1.存储骨骼关键点信息的结构体。为了找到存储骨骼关键点数组，研究人员使用VS2017在整个项目文件里搜索了poseKeypoints的引用，通过研究发现所有骨骼、脸部、手部坐标数组都定义在这个Datum结构体中。
该结构体定义位于 D:\projects\jack\openpose\include\openpose\core\datum.hpp文件中
struct OP_API Datum
{
...
Array<float> poseKeypoints; // (x,y,score)
Array<long long> poseIds;
Array<float> poseScores;
Array<float> faceKeypoints;
std::array<Array<float>, 2> handKeypoints;
...
}
以上都是2D数据，并且 poseKeypoints是以 (x,y,score)形式存储的。
2.并且存储有3D坐标，和相机的内参、外参矩阵。
Array<float> poseKeypoints3D; //(x,y,z,score)
Array<float> faceKeypoints3D; //(x,y,z,score)
std::array<Array<float>, 2> handKeypoints3D;
/**
* 3x4 camera matrix of the camera (equivalent to cameraIntrinsics * cameraExtrinsics).
*/
cv::Mat cameraMatrix;
/**
* 3x4 extrinsic parameters of the camera.
*/
cv::Mat cameraExtrinsics;
/**
* 3x3 intrinsic parameters of the camera.
*/
cv::Mat cameraIntrinsics;
3.将坐标读写到文件里的代码的模板类定义在D:\projects\jack\openpose\include\openpose\filestream\wPeopleJsonSaver.hpp
模板TDatums的派生类WPeopleJsonSaver 内的workConsumer函数里
const std::vector<std::pair<Array<float>, std::string>> keypointVector{
// Pose IDs
std::make_pair(poseIds, "person_id"),
// 2D
std::make_pair(tDatumPtr->poseKeypoints, "pose_keypoints_2d"),
std::make_pair(tDatumPtr->faceKeypoints, "face_keypoints_2d"),
std::make_pair(tDatumPtr->handKeypoints[0], "hand_left_keypoints_2d"),
std::make_pair(tDatumPtr->handKeypoints[1], "hand_right_keypoints_2d"),
// 3D
std::make_pair(tDatumPtr->poseKeypoints3D, "pose_keypoints_3d"),
std::make_pair(tDatumPtr->faceKeypoints3D, "face_keypoints_3d"),
std::make_pair(tDatumPtr->handKeypoints3D[0], "hand_left_keypoints_3d"),
std::make_pair(tDatumPtr->handKeypoints3D[1], "hand_right_keypoints_3d")
};
// Save keypoints
spPeopleJsonSaver->save(
keypointVector, tDatumPtr->poseCandidates, fileName, humanReadable);
3.将图片的Mat和探测出的PosePoint融合在一起的代码位C:\Users\jack\Desktop\openpose\src\openpose\gui\guiInfoAdder.cpp的addPeopleIds函数里
void addPeopleIds(
cv::Mat& cvOutputData, const Array<long long>& poseIds, const Array<float>& poseKeypoints,
const int borderMargin)
{
try
{
if (!poseIds.empty())
{
const auto poseKeypointsArea = poseKeypoints.getSize(1)*poseKeypoints.getSize(2);
const auto isVisible = 0.05f;
for (auto i = 0u ; i < poseIds.getVolume() ; i++)
{
if (poseIds[i] > -1)
{
const auto indexMain = i * poseKeypointsArea;
const auto indexSecondary = i * poseKeypointsArea + poseKeypoints.getSize(2);
if (poseKeypoints[indexMain+2] > isVisible || poseKeypoints[indexSecondary+2] > isVisible)
{
const auto xA = positiveIntRound(poseKeypoints[indexMain]);
const auto yA = positiveIntRound(poseKeypoints[indexMain+1]);
const auto xB = positiveIntRound(poseKeypoints[indexSecondary]);
const auto yB = positiveIntRound(poseKeypoints[indexSecondary+1]);
int x;
int y;
if (poseKeypoints[indexMain+2] > isVisible && poseKeypoints[indexSecondary+2] > isVisible)
{
const auto keypointRatio = positiveIntRound(
0.15f * std::sqrt((xA-xB)*(xA-xB) + (yA-yB)*(yA-yB)));
x = xA + 3*keypointRatio;
y = yA - 3*keypointRatio;
}
else if (poseKeypoints[indexMain+2] > isVisible)
{
x = xA + positiveIntRound(0.25f*borderMargin);
y = yA - positiveIntRound(0.25f*borderMargin);
}
else //if (poseKeypoints[indexSecondary+2] > isVisible)
{
x = xB + positiveIntRound(0.25f*borderMargin);
y = yB - positiveIntRound(0.5f*borderMargin);
}
putTextOnCvMat(cvOutputData, std::to_string(poseIds[i]), {x, y}, WHITE_SCALAR, false, cvOutputData.cols);
}
}
}
}
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
