void WHandRenderer<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// Render people hands
for (auto& tDatum : *tDatums)
spHandRenderer->renderHand(tDatum.outputData, tDatum.handKeypoints);
// 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();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WPoseSaver<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 people pose keypoint data
std::vector<Array<float>> keypointVector(tDatumsNoPtr.size());
for (auto i = 0u; i < tDatumsNoPtr.size(); i++)
keypointVector[i] = tDatumsNoPtr[i].poseKeypoints;
const auto fileName = (!tDatumsNoPtr[0].name.empty() ? tDatumsNoPtr[0].name : std::to_string(tDatumsNoPtr[0].id));
spKeypointSaver->saveKeypoints(keypointVector, fileName, "pose");
// 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__);
}
}
void WKeypointScaler<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// Rescale pose data
for (auto& tDatum : *tDatums)
{
std::vector<Array<float>> arraysToScale{tDatum.poseKeypoints, tDatum.handKeypoints[0],
tDatum.handKeypoints[1], tDatum.faceKeypoints};
spKeypointScaler->scale(arraysToScale, tDatum.scaleInputToOutput, tDatum.scaleNetToOutput,
Point<int>{tDatum.cvInputData.cols, tDatum.cvInputData.rows});
// Rescale part candidates
spKeypointScaler->scale(tDatum.poseCandidates, tDatum.scaleInputToOutput, tDatum.scaleNetToOutput,
Point<int>{tDatum.cvInputData.cols, tDatum.cvInputData.rows});
}
// 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();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WCvMatToOpInput<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// cv::Mat -> float*
for (auto& tDatum : *tDatums)
tDatum.inputNetData = spCvMatToOpInput->createArray(tDatum.cvInputData,
tDatum.scaleInputToNetInputs,
tDatum.netInputSizes);
// 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();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WJointAngleEstimation<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// Input
auto& datum = tDatums->at(0);
const auto& poseKeypoints3D = datum.poseKeypoints3D;
const auto& faceKeypoints3D = datum.faceKeypoints3D;
const auto& handKeypoints3D = datum.handKeypoints3D;
// Running Adam model
spJointAngleEstimation->adamFastFit(
datum.adamPose, datum.adamTranslation, datum.vtVec, datum.j0Vec,
datum.adamFaceCoeffsExp, poseKeypoints3D, faceKeypoints3D, handKeypoints3D);
// 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();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WIdGenerator<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// Add ID
for (auto& tDatum : *tDatums)
// To avoid overwritting ID if e.g., custom input has already filled it
if (tDatum.id == std::numeric_limits<unsigned long long>::max())
tDatum.id = mGlobalCounter;
// Increase ID
const auto& tDatum = (*tDatums)[0];
if (tDatum.subId == tDatum.subIdMax)
mGlobalCounter++;
// 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();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WFaceExtractor<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// Extract people face
for (auto& tDatum : *tDatums)
{
spFaceExtractor->forwardPass(tDatum.faceRectangles, tDatum.cvInputData, tDatum.scaleInputToOutput);
tDatum.faceKeypoints = spFaceExtractor->getFaceKeypoints();
}
// Profiling speed
Profiler::timerEnd(profilerKey);
Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__, Profiler::DEFAULT_X);
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
}
catch (const std::exception& e)
{
this->stop();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WHandDetectorTracking<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// Detect people hand
for (auto& tDatum : *tDatums)
tDatum.handRectangles = spHandDetector->trackHands(tDatum.poseKeypoints);
// 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();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WCvMatToOpOutput<TDatums>::work(TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// T* to T
auto& tDatumsNoPtr = *tDatums;
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// cv::Mat -> float*
for (auto& tDatum : tDatumsNoPtr)
std::tie(tDatum.scaleInputToOutput, tDatum.outputData) = spCvMatToOpOutput->format(tDatum.cvInputData);
// Profiling speed
Profiler::timerEnd(profilerKey);
Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__, Profiler::DEFAULT_X);
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
}
catch (const std::exception& e)
{
this->stop();
tDatums = nullptr;
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WCocoJsonSaver<TDatums>::workConsumer(const TDatums& tDatums)
{
try
{
if (checkNoNullNorEmpty(tDatums))
{
// Check tDatums->size() == 1
if (tDatums->size() > 1)
error("Function only ready for tDatums->size() == 1", __LINE__, __FUNCTION__, __FILE__);
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
// Profiling speed
const auto profilerKey = Profiler::timerInit(__LINE__, __FUNCTION__, __FILE__);
// T* to T
const auto& tDatum = tDatums->at(0);
// Record json in COCO format
const std::string stringToRemove = "COCO_val2014_";
const auto stringToRemoveEnd = tDatum.name.find(stringToRemove) + stringToRemove.size();
const auto imageId = std::stoull(tDatum.name.substr(stringToRemoveEnd, tDatum.name.size() - stringToRemoveEnd));
// Record json in COCO format if file within desired range of images
spCocoJsonSaver->record(tDatum.poseKeypoints, imageId);
// Profiling speed
Profiler::timerEnd(profilerKey);
Profiler::printAveragedTimeMsOnIterationX(profilerKey, __LINE__, __FUNCTION__, __FILE__, Profiler::DEFAULT_X);
// Debugging log
dLog("", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
}
}
catch (const std::exception& e)
{
this->stop();
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
void WVideoSaver<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)
std::vector<cv::Mat> cvOutputDatas(tDatumsNoPtr.size());
for (auto i = 0u ; i < cvOutputDatas.size() ; i++)
cvOutputDatas[i] = tDatumsNoPtr[i].cvOutputData;
spVideoSaver->write(cvOutputDatas);
// 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__);
}
}
void WUdpSender<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__);
// Send though UDP communication
#ifdef USE_3D_ADAM_MODEL
const auto& tDatum = (*tDatums)[0];
if (!tDatum.poseKeypoints3D.empty())
{
const auto& adamPose = tDatum.adamPose; // Eigen::Matrix<double, 62, 3, Eigen::RowMajor>
const auto& adamTranslation = tDatum.adamTranslation; // Eigen::Vector3d(3, 1)
const auto adamFaceCoeffsExp = tDatum.adamFaceCoeffsExp; // Eigen::VectorXd resized to (200, 1)
//const float mouth_open = tDatum.mouthOpening; // tDatum.mouth_open;
//const float leye_open = tDatum.rightEyeOpening; // tDatum.leye_open;
//const float reye_open = tDatum.leftEyeOpening; // tDatum.reye_open;
//const float dist_root_foot = Datum.distanceRootFoot; // tDatum.dist_root_foot;
// m_adam_t:
// 1. Total translation (centimeters) of the root in camera/global coordinate representation.
// m_adam_pose:
// 1. First row is global rotation, in AngleAxis representation. Radians (not degrees!)
// 2. Rest are joint-angles in Euler-Angle representation. Degrees.
spUdpSender->sendJointAngles(adamPose.data(), adamPose.rows(),
adamTranslation.data(),
adamFaceCoeffsExp.data(), adamFaceCoeffsExp.rows());
}
#endif
// 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__);
}
}
