperStructOutput.writeVideo3D.empty()
+                || !wrapperStructOutput.writeBvh.empty())
             {
                 if (wrapperStructOutput.writeVideoFps <= 0
                     && (!oPProducer || producerSharedPtr->get(CV_CAP_PROP_FPS) <= 0))
@@ -655,35 +656,36 @@ namespace op
                           " will have to know or guess the frame rate; if it is a webcam, you should use the OpenPose"
                           " displayed FPS as desired value. If you do not care, simply add `--write_video_fps 30`.",
                           __LINE__, __FUNCTION__, __FILE__);
-                const auto originalVideoFps = (
+                originalVideoFps = (
                     wrapperStructOutput.writeVideoFps > 0 ?
                     wrapperStructOutput.writeVideoFps : producerSharedPtr->get(CV_CAP_PROP_FPS));
-                if (!wrapperStructOutput.writeVideo.empty())
-                {
-                    if (!oPProducer)
-                        error("Video file can only be recorded inside `wrapper/wrapper.hpp` if the producer"
-                              " is one of the default ones (e.g., video, webcam, ...).",
-                              __LINE__, __FUNCTION__, __FILE__);
-                    const auto videoSaver = std::make_shared<VideoSaver>(
-                        wrapperStructOutput.writeVideo, CV_FOURCC('M','J','P','G'), originalVideoFps);
-                    outputWs.emplace_back(std::make_shared<WVideoSaver<TDatumsSP>>(videoSaver));
-                }
-                // Write joint angles as *.bvh file on hard disk
+            }
+            // Write frames as *.avi video on hard disk
+            if (!wrapperStructOutput.writeVideo.empty())
+            {
+                if (!oPProducer)
+                    error("Video file can only be recorded inside `wrapper/wrapper.hpp` if the producer"
+                          " is one of the default ones (e.g., video, webcam, ...).",
+                          __LINE__, __FUNCTION__, __FILE__);
+                const auto videoSaver = std::make_shared<VideoSaver>(
+                    wrapperStructOutput.writeVideo, CV_FOURCC('M','J','P','G'), originalVideoFps);
+                outputWs.emplace_back(std::make_shared<WVideoSaver<TDatumsSP>>(videoSaver));
+            }
+            // Write joint angles as *.bvh file on hard disk
 #ifdef USE_3D_ADAM_MODEL
-                if (!wrapperStructOutput.writeBvh.empty())
-                {
-                    const auto bvhSaver = std::make_shared<BvhSaver>(
-                        wrapperStructOutput.writeBvh, JointAngleEstimation::getTotalModel(), originalVideoFps
-                    );
-                    outputWs.emplace_back(std::make_shared<WBvhSaver<TDatumsSP>>(bvhSaver));
-                }
-#endif
+            if (!wrapperStructOutput.writeBvh.empty())
+            {
+                const auto bvhSaver = std::make_shared<BvhSaver>(
+                    wrapperStructOutput.writeBvh, JointAngleEstimation::getTotalModel(), originalVideoFps
+                );
+                outputWs.emplace_back(std::make_shared<WBvhSaver<TDatumsSP>>(bvhSaver));
             }
+#endif
             // Write heat maps as desired image format on hard disk
             if (!writeHeatMapsCleaned.empty())
             {
-                const auto heatMapSaver = std::make_shared<HeatMapSaver>(writeHeatMapsCleaned,
-                                                                         wrapperStructOutput.writeHeatMapsFormat);
+                const auto heatMapSaver = std::make_shared<HeatMapSaver>(
+                    writeHeatMapsCleaned, wrapperStructOutput.writeHeatMapsFormat);
                 outputWs.emplace_back(std::make_shared<WHeatMapSaver<TDatumsSP>>(heatMapSaver));
             }
             // Add frame information for GUI
@@ -699,6 +701,7 @@ namespace op
             }
             // Minimal graphical user interface (GUI)
             TWorker guiW;
+            TWorker videoSaver3DW;
             if (guiEnabled)
             {
                 // PoseRenderers to Renderers
@@ -726,6 +729,10 @@ namespace op
                     );
                     // WGui
                     guiW = {std::make_shared<WGuiAdam<TDatumsSP>>(gui)};
+                    // Write 3D frames as *.avi video on hard disk
+                    if (!wrapperStructOutput.writeVideo3D.empty())
+                        error("3D video can only be recorded if 3D render is enabled.",
+                              __LINE__, __FUNCTION__, __FILE__);
 #endif
                 }
                 // 3-D (+2-D) display
@@ -736,10 +743,18 @@ namespace op
                     const auto gui = std::make_shared<Gui3D>(
                         finalOutputSizeGui, wrapperStructGui.fullScreen, threadManager.getIsRunningSharedPtr(),
                         spVideoSeek, poseExtractorNets, faceExtractorNets, handExtractorNets, renderers,
-                        wrapperStructPose.poseModel, wrapperStructGui.displayMode
+                        wrapperStructPose.poseModel, wrapperStructGui.displayMode,
+                        !wrapperStructOutput.writeVideo3D.empty()
                     );
                     // WGui
                     guiW = {std::make_shared<WGui3D<TDatumsSP>>(gui)};
+                    // Write 3D frames as *.avi video on hard disk
+                    if (!wrapperStructOutput.writeVideo3D.empty())
+                    {
+                        const auto videoSaver = std::make_shared<VideoSaver>(
+                            wrapperStructOutput.writeVideo3D, CV_FOURCC('M','J','P','G'), originalVideoFps);
+                        videoSaver3DW = std::make_shared<WVideoSaver3D<TDatumsSP>>(videoSaver);
+                    }
                 }
                 // 2-D display
                 else if (wrapperStructGui.displayMode == DisplayMode::Display2D)
@@ -751,6 +766,10 @@ namespace op
                     );
                     // WGui
                     guiW = {std::make_shared<WGui<TDatumsSP>>(gui)};
+                    // Write 3D frames as *.avi video on hard disk
+                    if (!wrapperStructOutput.writeVideo3D.empty())
+                        error("3D video can only be recorded if 3D render is enabled.",
+                              __LINE__, __FUNCTION__, __FILE__);
                 }
                 else
                     error("Unknown DisplayMode.", __LINE__, __FUNCTION__, __FILE__);
@@ -989,6 +1008,9 @@ namespace op
                 // Thread Y+1, queues Q+1 -> Q+2
                 log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
                 threadManager.add(threadId, guiW, queueIn++, queueOut++);
+                // Saving 3D output
+                if (videoSaver3DW != nullptr)
+                    threadManager.add(threadId, videoSaver3DW, queueIn++, queueOut++);
                 threadIdPP(threadId, multiThreadEnabled);
             }
             log("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);

