openpose

package module
v1.0.0 Latest Latest
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 Go to latest Published: Oct 16, 2021 License: Apache-2.0 Imports: 22 Imported by: 0

README

Golang lib for pose detection using tensorflow openpose

Go Reference Go goreleaser GitHub go.mod Go version of a Go module GoReportCard GitHub license GitHub release

Prerequest

  1. libtensorfow 1.x Follow the instruction Install TensorFlow for C
  2. download tenorflow model graph

Demo

demo screen capture

Install

go get -u github.com/bububa/openpose

Camera & Server

Requirements
  • libjpeg-turbo (use -tags jpeg to build without CGo)
  • On Linux/RPi native Go V4L implementation is used to capture images.
Use Opencv4
make cvcamera
On linux/Pi
# use native Go V4L implementation is used to capture images
make linux_camera
Use image/jpeg instead of libjpeg-turbo

use jpeg build tag to build with native Go image/jpeg instead of libjpeg-turbo

go build -o=./bin/cvcamera -tags=cv4,jpeg ./cmd/camera
Usage as Server
Usage of camera:
  -bind string
	Bind address (default ":56000")
  -delay int
	Delay between frames, in milliseconds (default 10)
  -width float
	Frame width (default 640)
  -height float
	Frame height (default 480)
  -index int
	Camera index
  -model string
    mode path

User as lib

import (
    "github.com/bububa/openpose"
)

func main() {
	t := openpose.NewPoseEstimator(modelPath, openpose.MobileNet)
	wd, _ := os.Getwd()
	img, err := loadImage("./golf.jpg")
	if err != nil {
		log.Fatalln(err)
	}
	modelSize := openpose.ModelSizeFaster
	sharpenSigma := 0.0
	t.SetSharpenSigma(sharpenSigma)
	humans, err := t.Estimate(img, modelSize)
	if err != nil {
		log.Fatalln(err)
	}
	outImg := openpose.DrawHumans(img, humans, 2)
    saveImage(outImg, "./out/jpg")
}

Documentation

Index

Constants

View Source 
const (
	ThresholdPartConfidence float32 = 0.3
	InterThreashold         float32 = 0.1
	InterMinAboveThreshold  int     = 6
	NMS_Threshold           float64 = 0.1
	MinSubsetCnt            int     = 4
	MinSubsetScore          float32 = 0.8
	ThresholdHumanScore     float32 = 0.4
)
View Source 
const (
	DefaultSharpenSigma float64 = 0.0
)
View Source 
const TotalBodyParts = 18

Variables

View Source 
var CocoColors = [][3]uint8{
	{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},
}

CocoColors represents color for coco parts

View Source 
var CocoPairs = [][2]CocoPart{
	{CocoPartNeck, CocoPartRShoulder}, {CocoPartNeck, CocoPartLShoulder}, {CocoPartRShoulder, CocoPartRElbow},
	{CocoPartRElbow, CocoPartRWrist}, {CocoPartLShoulder, CocoPartLElbow}, {CocoPartLElbow, CocoPartLWrist},
	{CocoPartNeck, CocoPartRHip}, {CocoPartRHip, CocoPartRKnee}, {CocoPartRKnee, CocoPartRAnkle},
	{CocoPartNeck, CocoPartLHip}, {CocoPartLHip, CocoPartLKnee}, {CocoPartLKnee, CocoPartLAnkle},
	{CocoPartNeck, CocoPartNose},
	{CocoPartNose, CocoPartREye}, {CocoPartREye, CocoPartREar},
	{CocoPartNose, CocoPartLEye}, {CocoPartLEye, CocoPartLEar},
	{CocoPartRShoulder, CocoPartREar},
	{CocoPartLShoulder, CocoPartLEar},
}

CocoPairs coco part pairs

View Source 
var CocoPairsNetwork = [][2]CocoPart{
	{12, 13}, {20, 21}, {14, 15}, {16, 17}, {22, 23}, {24, 25}, {0, 1}, {2, 3}, {4, 5}, {6, 7}, {8, 9}, {10, 11}, {28, 29}, {30, 31}, {34, 35}, {32, 33}, {36, 37}, {18, 19}, {26, 27},
}

CocoPairNetwork .

View Source 
var CocoPairsRender = CocoPairs[0 : len(CocoPairs)-2]

CocoPairsRender represents coco pairs for render

View Source 
var CoordParts = []CocoPart{
	CocoPartNose,
	CocoPartNeck,
	CocoPartRShoulder,
	CocoPartLShoulder,
	CocoPartRHip,
	CocoPartLHip,
	CocoPartREye,
	CocoPartLEye,
	CocoPartREar,
	CocoPartLEar,
}

CoordParts represents CocoParts for coordinate

View Source 
var CoordPartsMap = map[CocoPart]struct{}{
	CocoPartNose:      {},
	CocoPartNeck:      {},
	CocoPartRShoulder: {},
	CocoPartLShoulder: {},
	CocoPartRHip:      {},
	CocoPartLHip:      {},
	CocoPartREye:      {},
	CocoPartLEye:      {},
	CocoPartREar:      {},
	CocoPartLEar:      {},
}

