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openpose/body.py

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+import cv2
+import numpy as np
+import math
+import time
+from scipy.ndimage.filters import gaussian_filter
+import matplotlib.pyplot as plt
+import matplotlib
+import torch
+from torchvision import transforms
+
+from src import util
+from src.model import bodypose_model
+
+class Body(object):
+    def __init__(self, model_path):
+        self.model = bodypose_model()
+        if torch.cuda.is_available():
+            self.model = self.model.cuda()
+        model_dict = util.transfer(self.model, torch.load(model_path))
+        self.model.load_state_dict(model_dict)
+        self.model.eval()
+
+    def __call__(self, oriImg):
+        # scale_search = [0.5, 1.0, 1.5, 2.0]
+        scale_search = [0.5]
+        boxsize = 368
+        stride = 8
+        padValue = 128
+        thre1 = 0.1
+        thre2 = 0.05
+        multiplier = [x * boxsize / oriImg.shape[0] for x in scale_search]
+        heatmap_avg = np.zeros((oriImg.shape[0], oriImg.shape[1], 19))
+        paf_avg = np.zeros((oriImg.shape[0], oriImg.shape[1], 38))
+
+        for m in range(len(multiplier)):
+            scale = multiplier[m]
+            imageToTest = cv2.resize(oriImg, (0, 0), fx=scale, fy=scale, interpolation=cv2.INTER_CUBIC)
+            imageToTest_padded, pad = util.padRightDownCorner(imageToTest, stride, padValue)
+            im = np.transpose(np.float32(imageToTest_padded[:, :, :, np.newaxis]), (3, 2, 0, 1)) / 256 - 0.5
+            im = np.ascontiguousarray(im)
+
+            data = torch.from_numpy(im).float()
+            if torch.cuda.is_available():
+                data = data.cuda()
+            # data = data.permute([2, 0, 1]).unsqueeze(0).float()
+            with torch.no_grad():
+                Mconv7_stage6_L1, Mconv7_stage6_L2 = self.model(data)
+            Mconv7_stage6_L1 = Mconv7_stage6_L1.cpu().numpy()
+            Mconv7_stage6_L2 = Mconv7_stage6_L2.cpu().numpy()
+
+            # extract outputs, resize, and remove padding
+            # heatmap = np.transpose(np.squeeze(net.blobs[output_blobs.keys()[1]].data), (1, 2, 0))  # output 1 is heatmaps
+            heatmap = np.transpose(np.squeeze(Mconv7_stage6_L2), (1, 2, 0))  # output 1 is heatmaps
+            heatmap = cv2.resize(heatmap, (0, 0), fx=stride, fy=stride, interpolation=cv2.INTER_CUBIC)
+            heatmap = heatmap[:imageToTest_padded.shape[0] - pad[2], :imageToTest_padded.shape[1] - pad[3], :]
+            heatmap = cv2.resize(heatmap, (oriImg.shape[1], oriImg.shape[0]), interpolation=cv2.INTER_CUBIC)
+
+            # paf = np.transpose(np.squeeze(net.blobs[output_blobs.keys()[0]].data), (1, 2, 0))  # output 0 is PAFs
+            paf = np.transpose(np.squeeze(Mconv7_stage6_L1), (1, 2, 0))  # output 0 is PAFs
+            paf = cv2.resize(paf, (0, 0), fx=stride, fy=stride, interpolation=cv2.INTER_CUBIC)
+            paf = paf[:imageToTest_padded.shape[0] - pad[2], :imageToTest_padded.shape[1] - pad[3], :]
+            paf = cv2.resize(paf, (oriImg.shape[1], oriImg.shape[0]), interpolation=cv2.INTER_CUBIC)
+
+            heatmap_avg += heatmap_avg + heatmap / len(multiplier)
+            paf_avg += + paf / len(multiplier)
+
+        all_peaks = []
+        peak_counter = 0
+
+        for part in range(18):
+            map_ori = heatmap_avg[:, :, part]
+            one_heatmap = gaussian_filter(map_ori, sigma=3)
+
+            map_left = np.zeros(one_heatmap.shape)
+            map_left[1:, :] = one_heatmap[:-1, :]
+            map_right = np.zeros(one_heatmap.shape)
+            map_right[:-1, :] = one_heatmap[1:, :]
+            map_up = np.zeros(one_heatmap.shape)
+            map_up[:, 1:] = one_heatmap[:, :-1]
+            map_down = np.zeros(one_heatmap.shape)
+            map_down[:, :-1] = one_heatmap[:, 1:]
+
+            peaks_binary = np.logical_and.reduce(
