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gineshidalgo99gineshidalgo99
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Windows working again
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‎src/openpose/pose/bodyPartConnectorBase.cpp‎

Lines changed: 70 additions & 45 deletions
Original file line numberDiff line numberDiff line change
@@ -601,7 +601,6 @@ namespace op
601601
// poseKeypoints from neck-part distances
602602
if (poseModel == PoseModel::BODY_25D)
603603
{
604-
// TODO: Get scaleDownFactor as parameter, NOT HARD-CODED!
605604
const auto scaleDownFactor = 8;
606605
Array<T> poseKeypoints2 = poseKeypoints.clone();
607606
const auto rootIndex = 1;
@@ -610,10 +609,24 @@ namespace op
610609
// const auto numberPeople = intRound(peaksPtr[rootNumberIndex]);
611610
poseKeypoints.reset({numberPeople, (int)numberBodyParts, 3}, 0);
612611
poseScores.reset(numberPeople, 0);
613-
const std::vector<float> multiplier{3.99662, 2.83036, 6.70038, 7.98778, 2.83036, 6.6937, 7.98559, 9.03892, // BODY_25D
614-
9.25788, 13.5094, 18.4561, 9.25499, 13.5129, 18.452,
615-
4.45502, 4.45194, 4.06345, 4.0489,
616-
18.452, 18.452, 18.452, 18.4561, 18.4561, 18.4561};
612+
const std::vector<float> average{
613+
0.f, -2.76364f, -1.3345f, 0.f, -1.95322f, 3.95679f, -1.20664f, 4.76543f,
614+
1.3345f, 0.f, 1.92318f, 3.96891f, 1.17999f, 4.7901f, 0.f, 7.72201f,
615+
-0.795236f, 7.74017f, -0.723963f, 11.209f, -0.651316f, 15.6972f,
616+
0.764623f, 7.74869f, 0.70755f, 11.2307f, 0.612832f, 15.7281f,
617+
-0.123134f, -3.43515f, 0.111775f, -3.42761f,
618+
-0.387066f, -3.16603f, 0.384038f, -3.15951f,
619+
0.344764f, 12.9666f, 0.624157f, 12.9057f, 0.195454f, 12.565f,
620+
-1.06074f, 12.9951f, -1.2427f, 12.9309f, -0.800837f, 12.5845f};
621+
const std::vector<float> sigma{
622+
3.39629f, 3.15605f, 3.16913f, 1.8234f, 5.82252f, 5.05674f, 7.09876f, 6.64574f,
623+
3.16913f, 1.8234f, 5.79415f, 5.01424f, 7.03866f, 6.62427f, 5.52593f, 6.75962f,
624+
5.91224f, 6.87241f, 8.66473f, 10.1792f, 11.5871f, 13.6565f,
625+
5.86653f, 6.89568f, 8.68067f, 10.2127f, 11.5954f, 13.6722f,
626+
3.3335f, 3.49128f, 3.34476f, 3.50079f,
627+
2.93982f, 3.11151f, 2.95006f, 3.11004f,
628+
9.69408f, 7.58921f, 9.71193f, 7.44185f, 9.19343f, 7.11157f,
629+
9.16848f, 7.86122f, 9.07613f, 7.83682f, 8.91951f, 7.33715f};
617630
// To get ideal distance
618631
const auto numberBodyPartsAndBkgAndPAFChannels = numberBodyParts + 1 + bodyPartPairs.size();
619632
const auto heatMapOffset = heatMapSize.area();
@@ -639,64 +652,76 @@ namespace op
639652
const auto offsetIndex = numberBodyPartsAndBkgAndPAFChannels + 2*bpChannel;
640653
const auto* mapX = heatMapPtr + offsetIndex * heatMapOffset;
641654
const auto* mapY = heatMapPtr + (offsetIndex+1) * heatMapOffset;
642-
const auto increaseRatio = multiplier[bpChannel]*scaleDownFactor*scaleFactor;
655+
const auto increaseRatio = scaleFactor*scaleDownFactor;
643656
// Set (x,y) coordinates from the distance
657+
const auto index2 = 2*bpChannel;
658+
// // Not refined method
644659
// const auto index = intRound(rootY/scaleFactor)*heatMapSize.x + intRound(rootX/scaleFactor);
645-
// const Point<T> neckPartDist{increaseRatio*mapX[index], increaseRatio*mapY[index]};
660+
// const Point<T> neckPartDist{increaseRatio*(mapX[index]*sigma[index2]+average[index2]),
661+
// increaseRatio*(mapY[index]*sigma[index2+1]+average[index2+1])};
646662
// poseKeypoints[{p,bpOrig,0}] = rootX + neckPartDist.x;
647663
// poseKeypoints[{p,bpOrig,1}] = rootY + neckPartDist.y;
648-
// Refinement
664+
// Refined method
665+
const auto constant = 5;
649666
Point<T> neckPartDistRefined{0, 0};
650-
for (auto y = intRound(rootY/scaleFactor) - 3 ; y < intRound(rootY/scaleFactor) + 4 ; y++)
667+
for (auto y = intRound(rootY/scaleFactor) - constant;
668+
y < intRound(rootY/scaleFactor) + constant+1 ; y++)
651669
{
652-
for (auto x = intRound(rootX/scaleFactor) - 3 ; x < intRound(rootX/scaleFactor) + 4 ; x++)