CoordPartsMap represents CocoParts for coordinate in map

View Source 
var PartPairs = []PartPair{
	{MPIIPartHead, CocoPartNose},
	{MPIIPartNeck, CocoPartNeck},
	{MPIIPartRShoulder, CocoPartRShoulder},
	{MPIIPartRElbow, CocoPartRElbow},
	{MPIIPartRWrist, CocoPartRWrist},
	{MPIIPartLShoulder, CocoPartLShoulder},
	{MPIIPartLElbow, CocoPartLElbow},
	{MPIIPartLWrist, CocoPartLWrist},
	{MPIIPartRHip, CocoPartRHip},
	{MPIIPartRKnee, CocoPartRKnee},
	{MPIIPartRAnkle, CocoPartRAnkle},
	{MPIIPartLHip, CocoPartLHip},
	{MPIIPartLKnee, CocoPartLKnee},
	{MPIIPartLAnkle, CocoPartLAnkle},
}

PartPairs represents MPIIPart, CocoPart pair list

View Source 
var ZP = Point{0, 0}

ZP represents zero position point

View Source 
var ZR = Rect(0, 0, 0, 0)

ZR represents zero size rectangle

View Source 
var ZS = ASize(0, 0)

ZS returns a new Size with zero

Functions

func BodyPartID 

func BodyPartID(humanID int, part CocoPart) string

BodyPartID returns a BodyPart.ID with given CocoPart and index

func ColorFromHex 

func ColorFromHex(hexColor string) color.RGBA

ColorFromHex get color from hex

func DrawHumans 

func DrawHumans(img image.Image, humans []Human, strokeWidth float64) image.Image

func RoundInt 

func RoundInt(v float64) int

RoundInt returns int round

Types

type BodyPart 

type BodyPart struct {
	// Part CocoPart
	Part CocoPart
	// Point coordinate of body part
	Point Point
	// Score confidence score
	Score float32
}

BodyPart represents body part

func NewBodyPart 

func NewBodyPart(part CocoPart, point Point, score float32) BodyPart

NewBodyPart returns a new BodyPart

func (BodyPart) String 

func (b BodyPart) String() string

String return BodyPart string representation

type BodyPartPair 

type BodyPartPair struct {
	Parts  [2]CocoPart
	Points [2]Point
	Score  float64
}

BodyPartPair ...

type CocoPart 

type CocoPart int

CocoPart represents body parts 

const (
	// CocoPartNose nose
	CocoPartNose CocoPart = iota
	// CocoPartNeck neck
	CocoPartNeck
	// CocoPartRShoulder right sholder
	CocoPartRShoulder
	// CocoPartRElbow right elbow
	CocoPartRElbow
	// CocoPartRWrist right wrist
	CocoPartRWrist
	// CocoPartLShoulder left sholder
	CocoPartLShoulder
	// CocoPartLElbow left elbow
	CocoPartLElbow
	// CocoPartLWrist left wrist
	CocoPartLWrist
	// CocoPartRHip right hip
	CocoPartRHip
	// CocoPartRKnee right knee
	CocoPartRKnee
	// CocoPartRAnkle right ankle
	CocoPartRAnkle
	// CocoPartLHip left hip
	CocoPartLHip
	// CocoPartLKnee left knee
	CocoPartLKnee
	// CocoPartLAnkle left ankle
	CocoPartLAnkle
	// CocoPartREye right eye
	CocoPartREye
	// CocoPartLEye left eye
	CocoPartLEye
	// CocoPartREar right ear
	CocoPartREar
	// CocoPartLEar left ear
	CocoPartLEar
	// CocoPartBackground background
	CocoPartBackground
)

type Connection 

type Connection struct {
	Score       float32
	Coords      [2]image.Point
	Idx         [2]int
	Parts       [2]CocoPart
	Scores      [2]float32
	NormPadding Size
	UPartIdx    map[string]struct{}
}

Connection represents coco part connection

func (Connection) GetUPartIdx 

func (c Connection) GetUPartIdx() map[string]struct{}

GetUPartIdx generate uniq partidx string for merge connections

func (Connection) ToBodyParts 

func (c Connection) ToBodyParts(parts *[2]BodyPart, rows float64, cols float64)

ToBodyPart returns BodyParts based on Connection

type Human 

type Human struct {
	Parts map[CocoPart]BodyPart
	Score float32
}

Human represents human structure

func NewHuman 

func NewHuman() *Human

NewHuman returns a new Human with given BodyPartPairs

func (Human) GetFaceBox 

func (h Human) GetFaceBox(imgW float64, imgH float64, mode int) Rectangle

GetFaceBox returns upper body box compared to img size (w, h)

func (Human) GetMaxScore 

func (h Human) GetMaxScore() float32

GetMaxScore returns the max score of body parts

func (Human) GetUpperBodyBox 

func (h Human) GetUpperBodyBox(imgW float64, imgH float64) Rectangle

GetUpperBodyBox returns upper body box compared to img size (w, h)

func (Human) HasPart 

func (h Human) HasPart(part CocoPart) bool

HasPart returns specific part exists in humnan or not

func (Human) PartCount 

func (h Human) PartCount() int

PartCount returns total number of body parts

func (*Human) Reset 

func (h *Human) Reset()