+                (one_heatmap >= map_left, one_heatmap >= map_right, one_heatmap >= map_up, one_heatmap >= map_down, one_heatmap > thre1))
+            peaks = list(zip(np.nonzero(peaks_binary)[1], np.nonzero(peaks_binary)[0]))  # note reverse
+            peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in peaks]
+            peak_id = range(peak_counter, peak_counter + len(peaks))
+            peaks_with_score_and_id = [peaks_with_score[i] + (peak_id[i],) for i in range(len(peak_id))]
+
+            all_peaks.append(peaks_with_score_and_id)
+            peak_counter += len(peaks)
+
+        # find connection in the specified sequence, center 29 is in the position 15
+        limbSeq = [[2, 3], [2, 6], [3, 4], [4, 5], [6, 7], [7, 8], [2, 9], [9, 10], \
+                   [10, 11], [2, 12], [12, 13], [13, 14], [2, 1], [1, 15], [15, 17], \
+                   [1, 16], [16, 18], [3, 17], [6, 18]]
+        # the middle joints heatmap correpondence
+        mapIdx = [[31, 32], [39, 40], [33, 34], [35, 36], [41, 42], [43, 44], [19, 20], [21, 22], \
+                  [23, 24], [25, 26], [27, 28], [29, 30], [47, 48], [49, 50], [53, 54], [51, 52], \
+                  [55, 56], [37, 38], [45, 46]]
+
+        connection_all = []
+        special_k = []
+        mid_num = 10
+
+        for k in range(len(mapIdx)):
+            score_mid = paf_avg[:, :, [x - 19 for x in mapIdx[k]]]
+            candA = all_peaks[limbSeq[k][0] - 1]
+            candB = all_peaks[limbSeq[k][1] - 1]
+            nA = len(candA)
+            nB = len(candB)
+            indexA, indexB = limbSeq[k]
+            if (nA != 0 and nB != 0):
+                connection_candidate = []
+                for i in range(nA):
+                    for j in range(nB):
+                        vec = np.subtract(candB[j][:2], candA[i][:2])
+                        norm = math.sqrt(vec[0] * vec[0] + vec[1] * vec[1])
+                        norm = max(0.001, norm)
+                        vec = np.divide(vec, norm)
+
+                        startend = list(zip(np.linspace(candA[i][0], candB[j][0], num=mid_num), \
+                                            np.linspace(candA[i][1], candB[j][1], num=mid_num)))
+
+                        vec_x = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 0] \
+                                          for I in range(len(startend))])
+                        vec_y = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 1] \
+                                          for I in range(len(startend))])
+
+                        score_midpts = np.multiply(vec_x, vec[0]) + np.multiply(vec_y, vec[1])
+                        score_with_dist_prior = sum(score_midpts) / len(score_midpts) + min(
+                            0.5 * oriImg.shape[0] / norm - 1, 0)
+                        criterion1 = len(np.nonzero(score_midpts > thre2)[0]) > 0.8 * len(score_midpts)
+                        criterion2 = score_with_dist_prior > 0
+                        if criterion1 and criterion2:
+                            connection_candidate.append(
+                                [i, j, score_with_dist_prior, score_with_dist_prior + candA[i][2] + candB[j][2]])
+
+                connection_candidate = sorted(connection_candidate, key=lambda x: x[2], reverse=True)
+                connection = np.zeros((0, 5))
+                for c in range(len(connection_candidate)):
+                    i, j, s = connection_candidate[c][0:3]
+                    if (i not in connection[:, 3] and j not in connection[:, 4]):
+                        connection = np.vstack([connection, [candA[i][3], candB[j][3], s, i, j]])
+                        if (len(connection) >= min(nA, nB)):
+                            break
+
+                connection_all.append(connection)
+            else:
+                special_k.append(k)
+                connection_all.append([])
+
+        # last number in each row is the total parts number of that person
