Live Human Pose Estimation with OpenVINO™
=========================================

This notebook demonstrates live pose estimation with OpenVINO, using the
OpenPose
`human-pose-estimation-0001 <https://github.com/openvinotoolkit/open_model_zoo/tree/master/models/intel/human-pose-estimation-0001>`__
model from `Open Model
Zoo <https://github.com/openvinotoolkit/open_model_zoo/>`__. Final part
of this notebook shows live inference results from a webcam.
Additionally, you can also upload a video file.

   **NOTE**: To use a webcam, you must run this Jupyter notebook on a
   computer with a webcam. If you run on a server, the webcam will not
   work. However, you can still do inference on a video in the final
   step.

**Table of contents:**


-  `Imports <#imports>`__
-  `The model <#the-model>`__

   -  `Download the model <#download-the-model>`__
   -  `Load the model <#load-the-model>`__

-  `Processing <#processing>`__

   -  `OpenPose Decoder <#openpose-decoder>`__
   -  `Process Results <#process-results>`__
   -  `Draw Pose Overlays <#draw-pose-overlays>`__
   -  `Main Processing Function <#main-processing-function>`__

-  `Run <#run>`__

   -  `Run Live Pose Estimation <#run-live-pose-estimation>`__

Installation Instructions
~~~~~~~~~~~~~~~~~~~~~~~~~

This is a self-contained example that relies solely on its own code.

We recommend running the notebook in a virtual environment. You only
need a Jupyter server to start. For details, please refer to
`Installation
Guide <https://github.com/openvinotoolkit/openvino_notebooks/blob/latest/README.md#-installation-guide>`__.

.. code:: ipython3

    %pip install -q "openvino>=2023.1.0" opencv-python tqdm


.. parsed-literal::

    Note: you may need to restart the kernel to use updated packages.


Imports
-------



.. code:: ipython3

    import collections
    import time
    from pathlib import Path
    
    import cv2
    import numpy as np
    from IPython import display
    from numpy.lib.stride_tricks import as_strided
    import openvino as ov
    
    # Fetch `notebook_utils` module
    import requests
    
    r = requests.get(
        url="https://raw.githubusercontent.com/openvinotoolkit/openvino_notebooks/latest/utils/notebook_utils.py",
    )
    
    open("notebook_utils.py", "w").write(r.text)
    import notebook_utils as utils

The model
---------



Download the model
~~~~~~~~~~~~~~~~~~



Use the ``download_file``, a function from the ``notebook_utils`` file.
It automatically creates a directory structure and downloads the
selected model.

If you want to download another model, replace the name of the model and
precision in the code below.

   **NOTE**: This may require a different pose decoder.

.. code:: ipython3

    # A directory where the model will be downloaded.
    base_model_dir = Path("model")
    
    # The name of the model from Open Model Zoo.
    model_name = "human-pose-estimation-0001"
    # Selected precision (FP32, FP16, FP16-INT8).
    precision = "FP16-INT8"
    
    model_path = base_model_dir / "intel" / model_name / precision / f"{model_name}.xml"
    
    if not model_path.exists():
        model_url_dir = f"https://storage.openvinotoolkit.org/repositories/open_model_zoo/2022.1/models_bin/3/{model_name}/{precision}/"
        utils.download_file(model_url_dir + model_name + ".xml", model_path.name, model_path.parent)
        utils.download_file(
            model_url_dir + model_name + ".bin",
            model_path.with_suffix(".bin").name,
            model_path.parent,
        )



.. parsed-literal::

    model/intel/human-pose-estimation-0001/FP16-INT8/human-pose-estimation-0001.xml:   0%|          | 0.00/474k [0…



.. parsed-literal::

    model/intel/human-pose-estimation-0001/FP16-INT8/human-pose-estimation-0001.bin:   0%|          | 0.00/4.03M […


Load the model
~~~~~~~~~~~~~~



Downloaded models are located in a fixed structure, which indicates a
vendor, the name of the model and a precision.

Only a few lines of code are required to run the model. First,
initialize OpenVINO Runtime. Then, read the network architecture and
model weights from the ``.bin`` and ``.xml`` files to compile it for the
desired device. Select device from dropdown list for running inference
using OpenVINO.

.. code:: ipython3

    device = utils.device_widget()
    
    device




.. parsed-literal::

    Dropdown(description='Device:', index=1, options=('CPU', 'AUTO'), value='AUTO')



.. code:: ipython3

    # Initialize OpenVINO Runtime
    core = ov.Core()
    # Read the network from a file.
    model = core.read_model(model_path)
    # Let the AUTO device decide where to load the model (you can use CPU, GPU as well).
    compiled_model = core.compile_model(model=model, device_name=device.value, config={"PERFORMANCE_HINT": "LATENCY"})
    
    # Get the input and output names of nodes.
    input_layer = compiled_model.input(0)
    output_layers = compiled_model.outputs
    
    # Get the input size.
    height, width = list(input_layer.shape)[2:]

Input layer has the name of the input node and output layers contain
names of output nodes of the network. In the case of OpenPose Model,
there is 1 input and 2 outputs: PAFs and keypoints heatmap.

.. code:: ipython3

    input_layer.any_name, [o.any_name for o in output_layers]




.. parsed-literal::

    ('data', ['Mconv7_stage2_L1', 'Mconv7_stage2_L2'])



OpenPose Decoder
~~~~~~~~~~~~~~~~



To transform the raw results from the neural network into pose
estimations, you need OpenPose Decoder. It is provided in the `Open
Model
Zoo <https://github.com/openvinotoolkit/open_model_zoo/blob/master/demos/common/python/openvino/model_zoo/model_api/models/open_pose.py>`__
and compatible with the ``human-pose-estimation-0001`` model.

