added udp_json_output to OpenPose demo and OpenPose core

examples/openpose/openpose.cpp

@@ -106,7 +106,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port), FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // GUI (comment or use default argument to disable any visual output)
  const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/03_keypoints_from_image.cpp

@@ -148,7 +148,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output};
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/05_keypoints_from_images_multi_gpu.cpp

@@ -154,7 +154,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/06_face_from_image.cpp

@@ -151,7 +151,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/07_hand_from_image.cpp

@@ -151,7 +151,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/08_heatmaps_from_image.cpp

@@ -177,7 +177,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port) };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/09_keypoints_from_heatmaps.cpp

@@ -151,7 +151,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/10_asynchronous_custom_input.cpp

@@ -157,7 +157,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // GUI (comment or use default argument to disable any visual output)
  const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/11_asynchronous_custom_input_multi_camera.cpp

@@ -156,7 +156,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // GUI (comment or use default argument to disable any visual output)
  const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/12_asynchronous_custom_output.cpp

@@ -186,7 +186,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/13_asynchronous_custom_input_output_and_datum.cpp

@@ -258,7 +258,7 @@ void configureWrapper(op::WrapperT<UserDatum>& opWrapperT)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapperT.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/14_synchronous_custom_input.cpp

@@ -170,7 +170,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // GUI (comment or use default argument to disable any visual output)
  const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/15_synchronous_custom_preprocessing.cpp

@@ -145,7 +145,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // GUI (comment or use default argument to disable any visual output)
  const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/16_synchronous_custom_postprocessing.cpp

@@ -146,7 +146,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // GUI (comment or use default argument to disable any visual output)
  const op::WrapperStructGui wrapperStructGui{

examples/tutorial_api_cpp/17_synchronous_custom_output.cpp

@@ -203,7 +203,7 @@ void configureWrapper(op::Wrapper& opWrapper)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapper.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

examples/tutorial_api_cpp/18_synchronous_custom_all_and_datum.cpp

@@ -322,7 +322,7 @@ void configureWrapper(op::WrapperT<UserDatum>& opWrapperT)
  op::String(FLAGS_write_video), FLAGS_write_video_fps, FLAGS_write_video_with_audio,
  op::String(FLAGS_write_heatmaps), op::String(FLAGS_write_heatmaps_format), op::String(FLAGS_write_video_3d),
  op::String(FLAGS_write_video_adam), op::String(FLAGS_write_bvh), op::String(FLAGS_udp_host),
- op::String(FLAGS_udp_port)};
+ op::String(FLAGS_udp_port),FLAGS_udp_json_output };
  opWrapperT.configure(wrapperStructOutput);
  // No GUI. Equivalent to: opWrapper.configure(op::WrapperStructGui{});
  // Set to single-thread (for sequential processing and/or debugging and/or reducing latency)

include/openpose/filestream/headers.hpp

@@ -12,6 +12,7 @@
 #include <openpose/filestream/jsonOfstream.hpp>
 #include <openpose/filestream/keypointSaver.hpp>
 #include <openpose/filestream/peopleJsonSaver.hpp>
+#include <openpose/filestream/udpJsonSender.hpp>
 #include <openpose/filestream/udpSender.hpp>
 #include <openpose/filestream/videoSaver.hpp>
 #include <openpose/filestream/wBvhSaver.hpp>
@@ -23,6 +24,7 @@
 #include <openpose/filestream/wPeopleJsonSaver.hpp>
 #include <openpose/filestream/wPoseSaver.hpp>
 #include <openpose/filestream/wUdpSender.hpp>
+#include <openpose/filestream/wUdpJsonSender.hpp>
 #include <openpose/filestream/wVideoSaver.hpp>
 #include <openpose/filestream/wVideoSaver3D.hpp>
 