+        # the second last number in each row is the score of the overall configuration
+        subset = -1 * np.ones((0, 20))
+        candidate = np.array([item for sublist in all_peaks for item in sublist])
+
+        for k in range(len(mapIdx)):
+            if k not in special_k:
+                partAs = connection_all[k][:, 0]
+                partBs = connection_all[k][:, 1]
+                indexA, indexB = np.array(limbSeq[k]) - 1
+
+                for i in range(len(connection_all[k])):  # = 1:size(temp,1)
+                    found = 0
+                    subset_idx = [-1, -1]
+                    for j in range(len(subset)):  # 1:size(subset,1):
+                        if subset[j][indexA] == partAs[i] or subset[j][indexB] == partBs[i]:
+                            subset_idx[found] = j
+                            found += 1
+
+                    if found == 1:
+                        j = subset_idx[0]
+                        if subset[j][indexB] != partBs[i]:
+                            subset[j][indexB] = partBs[i]
+                            subset[j][-1] += 1
+                            subset[j][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
+                    elif found == 2:  # if found 2 and disjoint, merge them
+                        j1, j2 = subset_idx
+                        membership = ((subset[j1] >= 0).astype(int) + (subset[j2] >= 0).astype(int))[:-2]
+                        if len(np.nonzero(membership == 2)[0]) == 0:  # merge
+                            subset[j1][:-2] += (subset[j2][:-2] + 1)
+                            subset[j1][-2:] += subset[j2][-2:]
+                            subset[j1][-2] += connection_all[k][i][2]
+                            subset = np.delete(subset, j2, 0)
+                        else:  # as like found == 1
+                            subset[j1][indexB] = partBs[i]
+                            subset[j1][-1] += 1
+                            subset[j1][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
+
+                    # if find no partA in the subset, create a new subset
+                    elif not found and k < 17:
+                        row = -1 * np.ones(20)
+                        row[indexA] = partAs[i]
+                        row[indexB] = partBs[i]
+                        row[-1] = 2
+                        row[-2] = sum(candidate[connection_all[k][i, :2].astype(int), 2]) + connection_all[k][i][2]
+                        subset = np.vstack([subset, row])
+        # delete some rows of subset which has few parts occur
+        deleteIdx = []
+        for i in range(len(subset)):
+            if subset[i][-1] < 4 or subset[i][-2] / subset[i][-1] < 0.4:
+                deleteIdx.append(i)
+        subset = np.delete(subset, deleteIdx, axis=0)
+
+        # subset: n*20 array, 0-17 is the index in candidate, 18 is the total score, 19 is the total parts
+        # candidate: x, y, score, id
+        return candidate, subset
+
+if __name__ == "__main__":
+    body_estimation = Body('../model/body_pose_model.pth')
+
+    test_image = '../images/ski.jpg'
+    oriImg = cv2.imread(test_image)  # B,G,R order
+    candidate, subset = body_estimation(oriImg)
+    canvas = util.draw_bodypose(oriImg, candidate, subset)
+    plt.imshow(canvas[:, :, [2, 1, 0]])
+    plt.show()

openpose/util.py

@@ -0,0 +1,198 @@
+import numpy as np
+import math
+import cv2
+import matplotlib
+from matplotlib.backends.backend_agg import FigureCanvasAgg as FigureCanvas
+from matplotlib.figure import Figure
+import numpy as np
+import matplotlib.pyplot as plt
+import cv2
+
+
+def padRightDownCorner(img, stride, padValue):
+    h = img.shape[0]
+    w = img.shape[1]
+
+    pad = 4 * [None]
+    pad[0] = 0 # up
+    pad[1] = 0 # left
+    pad[2] = 0 if (h % stride == 0) else stride - (h % stride) # down
+    pad[3] = 0 if (w % stride == 0) else stride - (w % stride) # right
+
+    img_padded = img
