File size: 4,182 Bytes
7fc5a59 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 | #ifndef OPENPOSE_3D_W_POSE_TRIANGULATION_HPP
#define OPENPOSE_3D_W_POSE_TRIANGULATION_HPP
#include <openpose/core/common.hpp>
#include <openpose/3d/poseTriangulation.hpp>
#include <openpose/thread/worker.hpp>
namespace op
{
template<typename TDatums>
class WPoseTriangulation : public Worker<TDatums>
{
public:
explicit WPoseTriangulation(const std::shared_ptr<PoseTriangulation>& poseTriangulation);
virtual ~WPoseTriangulation();
void initializationOnThread();
void work(TDatums& tDatums);
private:
const std::shared_ptr<PoseTriangulation> spPoseTriangulation;
DELETE_COPY(WPoseTriangulation);
};
}
// Implementation
#include <openpose/utilities/pointerContainer.hpp>
namespace op
{
template<typename TDatums>
WPoseTriangulation<TDatums>::WPoseTriangulation(const std::shared_ptr<PoseTriangulation>& poseTriangulation) :
spPoseTriangulation{poseTriangulation}
{
}
template<typename TDatums>
WPoseTriangulation<TDatums>::~WPoseTriangulation()
{
}
template<typename TDatums>
void WPoseTriangulation<TDatums>::initializationOnThread()
{
try
{
spPoseTriangulation->initializationOnThread();
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
template<typename TDatums>
void WPoseTriangulation<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
opLogIfDebug("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// 3-D triangulation and reconstruction
std::vector<Matrix> cameraMatrices;
std::vector<Array<float>> poseKeypointVector;
std::vector<Array<float>> faceKeypointVector;
std::vector<Array<float>> leftHandKeypointVector;
std::vector<Array<float>> rightHandKeypointVector;
std::vector<Point<int>> imageSizes;
for (auto& tDatumPtr : *tDatums)
{
poseKeypointVector.emplace_back(tDatumPtr->poseKeypoints);
faceKeypointVector.emplace_back(tDatumPtr->faceKeypoints);
leftHandKeypointVector.emplace_back(tDatumPtr->handKeypoints[0]);
rightHandKeypointVector.emplace_back(tDatumPtr->handKeypoints[1]);
cameraMatrices.emplace_back(tDatumPtr->cameraMatrix);
imageSizes.emplace_back(
Point<int>{tDatumPtr->cvInputData.cols(), tDatumPtr->cvInputData.rows()});
}
// Pose 3-D reconstruction
auto poseKeypoints3Ds = spPoseTriangulation->reconstructArray(
{poseKeypointVector, faceKeypointVector, leftHandKeypointVector, rightHandKeypointVector},
cameraMatrices, imageSizes);
// Assign to all tDatums
for (auto& tDatumPtr : *tDatums)
{
tDatumPtr->poseKeypoints3D = poseKeypoints3Ds[0];
tDatumPtr->faceKeypoints3D = poseKeypoints3Ds[1];
tDatumPtr->handKeypoints3D[0] = poseKeypoints3Ds[2];
tDatumPtr->handKeypoints3D[1] = poseKeypoints3Ds[3];
}
// Profiling speed
Profiler::timerEnd(profilerKey);
Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__);
// Debugging log
opLogIfDebug("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
}
catch (const std::exception& e)
{
this->stop();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
COMPILE_TEMPLATE_DATUM(WPoseTriangulation);
}
#endif // OPENPOSE_3D_W_POSE_TRIANGULATION_HPP
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