include/openpose/wrapper/wrapperStructOutput.hpp

@@ -104,6 +104,13 @@ namespace op
          */
         double writeVideoFps;
 
+        /**
+         * Rendered 3D images saving video path.
+         * Please, use *.avi format.
+         * If it is empty (default), it is disabled.
+         */
+        std::string writeVideo3D;
+
         /**
          * Rendered Adam images saving video path.
          * Please, use *.avi format.
@@ -140,8 +147,9 @@ namespace op
             const int writeCocoJsonVariant = 1, const std::string& writeImages = "",
             const std::string& writeImagesFormat = "", const std::string& writeVideo = "",
             const double writeVideoFps = -1., const std::string& writeHeatMaps = "",
-            const std::string& writeHeatMapsFormat = "", const std::string& writeVideoAdam = "",
-            const std::string& writeBvh = "", const std::string& udpHost = "", const std::string& udpPort = "");
+            const std::string& writeHeatMapsFormat = "", const std::string& writeVideo3D = "",
+            const std::string& writeVideoAdam = "", const std::string& writeBvh = "",
+            const std::string& udpHost = "", const std::string& udpPort = "");
     };
 }
 

src/openpose/filestream/defineTemplates.cpp

@@ -14,4 +14,5 @@ namespace op
     DEFINE_TEMPLATE_DATUM(WPoseSaver);
     DEFINE_TEMPLATE_DATUM(WUdpSender);
     DEFINE_TEMPLATE_DATUM(WVideoSaver);
+    DEFINE_TEMPLATE_DATUM(WVideoSaver3D);
 }

src/openpose/filestream/videoSaver.cpp

@@ -85,6 +85,9 @@ namespace op
             // Sanity check
             if (cvMats.empty())
                 error("The image(s) to be saved cannot be empty.", __LINE__, __FUNCTION__, __FILE__);
+            for (const auto& cvMat : cvMats)
+                if (cvMat.empty())
+                    error("The image(s) to be saved cannot be empty.", __LINE__, __FUNCTION__, __FILE__);
             // Open video (1st frame)
             // Done here and not in the constructor to handle cases where the resolution is not known (e.g.,
             // reading images or multiple cameras)

src/openpose/gui/gui3D.cpp

@@ -17,6 +17,8 @@ namespace op
 {
     #ifdef USE_3D_RENDERER
         const bool LOG_VERBOSE_3D_RENDERER = false;
+        const auto WINDOW_WIDTH = 1280;
+        const auto WINDOW_HEIGHT = 720;
         std::atomic<bool> sConstructorSet{false};
 