+    pad_up = np.tile(img_padded[0:1, :, :]*0 + padValue, (pad[0], 1, 1))
+    img_padded = np.concatenate((pad_up, img_padded), axis=0)
+    pad_left = np.tile(img_padded[:, 0:1, :]*0 + padValue, (1, pad[1], 1))
+    img_padded = np.concatenate((pad_left, img_padded), axis=1)
+    pad_down = np.tile(img_padded[-2:-1, :, :]*0 + padValue, (pad[2], 1, 1))
+    img_padded = np.concatenate((img_padded, pad_down), axis=0)
+    pad_right = np.tile(img_padded[:, -2:-1, :]*0 + padValue, (1, pad[3], 1))
+    img_padded = np.concatenate((img_padded, pad_right), axis=1)
+
+    return img_padded, pad
+
+# transfer caffe model to pytorch which will match the layer name
+def transfer(model, model_weights):
+    transfered_model_weights = {}
+    for weights_name in model.state_dict().keys():
+        transfered_model_weights[weights_name] = model_weights['.'.join(weights_name.split('.')[1:])]
+    return transfered_model_weights
+
+# draw the body keypoint and lims
+def draw_bodypose(canvas, candidate, subset):
+    stickwidth = 4
+    limbSeq = [[2, 3], [2, 6], [3, 4], [4, 5], [6, 7], [7, 8], [2, 9], [9, 10], \
+               [10, 11], [2, 12], [12, 13], [13, 14], [2, 1], [1, 15], [15, 17], \
+               [1, 16], [16, 18], [3, 17], [6, 18]]
+
+    colors = [[255, 0, 0], [255, 85, 0], [255, 170, 0], [255, 255, 0], [170, 255, 0], [85, 255, 0], [0, 255, 0], \
+              [0, 255, 85], [0, 255, 170], [0, 255, 255], [0, 170, 255], [0, 85, 255], [0, 0, 255], [85, 0, 255], \
+              [170, 0, 255], [255, 0, 255], [255, 0, 170], [255, 0, 85]]
+    for i in range(18):
+        for n in range(len(subset)):
+            index = int(subset[n][i])
+            if index == -1:
+                continue
+            x, y = candidate[index][0:2]
+            cv2.circle(canvas, (int(x), int(y)), 4, colors[i], thickness=-1)
+    for i in range(17):
+        for n in range(len(subset)):
+            index = subset[n][np.array(limbSeq[i]) - 1]
+            if -1 in index:
+                continue
+            cur_canvas = canvas.copy()
+            Y = candidate[index.astype(int), 0]
+            X = candidate[index.astype(int), 1]
+            mX = np.mean(X)
+            mY = np.mean(Y)
+            length = ((X[0] - X[1]) ** 2 + (Y[0] - Y[1]) ** 2) ** 0.5
+            angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
+            polygon = cv2.ellipse2Poly((int(mY), int(mX)), (int(length / 2), stickwidth), int(angle), 0, 360, 1)
+            cv2.fillConvexPoly(cur_canvas, polygon, colors[i])
+            canvas = cv2.addWeighted(canvas, 0.4, cur_canvas, 0.6, 0)
+    # plt.imsave("preview.jpg", canvas[:, :, [2, 1, 0]])
+    # plt.imshow(canvas[:, :, [2, 1, 0]])
+    return canvas
+
+def draw_handpose(canvas, all_hand_peaks, show_number=False):
+    edges = [[0, 1], [1, 2], [2, 3], [3, 4], [0, 5], [5, 6], [6, 7], [7, 8], [0, 9], [9, 10], \
+             [10, 11], [11, 12], [0, 13], [13, 14], [14, 15], [15, 16], [0, 17], [17, 18], [18, 19], [19, 20]]
+    fig = Figure(figsize=plt.figaspect(canvas))
+
+    fig.subplots_adjust(0, 0, 1, 1)
+    fig.subplots_adjust(bottom=0, top=1, left=0, right=1)
+    bg = FigureCanvas(fig)
+    ax = fig.subplots()
+    ax.axis('off')
+    ax.imshow(canvas)
+
+    width, height = ax.figure.get_size_inches() * ax.figure.get_dpi()
+
+    for peaks in all_hand_peaks:
+        for ie, e in enumerate(edges):
+            if np.sum(np.all(peaks[e], axis=1)==0)==0:
+                x1, y1 = peaks[e[0]]
+                x2, y2 = peaks[e[1]]
+                ax.plot([x1, x2], [y1, y2], color=matplotlib.colors.hsv_to_rgb([ie/float(len(edges)), 1.0, 1.0]))
+
+        for i, keyponit in enumerate(peaks):
+            x, y = keyponit
+            ax.plot(x, y, 'r.')
+            if show_number:
+                ax.text(x, y, str(i))
+    bg.draw()
+    canvas = np.fromstring(bg.tostring_rgb(), dtype='uint8').reshape(int(height), int(width), 3)
+    return canvas
+
+# image drawed by opencv is not good.