670+
for (auto x = intRound(rootX/scaleFactor) - constant;
671+
x < intRound(rootX/scaleFactor) + constant+1 ; x++)
653672
{
654673
const auto index = y*heatMapSize.x + x;
655674
neckPartDistRefined.x += mapX[index];
656675
neckPartDistRefined.y += mapY[index];
657676
}
658677
}
659-
neckPartDistRefined *= increaseRatio/49;
678+
auto sqConst = (constant*2+1);
679+
sqConst *= sqConst;
680+
neckPartDistRefined = Point<T>{
681+
neckPartDistRefined.x*sigma[index2]+sqConst*average[index2],
682+
neckPartDistRefined.y*sigma[index2+1]+sqConst*average[index2+1],
683+
};
684+
neckPartDistRefined *= increaseRatio/sqConst;
660685
const auto partX = rootX + neckPartDistRefined.x;
661686
const auto partY = rootY + neckPartDistRefined.y;
662687
poseKeypoints[{p,bpOrig,0}] = partX;
663688
poseKeypoints[{p,bpOrig,1}] = partY;
664689
// Set (temporary) body part score
665690
poseKeypoints[{p,bpOrig,2}] = T(0.0501);
666-
// Associate estimated keypoint with closest one
667-
const auto candidateNumberIndex = bpOrig*(maxPeaks+1)*3;
668-
const auto numberCandidates = intRound(peaksPtr[candidateNumberIndex]);
669-
int closestIndex = -1;
670-
T closetValue = std::numeric_limits<T>::max();
671-
for (auto i = 0 ; i < numberCandidates ; i++)
672-
{
673-
const auto candidateXYSIndex = candidateNumberIndex+3*(1+i);
674-
const auto diffX = partX-scaleFactor*peaksPtr[candidateXYSIndex];
675-
const auto diffY = partY-scaleFactor*peaksPtr[candidateXYSIndex+1];
676-
const auto dist = (diffX*diffX + diffY*diffY);
677-
if (closetValue > dist)
678-
{
679-
closetValue = dist;
680-
closestIndex = candidateXYSIndex;
681-
}
682-
}
683-
if (closestIndex != -1)
684-
{
685-
const auto estimatedDist = neckPartDistRefined.x*neckPartDistRefined.x
686-
+ neckPartDistRefined.y*neckPartDistRefined.y;
687-
const auto x = scaleFactor*peaksPtr[closestIndex];
688-
const auto y = scaleFactor*peaksPtr[closestIndex+1];
689-
const auto candidateDist = (rootX-x)*(rootX-x)+(rootY-y)*(rootY-y);
690-
if (estimatedDist/candidateDist < 1.1 && estimatedDist/candidateDist > 0.9)
691-
{
692-
poseKeypoints[{p,bpOrig,0}] = x;
693-
poseKeypoints[{p,bpOrig,1}] = y;
694-
// Set body part score
695-
const auto s = peaksPtr[closestIndex+2];
696-
// poseKeypoints[{p,bpOrig,2}] = s -;
697-
poseKeypoints[{p,bpOrig,2}] = s;
698-
}
699-
}
691+
// // Associate estimated keypoint with closest one
692+
// const auto candidateNumberIndex = bpOrig*(maxPeaks+1)*3;
693+
// const auto numberCandidates = intRound(peaksPtr[candidateNumberIndex]);
694+
// int closestIndex = -1;
695+
// T closetValue = std::numeric_limits<T>::max();
696+
// for (auto i = 0 ; i < numberCandidates ; i++)
697+
// {
698+
// const auto candidateXYSIndex = candidateNumberIndex+3*(1+i);
699+
// const auto diffX = partX-scaleFactor*peaksPtr[candidateXYSIndex];
700+
// const auto diffY = partY-scaleFactor*peaksPtr[candidateXYSIndex+1];
701+
// const auto dist = (diffX*diffX + diffY*diffY);
702+
// if (closetValue > dist)
703+
// {
704+
// closetValue = dist;
705+
// closestIndex = candidateXYSIndex;
706+
// }
707+
// }
708+
// if (closestIndex != -1)
709+
// {
710+
// const auto estimatedDist = neckPartDistRefined.x*neckPartDistRefined.x
711+
// + neckPartDistRefined.y*neckPartDistRefined.y;
712+
// const auto x = scaleFactor*peaksPtr[closestIndex];
713+
// const auto y = scaleFactor*peaksPtr[closestIndex+1];
714+
// const auto candidateDist = (rootX-x)*(rootX-x)+(rootY-y)*(rootY-y);
715+
// if (estimatedDist/candidateDist < 1.1 && estimatedDist/candidateDist > 0.9)
716+
// {
717+
// poseKeypoints[{p,bpOrig,0}] = x;
718+
// poseKeypoints[{p,bpOrig,1}] = y;
719+
// // Set body part score
720+
// const auto s = peaksPtr[closestIndex+2];
721+
// // poseKeypoints[{p,bpOrig,2}] = s -;
722+
// poseKeypoints[{p,bpOrig,2}] = s;
723+
// }
724+
// }
700725
// Set poseScore
701726
poseScores[p] += poseKeypoints[{p,bpOrig,2}];
702727
}

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