Reset reset human

type MPIIPart 

type MPIIPart int

MPIIPart MPII human parts 

const (
	// MPIIPartRAnkle right ankle
	MPIIPartRAnkle MPIIPart = iota
	// MPIIPartRKnee right knee
	MPIIPartRKnee

	MPIIPartRHip
	// MPIIPartLHip left hip
	MPIIPartLHip
	// MPIIPartLKnee left knee
	MPIIPartLKnee
	// MPIIPartLAnkle left ankle
	MPIIPartLAnkle
	// MPIIPartRWrist right wrist
	MPIIPartRWrist
	// MPIIPartRElbow right elbow
	MPIIPartRElbow
	// MPIIPartRShoulder right sholder
	MPIIPartRShoulder
	// MPIIPartLShoulder left sholder
	MPIIPartLShoulder
	// MPIIPartLElbow left elbow
	MPIIPartLElbow
	// MPIIPartLWrist left wrist
	MPIIPartLWrist
	// MPIIPartNeck neck
	MPIIPartNeck
	// MPIIPartHead head
	MPIIPartHead
)

type ModelSize 

type ModelSize [2]int

ModelSize size for training image 

var (
	ModelSizeBest    ModelSize = [2]int{1312, 736}
	ModelSizeBetter  ModelSize = [2]int{656, 368}
	ModelSizeCMU     ModelSize = [2]int{640, 360}
	ModelSizeDefault ModelSize = [2]int{432, 368}
	ModelSizeFaster  ModelSize = [2]int{336, 288}
	ModelSizeFatest  ModelSize = [2]int{304, 240}
)

type ModelType 

type ModelType int

ModelType represents type of mode graph 

const (
	// CMU cmu model graph
	CMU ModelType = iota
	// MobileNetmodelnet model graph
	MobileNet
)

type PartPair 

type PartPair struct {
	MPIIPart MPIIPart
	CocoPart CocoPart
}

PartPair represents pose part MPIIPart, CocoPart pair

type Point 

type Point struct {
	// X coordinate of body part
	X float64
	// Y coordinate of body part
	Y float64
}

Point represents coordinate

func BodyPartsPoints 

func BodyPartsPoints(parts []BodyPart) ([]Point, []bool)

BodyPartsPoints return body part points

func Pt 

func Pt(x float64, y float64) Point

Pt returns a new Point

func (Point) IsZero 

func (p Point) IsZero() bool

IsZero check if the Point is zero

type PoseEstimator 

type PoseEstimator struct {
	// contains filtered or unexported fields
}

PoseEstimator represents pose estimator instance

func NewPoseEstimator 

func NewPoseEstimator(modelPath string, modelType ModelType) *PoseEstimator

NewPoseEstimator returns a new TensorFlow PoseEstimator instance.

func (*PoseEstimator) Estimate 

func (t *PoseEstimator) Estimate(img image.Image, modelSize ModelSize) ([]Human, error)

Estimate returns estimated Humans in an image

func (*PoseEstimator) LoadModel 

func (t *PoseEstimator) LoadModel() error

LoadModel load tensorfow model

func (*PoseEstimator) ModelLoaded 

func (t *PoseEstimator) ModelLoaded() bool

ModelLoaded tests if the TensorFlow model is loaded.

func (*PoseEstimator) SetSharpenSigma 

func (t *PoseEstimator) SetSharpenSigma(sigma float64)

SetSharpenSigma set sharpen sigma for image preprocessing

type Rectangle 

type Rectangle struct {
	X int
	Y int
	W int
	H int
}

Rectangle represents rectangle

func Rect 

func Rect(x, y, w, h int) Rectangle

Rect returns a new Rectangle

func (Rectangle) Area 

func (r Rectangle) Area() int

Area returns rectangle area size

func (Rectangle) Intersect 

func (r Rectangle) Intersect(s Rectangle) Rectangle

Intersect returns the largest rectangle contained by both r and s. If the two rectangles do not overlap then the zero rectangle will be returned.

type Size 

type Size struct {
	W float64
	H float64
}

Size represents Size

func ASize 

func ASize(w, h float64) Size

ASize returns a Size

func ImagePreprocess 

func ImagePreprocess(img image.Image, modelSize ModelSize, sharpenSigma float64) (image.Image, Size)

ImagePreprocess preprocess image for model

func (Size) IsZero 

func (s Size) IsZero() bool

IsZero check if the Size is zero

Source Files

View all Source files

Directories

Path Synopsis
cmd
camera
camera/server
Package server implement server
 Package server implement server
camera/server/handlers
Package handlers include server handlers
 Package handlers include server handlers
Package combinations a package with combinations functions from python itertools
 Package combinations a package with combinations functions from python itertools
Package gaussian gaussian filter for mat
 Package gaussian gaussian filter for mat

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