         struct Keypoints3D
@@ -384,7 +386,7 @@ namespace op
                 int my_argc = 0;
                 glutInit(&my_argc, my_argv);
                 // Setup the size, position, and display mode for new windows
-                glutInitWindowSize(1280, 720);
+                glutInitWindowSize(WINDOW_WIDTH, WINDOW_HEIGHT);
                 glutInitWindowPosition(200, 0);
                 // glutSetOption(GLUT_MULTISAMPLE,8);
                 // Ideally adding also GLUT_BORDERLESS | GLUT_CAPTIONLESS should fix the problem of disabling the `x`
@@ -421,9 +423,10 @@ namespace op
                  const std::vector<std::shared_ptr<FaceExtractorNet>>& faceExtractorNets,
                  const std::vector<std::shared_ptr<HandExtractorNet>>& handExtractorNets,
                  const std::vector<std::shared_ptr<Renderer>>& renderers, const PoseModel poseModel,
-                 const DisplayMode displayMode) :
+                 const DisplayMode displayMode, const bool copyGlToCvMat) :
         Gui{outputSize, fullScreen, isRunningSharedPtr, videoSeekSharedPtr, poseExtractorNets, faceExtractorNets,
-            handExtractorNets, renderers, displayMode}
+            handExtractorNets, renderers, displayMode},
+        mCopyGlToCvMat{copyGlToCvMat}
     {
         try
         {
@@ -522,7 +525,7 @@ namespace op
     void Gui3D::update()
     {
         try
-        {   
+        {
             // 2-D rendering
             // Display all 2-D views
             if (mDisplayMode == DisplayMode::DisplayAll || mDisplayMode == DisplayMode::Display2D)
@@ -552,4 +555,31 @@ namespace op
             error(e.what(), __LINE__, __FUNCTION__, __FILE__);
         }
     }
+
+    cv::Mat Gui3D::readCvMat()
+    {
+        try
+        {
+            // 3-D rendering
+            #ifdef USE_3D_RENDERER
+                cv::Mat image;
+                if (mDisplayMode == DisplayMode::DisplayAll || mDisplayMode == DisplayMode::Display3D)
+                {
+                    // Save/display 3D display in OpenCV window
+                    if (mCopyGlToCvMat)
+                    {
+                        image = cv::Mat(WINDOW_HEIGHT, WINDOW_WIDTH, CV_8UC3);
+                        glReadPixels(0, 0, WINDOW_WIDTH, WINDOW_HEIGHT, GL_BGR, GL_UNSIGNED_BYTE, image.data);
+                        cv::flip(image, image, 0);
+                    }
+                }
+                return image;
+            #endif
+        }
+        catch (const std::exception& e)
+        {
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+            return cv::Mat();
+        }
+    }
 }

src/openpose/gui/guiAdam.cpp

@@ -234,7 +234,7 @@ namespace op
                     spImpl->spRender->RenderAndRead(); // read the image into read_buffer
                     // spImpl->spRender->Display();
 
-                    // Save/display Adam display in opencv window
+                    // Save/display Adam display in OpenCV window
                     if (!spImpl->mWriteAdamRenderAsVideo.empty())
                     {
                         // img is y-flipped, and in RGB order
@@ -247,7 +247,7 @@ namespace op
                             const auto originalVideoFps = 30;
                             spImpl->spVideoSaver = std::make_shared<VideoSaver>(
                                 spImpl->mWriteAdamRenderAsVideo, CV_FOURCC('M','J','P','G'),
-                                originalVideoFps, Point<int>{img.cols, img.rows}
+                                originalVideoFps
                             );
                         }
                         spImpl->spVideoSaver->write(img);

src/openpose/wrapper/wrapperStructOutput.cpp

@@ -7,7 +7,8 @@ namespace op
         const std::string& writeJson_, const std::string& writeCocoJson_, const std::string& writeCocoFootJson_,
         const int writeCocoJsonVariant_, const std::string& writeImages_, const std::string& writeImagesFormat_,
         const std::string& writeVideo_, const double writeVideoFps_, const std::string& writeHeatMaps_,
-        const std::string& writeHeatMapsFormat_, const std::string& writeVideoAdam_, const std::string& writeBvh_,
+        const std::string& writeHeatMapsFormat_, const std::string& writeVideo3D_,
+        const std::string& writeVideoAdam_, const std::string& writeBvh_,
         const std::string& udpHost_, const std::string& udpPort_) :
         verbose{verbose_},
         writeKeypoint{writeKeypoint_},
@@ -22,6 +23,7 @@ namespace op
         writeHeatMaps{writeHeatMaps_},
         writeHeatMapsFormat{writeHeatMapsFormat_},
         writeVideoFps{writeVideoFps_},
+        writeVideo3D{writeVideo3D_},
         writeVideoAdam{writeVideoAdam_},
         writeBvh{writeBvh_},
         udpHost{udpHost_},