4.实时显示 “处理帧数/秒”，“当前帧数”，"帮助h"等text文本的代码位于C:\Users\jack\Desktop\openpose\src\openpose\gui\guiInfoAdder.cpp的addInfo函数
void GuiInfoAdder::addInfo(cv::Mat& cvOutputData, const int numberPeople, const unsigned long long id,
const std::string& elementRenderedName, const unsigned long long frameNumber,
const Array<long long>& poseIds, const Array<float>& poseKeypoints)
{
try
{
// Sanity check
if (cvOutputData.empty())
error("Wrong input element (empty cvOutputData).", __LINE__, __FUNCTION__, __FILE__);
// Size
const auto borderMargin = positiveIntRound(fastMax(cvOutputData.cols, cvOutputData.rows) * 0.025);
// Update fps
updateFps(mLastId, mFps, mFpsCounter, mFpsQueue, id, mNumberGpus);
// Fps or s/gpu
char charArrayAux[15];
std::snprintf(charArrayAux, 15, "%4.1f fps", mFps);
// Recording inverse: sec/gpu
// std::snprintf(charArrayAux, 15, "%4.2f s/gpu", (mFps != 0. ? mNumberGpus/mFps : 0.));
putTextOnCvMat(
cvOutputData, charArrayAux, {positiveIntRound(cvOutputData.cols - borderMargin), borderMargin},
WHITE_SCALAR, true, cvOutputData.cols);
// Part to show
// Allowing some buffer when changing the part to show (if >= 2 GPUs)
// I.e. one GPU might return a previous part after the other GPU returns the new desired part, it looks
// like a mini-bug on screen
// Difference between Titan X (~110 ms) & 1050 Ti (~290ms)
if (mNumberGpus == 1 || (elementRenderedName != mLastElementRenderedName
&& mLastElementRenderedCounter > 4))
{
mLastElementRenderedName = elementRenderedName;
mLastElementRenderedCounter = 0;
}
mLastElementRenderedCounter = fastMin(mLastElementRenderedCounter, std::numeric_limits<int>::max() - 5);
mLastElementRenderedCounter++;
// Add each person ID
addPeopleIds(cvOutputData, poseIds, poseKeypoints, borderMargin);
// OpenPose name as well as help or part to show
putTextOnCvMat(cvOutputData, "OpenPose - " +
(!mLastElementRenderedName.empty() ?
mLastElementRenderedName : (mGuiEnabled ? "'h' for help" : "")),
{borderMargin, borderMargin}, WHITE_SCALAR, false, cvOutputData.cols);
// Frame number
putTextOnCvMat(cvOutputData, "Frame: " + std::to_string(frameNumber),
{borderMargin, (int)(cvOutputData.rows - borderMargin)}, WHITE_SCALAR, false, cvOutputData.cols);
// Number people
putTextOnCvMat(cvOutputData, "People: " + std::to_string(numberPeople),
{(int)(cvOutputData.cols - borderMargin), (int)(cvOutputData.rows - borderMargin)},
WHITE_SCALAR, true, cvOutputData.cols);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
6。添加文本的调用的是putTextOnCvMat函数，该函数位于C:\Users\jack\Desktop\openpose\src\openpose\utilities\openCv.cpp下。
void putTextOnCvMat(cv::Mat& cvMat, const std::string& textToDisplay, const Point<int>& position,
const cv::Scalar& color, const bool normalizeWidth, const int imageWidth)
{
try
{
const auto font = cv::FONT_HERSHEY_SIMPLEX;
const auto ratio = imageWidth/1280.;
// const auto fontScale = 0.75;
const auto fontScale = 0.8 * ratio;
const auto fontThickness = std::max(1, positiveIntRound(2*ratio));
const auto shadowOffset = std::max(1, positiveIntRound(2*ratio));
int baseline = 0;
const auto textSize = cv::getTextSize(textToDisplay, font, fontScale, fontThickness, &baseline);
const cv::Size finalPosition{position.x - (normalizeWidth ? textSize.width : 0),
position.y + textSize.height/2};
cv::putText(cvMat, textToDisplay,
cv::Size{finalPosition.width + shadowOffset, finalPosition.height + shadowOffset},
font, fontScale, cv::Scalar{0,0,0}, fontThickness);
cv::putText(cvMat, textToDisplay, finalPosition, font, fontScale, color, fontThickness);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
