protected override void WorkConsumer(StdSharedPtr <UserDatum>[] datumsPtr)
{
try
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != null && datumsPtr.Length != 0)
{
using (var cvOutputData = OpenPose.OP_OP2CVCONSTMAT(datumsPtr[0].Get().CvOutputData))
{
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial Thread API", cvOutputData);
// It displays the image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
Cv.WaitKey(1);
}
}
}
catch (Exception e)
{
OpenPose.Log("Some kind of unexpected error happened.");
this.Stop();
OpenPose.Error(e.Message, -1, nameof(this.WorkConsumer));
}
#endregion
}
public bool Display(StdSharedPtr <StdVector <StdSharedPtr <Datum> > > datumsPtr)
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != null && datumsPtr.TryGet(out var data) && !data.Empty)
{
var temp = data.ToArray()[0].Get();
using (var cvMat = OpenPose.OP_OP2CVCONSTMAT(temp.CvOutputData))
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial C++ API", cvMat);
// Display image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
}
private static bool Display(StdSharedPtr <StdVector <StdSharedPtr <Datum> > > datumsPtr)
{
try
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != null && datumsPtr.TryGet(out var data) && !data.Empty)
{
// Display image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
var temp = data.ToArray()[0].Get();
using (var cvMat = OpenPose.OP_OP2CVCONSTMAT(temp.CvOutputData))
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial C++ API", cvMat);
}
else
{
OpenPose.Log("Nullptr or empty datumsPtr found.", Priority.High);
}
var key = Cv.WaitKey(1);
return(key == 27);
}
private static void Display(StdSharedPtr <StdVector <StdSharedPtr <Datum> > > datumsPtr)
{
try
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != null && datumsPtr.TryGet(out var data) && !data.Empty)
{
// Display image
var temp = data.ToArray();
using (var cvMat = OpenPose.OP_OP2CVCONSTMAT(temp[0].Get().CvOutputData))
{
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial C++ API", cvMat);
Cv.WaitKey();
}
}
else
{
OpenPose.Log("Nullptr or empty datumsPtr found.", Priority.High);
}
}
private static void Display(StdSharedPtr <StdVector <StdSharedPtr <Datum> > > datumsPtr)
{
try
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != null && datumsPtr.TryGet(out var data) && !data.Empty)
{
var datum = datumsPtr.Get().At(0).Get();
// Display image
using (var cvMat = OpenPose.OP_OP2CVCONSTMAT(datum.CvOutputData))
{
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial C++ API", cvMat);
Cv.WaitKey(0);
}
}
}
catch (Exception e)
{
OpenPose.Error(e.Message, -1, nameof(Display));
}
}
private static bool Display(StdSharedPtr <StdVector <StdSharedPtr <Datum> > > datumsPtr, int desiredChannel = 0)
{
try
{
if (datumsPtr != null && datumsPtr.TryGet(out var data) && !data.Empty)
{
var datum = datumsPtr.Get().At(0).Get();
// Note: Heatmaps are in net_resolution size, which does not necessarily match the final image size
// Read heatmaps
var poseHeatMaps = datum.PoseHeatMaps;
// Read desired channel
var numberChannels = poseHeatMaps.GetSize(0);
var height = poseHeatMaps.GetSize(1);
var width = poseHeatMaps.GetSize(2);
var eleSize = sizeof(float);
using (var desiredChannelHeatMap = new Mat(height, width, MatType.CV_32F, IntPtr.Add(poseHeatMaps.GetPtr(), (desiredChannel % numberChannels) * height * width * eleSize)))
{
// Read image used from OpenPose body network (same resolution than heatmaps)
var inputNetData = datum.InputNetData[0];
using (var inputNetDataB = new Mat(height, width, MatType.CV_32F, IntPtr.Add(inputNetData.GetPtr(), 0 * height * width * eleSize)))
using (var inputNetDataG = new Mat(height, width, MatType.CV_32F, IntPtr.Add(inputNetData.GetPtr(), 1 * height * width * eleSize)))