+def draw_handpose_by_opencv(canvas, peaks, show_number=False):
+    edges = [[0, 1], [1, 2], [2, 3], [3, 4], [0, 5], [5, 6], [6, 7], [7, 8], [0, 9], [9, 10], \
+             [10, 11], [11, 12], [0, 13], [13, 14], [14, 15], [15, 16], [0, 17], [17, 18], [18, 19], [19, 20]]
+    # cv2.rectangle(canvas, (x, y), (x+w, y+w), (0, 255, 0), 2, lineType=cv2.LINE_AA)
+    # cv2.putText(canvas, 'left' if is_left else 'right', (x, y), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
+    for ie, e in enumerate(edges):
+        if np.sum(np.all(peaks[e], axis=1)==0)==0:
+            x1, y1 = peaks[e[0]]
+            x2, y2 = peaks[e[1]]
+            cv2.line(canvas, (x1, y1), (x2, y2), matplotlib.colors.hsv_to_rgb([ie/float(len(edges)), 1.0, 1.0])*255, thickness=2)
+
+    for i, keyponit in enumerate(peaks):
+        x, y = keyponit
+        cv2.circle(canvas, (x, y), 4, (0, 0, 255), thickness=-1)
+        if show_number:
+            cv2.putText(canvas, str(i), (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.3, (0, 0, 0), lineType=cv2.LINE_AA)
+    return canvas
+
+# detect hand according to body pose keypoints
+# please refer to https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/src/openpose/hand/handDetector.cpp
+def handDetect(candidate, subset, oriImg):
+    # right hand: wrist 4, elbow 3, shoulder 2
+    # left hand: wrist 7, elbow 6, shoulder 5
+    ratioWristElbow = 0.33
+    detect_result = []
+    image_height, image_width = oriImg.shape[0:2]
+    for person in subset.astype(int):
+        # if any of three not detected
+        has_left = np.sum(person[[5, 6, 7]] == -1) == 0
+        has_right = np.sum(person[[2, 3, 4]] == -1) == 0
+        if not (has_left or has_right):
+            continue
+        hands = []
+        #left hand
+        if has_left:
+            left_shoulder_index, left_elbow_index, left_wrist_index = person[[5, 6, 7]]
+            x1, y1 = candidate[left_shoulder_index][:2]
+            x2, y2 = candidate[left_elbow_index][:2]
+            x3, y3 = candidate[left_wrist_index][:2]
+            hands.append([x1, y1, x2, y2, x3, y3, True])
+        # right hand
+        if has_right:
+            right_shoulder_index, right_elbow_index, right_wrist_index = person[[2, 3, 4]]
+            x1, y1 = candidate[right_shoulder_index][:2]
+            x2, y2 = candidate[right_elbow_index][:2]
+            x3, y3 = candidate[right_wrist_index][:2]
+            hands.append([x1, y1, x2, y2, x3, y3, False])
+
+        for x1, y1, x2, y2, x3, y3, is_left in hands:
+            # pos_hand = pos_wrist + ratio * (pos_wrist - pos_elbox) = (1 + ratio) * pos_wrist - ratio * pos_elbox
+            # handRectangle.x = posePtr[wrist*3] + ratioWristElbow * (posePtr[wrist*3] - posePtr[elbow*3]);
+            # handRectangle.y = posePtr[wrist*3+1] + ratioWristElbow * (posePtr[wrist*3+1] - posePtr[elbow*3+1]);
+            # const auto distanceWristElbow = getDistance(poseKeypoints, person, wrist, elbow);
+            # const auto distanceElbowShoulder = getDistance(poseKeypoints, person, elbow, shoulder);
+            # handRectangle.width = 1.5f * fastMax(distanceWristElbow, 0.9f * distanceElbowShoulder);
+            x = x3 + ratioWristElbow * (x3 - x2)
+            y = y3 + ratioWristElbow * (y3 - y2)
+            distanceWristElbow = math.sqrt((x3 - x2) ** 2 + (y3 - y2) ** 2)
+            distanceElbowShoulder = math.sqrt((x2 - x1) ** 2 + (y2 - y1) ** 2)
+            width = 1.5 * max(distanceWristElbow, 0.9 * distanceElbowShoulder)
+            # x-y refers to the center --> offset to topLeft point
+            # handRectangle.x -= handRectangle.width / 2.f;
+            # handRectangle.y -= handRectangle.height / 2.f;
+            x -= width / 2
+            y -= width / 2  # width = height
+            # overflow the image
+            if x < 0: x = 0
+            if y < 0: y = 0
+            width1 = width
+            width2 = width
+            if x + width > image_width: width1 = image_width - x
+            if y + width > image_height: width2 = image_height - y
+            width = min(width1, width2)
+            # the max hand box value is 20 pixels
+            if width >= 20:
+                detect_result.append([int(x), int(y), int(width), is_left])
+
+    '''
+    return value: [[x, y, w, True if left hand else False]].
+    width=height since the network require squared input.
+    x, y is the coordinate of top left 
+    '''
+    return detect_result
+
+# get max index of 2d array
+def npmax(array):
+    arrayindex = array.argmax(1)
+    arrayvalue = array.max(1)
+    i = arrayvalue.argmax()
+    j = arrayindex[i]
+    return i, j