include/openpose/filestream/udpJsonSender.hpp

@@ -0,0 +1,175 @@
+#include <openpose/filestream/udpJsonSender.hpp>
+
+#include <iostream>
+#include <asio.hpp>
+
+#include <openpose/filestream/fileStream.hpp>
+#include <openpose/filestream/jsonOfstream.hpp>
+#include <openpose/utilities/fastMath.hpp>
+
+namespace op
+{
+ class UdpJsonClient
+ {
+ public:
+ UdpJsonClient(const std::string& host, const std::string& port) :
+ mIoService{},
+ mUdpSocket{ mIoService, asio::ip::udp::endpoint(asio::ip::udp::v4(), 0) }
+ {
+ try
+ {
+ asio::ip::udp::resolver resolver{ mIoService };
+ asio::ip::udp::resolver::query query{ asio::ip::udp::v4(), host, port };
+ asio::ip::udp::resolver::iterator iter = resolver.resolve(query);
+ mUdpEndpoint = *iter;
+ }
+ catch (const std::exception& e)
+ {
+ error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+ }
+ }
+
+ ~UdpJsonClient()
+ {
+ try
+ {
+ mUdpSocket.close();
+ }
+ catch (const std::exception& e)
+ {
+ errorDestructor(e.what(), __LINE__, __FUNCTION__, __FILE__);
+ }
+ }
+
+ void send(const std::string& msg)
+ {
+ try
+ {
+ mUdpSocket.send_to(asio::buffer(msg, msg.size()), mUdpEndpoint);
+ }
+ catch (const std::exception& e)
+ {
+ error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+ }
+ }
+
+ private:
+ asio::io_service mIoService;
+ asio::ip::udp::socket mUdpSocket;
+ asio::ip::udp::endpoint mUdpEndpoint;
+ };
+
+ struct UdpJsonSender::ImplJsonUdpSender
+ {
+ // Used when increasing spCaffeNets
+ UdpJsonClient mUdpClient;
+
+ ImplJsonUdpSender(const std::string& udpHost, const std::string& udpPort) :
+ mUdpClient(udpHost, udpPort)
+ {
+ }
+ };
+
+ UdpJsonSender::UdpJsonSender(const std::string& udpHost, const std::string& udpPort)
+ : spImpl{ new ImplJsonUdpSender{udpHost, udpPort} }
+
+ {
+ // Debugging log
+ opLogIfDebug("Starting UDP JSON Sender", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
+ }
+
+ UdpJsonSender::~UdpJsonSender()
+ {
+ }
+
+ void UdpJsonSender::sendJson(const std::vector<std::pair<Array<float>, std::string>>& keypointVector)
+ {
+ try
+ {
+ // Sanity check
+ for (const auto& keypointPair : keypointVector)
+ if (!keypointPair.first.empty() && keypointPair.first.getNumberDimensions() != 3
+ && keypointPair.first.getNumberDimensions() != 1)
+ error("keypointVector.getNumberDimensions() != 1 && != 3.", __LINE__, __FUNCTION__, __FILE__);
+
+ //Instead of streaming to a file, use a similar means to stream into a string that will be sent over udp
+ std::stringbuf streamBuf;
+ std::ostream os(&streamBuf);
+
+ //Build the json output - adapted from the file output model
+ os << "{";
+ try
+ {
+ // Sanity check
+ for (const auto& keypointPair : keypointVector)
+ if (!keypointPair.first.empty() && keypointPair.first.getNumberDimensions() != 3
+ && keypointPair.first.getNumberDimensions() != 1)
+ error("keypointVector.getNumberDimensions() != 1 && != 3.", __LINE__, __FUNCTION__, __FILE__);
+ // Add people keypoints
+ os << "\"people\" : ";
+ os << "[";
+ // Get max numberPeople
+ auto numberPeople = 0;
+ for (auto vectorIndex = 0u; vectorIndex < keypointVector.size(); vectorIndex++)
+ numberPeople = fastMax(numberPeople, keypointVector[vectorIndex].first.getSize(0));
+ for (auto person = 0; person < numberPeople; person++)
+ {
+ os << "{";
+ //jsonOfstream.objectOpen();
+ for (auto vectorIndex = 0u; vectorIndex < keypointVector.size(); vectorIndex++)
+ {
+ const auto& keypoints = keypointVector[vectorIndex].first;
+ const auto& keypointName = keypointVector[vectorIndex].second;
+ const auto numberElementsPerRaw = keypoints.getSize(1) * keypoints.getSize(2);
+ os << "\"" + keypointName + "\" : ";
+ //Only the person_id node isn't an array (open)
+ if (keypointName != "person_id") {
+ os << "[";
+ }
+ // Body parts
+ if (numberElementsPerRaw > 0)
+ {
+ const auto finalIndex = person * numberElementsPerRaw;
+ for (auto element = 0; element < numberElementsPerRaw - 1; element++)
+ {
+ os << keypoints[finalIndex + element];
+ os << ",";
+ }
+ // Last element (no comma)
+ os << keypoints[finalIndex + numberElementsPerRaw - 1];
+ }
+
+ //Only the person_id node isn't an array (close)
+ if (keypointName != "person_id") {
+ // Close array
+ os << "]";
+ }
+ if (vectorIndex < keypointVector.size() - 1) {
+ os << ",";
+ }
+ }
+ os << "}";
+ if (person < numberPeople - 1)
+ {
+ os << ",";
+ }
+ }
+ // Close bodies array
+ os << "]";
+ os << "}";
+ }
+ catch (const std::exception& e)
+ {
+ error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+ }
+
+ //Send the constructed json over UDP
+ spImpl->mUdpClient.send(streamBuf.str());
+
+ }
+ catch (const std::exception& e)
+ {
+ error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+ }
+ }
+}