using (var inputNetDataR = new Mat(height, width, MatType.CV_32F, IntPtr.Add(inputNetData.GetPtr(), 2 * height * width * eleSize)))
using (var vector = new StdVector <Mat>(new List <Mat>(new[] { inputNetDataB, inputNetDataG, inputNetDataR })))
using (var tmp = new Mat())
{
Cv.Merge(vector, tmp);
using (var add = tmp + 0.5)
using (var mul = add * 255)
using (var netInputImage = (Mat)mul)
{
// Turn into uint8 Cv.Mat
using (var netInputImageUint8 = new Mat())
{
netInputImage.ConvertTo(netInputImageUint8, MatType.CV_8UC1);
using (var desiredChannelHeatMapUint8 = new Mat())
{
desiredChannelHeatMap.ConvertTo(desiredChannelHeatMapUint8, MatType.CV_8UC1);
// Combining both images
using (var imageToRender = new Mat())
{
Cv.ApplyColorMap(desiredChannelHeatMapUint8, desiredChannelHeatMapUint8, ColormapType.COLORMAP_JET);
Cv.AddWeighted(netInputImageUint8, 0.5, desiredChannelHeatMapUint8, 0.5, 0d, imageToRender);
// Display image
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial C++ API", imageToRender);
}
}
}
}
}
}
}
else
{
OpenPose.Log("Nullptr or empty datumsPtr found.", Priority.High);
}
var key = (char)Cv.WaitKey(1);
return(key == 27);
}
protected override void WorkConsumer(StdSharedPtr <UserDatum>[] datumsPtr)
{
try
{
// User's displaying/saving/other processing here
// datum.cvOutputData: rendered frame with pose or heatmaps
// datum.poseKeypoints: Array<float> with the estimated pose
if (datumsPtr != null && datumsPtr.Length != 0)
{
var datum = datumsPtr[0].Get();
// Show in command line the resulting pose keypoints for body, face and hands
OpenPose.Log("\nKeypoints:");
// Accesing each element of the keypoints
var poseKeypoints = datum.PoseKeyPoints;
OpenPose.Log("Person pose keypoints:");
for (var person = 0; person < poseKeypoints.GetSize(0); person++)
{
OpenPose.Log($"Person {person} (x, y, score):");
for (var bodyPart = 0; bodyPart < poseKeypoints.GetSize(1); bodyPart++)
{
var valueToPrint = "";
for (var xyscore = 0; xyscore < poseKeypoints.GetSize(2); xyscore++)
{
valueToPrint += poseKeypoints[new[] { person, bodyPart, xyscore }] + " ";
}
OpenPose.Log(valueToPrint);
}
}
OpenPose.Log(" ");
// Alternative: just getting std::string equivalent
OpenPose.Log($"Face keypoints: {datum.FaceKeyPoints}");
OpenPose.Log($"Left hand keypoints: {datum.HandKeyPoints[0]}");
OpenPose.Log($"Right hand keypoints: {datum.HandKeyPoints[1]}");
// Heatmaps
var poseHeatMaps = datum.PoseHeatMaps;
if (!poseHeatMaps.Empty)
{
OpenPose.Log($"Pose heatmaps size: [{poseHeatMaps.GetSize(0)}, {poseHeatMaps.GetSize(1)}, {poseHeatMaps.GetSize(2)}]");
var faceHeatMaps = datum.FaceHeatMaps;
OpenPose.Log($"Face heatmaps size: [{faceHeatMaps.GetSize(0)}, {faceHeatMaps.GetSize(1)}, {faceHeatMaps.GetSize(2)}, {faceHeatMaps.GetSize(3)}]");
var handHeatMaps = datum.HandHeatMaps;
OpenPose.Log($"Left hand heatmaps size: [{handHeatMaps[0].GetSize(0)}, {handHeatMaps[0].GetSize(1)}, {handHeatMaps[0].GetSize(2)}, {handHeatMaps[0].GetSize(3)}]");
OpenPose.Log($"Right hand heatmaps size: [{handHeatMaps[1].GetSize(0)}, {handHeatMaps[1].GetSize(1)}, {handHeatMaps[1].GetSize(2)}, {handHeatMaps[1].GetSize(3)}]");
}
// Display results (if enabled)
if (!Flags.NoDisplay)
{
using (var cvMat = OpenPose.OP_OP2CVCONSTMAT(datum.CvOutputData))
{
// Display rendered output image
Cv.ImShow($"{OpenPose.OpenPoseNameAndVersion()} - Tutorial C++ API", cvMat);
// Display image and sleeps at least 1 ms (it usually sleeps ~5-10 msec to display the image)
var key = (char)Cv.WaitKey(1);
if (key == 27)
{
this.Stop();
}
}
}
}
}
catch (Exception e)
{
this.Stop();
OpenPose.Error(e.Message, -1, nameof(this.WorkConsumer));
}
}