If you choose a model other than ``human-pose-estimation-0001`` you will
need another decoder (for example, ``AssociativeEmbeddingDecoder``),
which is available in the `demos
section <https://github.com/openvinotoolkit/open_model_zoo/blob/master/demos/common/python/openvino/model_zoo/model_api/models/hpe_associative_embedding.py>`__
of Open Model Zoo.

.. code:: ipython3

    # code from https://github.com/openvinotoolkit/open_model_zoo/blob/9296a3712069e688fe64ea02367466122c8e8a3b/demos/common/python/models/open_pose.py#L135
    class OpenPoseDecoder:
        BODY_PARTS_KPT_IDS = (
            (1, 2),
            (1, 5),
            (2, 3),
            (3, 4),
            (5, 6),
            (6, 7),
            (1, 8),
            (8, 9),
            (9, 10),
            (1, 11),
            (11, 12),
            (12, 13),
            (1, 0),
            (0, 14),
            (14, 16),
            (0, 15),
            (15, 17),
            (2, 16),
            (5, 17),
        )
        BODY_PARTS_PAF_IDS = (
            12,
            20,
            14,
            16,
            22,
            24,
            0,
            2,
            4,
            6,
            8,
            10,
            28,
            30,
            34,
            32,
            36,
            18,
            26,
        )
    
        def __init__(
            self,
            num_joints=18,
            skeleton=BODY_PARTS_KPT_IDS,
            paf_indices=BODY_PARTS_PAF_IDS,
            max_points=100,
            score_threshold=0.1,
            min_paf_alignment_score=0.05,
            delta=0.5,
        ):
            self.num_joints = num_joints
            self.skeleton = skeleton
            self.paf_indices = paf_indices
            self.max_points = max_points
            self.score_threshold = score_threshold
            self.min_paf_alignment_score = min_paf_alignment_score
            self.delta = delta
    
            self.points_per_limb = 10
            self.grid = np.arange(self.points_per_limb, dtype=np.float32).reshape(1, -1, 1)
    
        def __call__(self, heatmaps, nms_heatmaps, pafs):
            batch_size, _, h, w = heatmaps.shape
            assert batch_size == 1, "Batch size of 1 only supported"
    
            keypoints = self.extract_points(heatmaps, nms_heatmaps)
            pafs = np.transpose(pafs, (0, 2, 3, 1))
    
            if self.delta > 0:
                for kpts in keypoints:
                    kpts[:, :2] += self.delta
                    np.clip(kpts[:, 0], 0, w - 1, out=kpts[:, 0])
                    np.clip(kpts[:, 1], 0, h - 1, out=kpts[:, 1])
    
            pose_entries, keypoints = self.group_keypoints(keypoints, pafs, pose_entry_size=self.num_joints + 2)
            poses, scores = self.convert_to_coco_format(pose_entries, keypoints)
            if len(poses) > 0:
                poses = np.asarray(poses, dtype=np.float32)
                poses = poses.reshape((poses.shape[0], -1, 3))
            else:
                poses = np.empty((0, 17, 3), dtype=np.float32)
                scores = np.empty(0, dtype=np.float32)
    
            return poses, scores
    
        def extract_points(self, heatmaps, nms_heatmaps):
            batch_size, channels_num, h, w = heatmaps.shape
            assert batch_size == 1, "Batch size of 1 only supported"
            assert channels_num >= self.num_joints
    
            xs, ys, scores = self.top_k(nms_heatmaps)
            masks = scores > self.score_threshold
            all_keypoints = []
            keypoint_id = 0
            for k in range(self.num_joints):
                # Filter low-score points.
                mask = masks[0, k]
                x = xs[0, k][mask].ravel()
                y = ys[0, k][mask].ravel()
                score = scores[0, k][mask].ravel()
                n = len(x)
                if n == 0:
                    all_keypoints.append(np.empty((0, 4), dtype=np.float32))
                    continue
                # Apply quarter offset to improve localization accuracy.
                x, y = self.refine(heatmaps[0, k], x, y)
                np.clip(x, 0, w - 1, out=x)
                np.clip(y, 0, h - 1, out=y)
                # Pack resulting points.
                keypoints = np.empty((n, 4), dtype=np.float32)
                keypoints[:, 0] = x
                keypoints[:, 1] = y
                keypoints[:, 2] = score
                keypoints[:, 3] = np.arange(keypoint_id, keypoint_id + n)
                keypoint_id += n
                all_keypoints.append(keypoints)
            return all_keypoints
    
        def top_k(self, heatmaps):
            N, K, _, W = heatmaps.shape
            heatmaps = heatmaps.reshape(N, K, -1)
            # Get positions with top scores.
            ind = heatmaps.argpartition(-self.max_points, axis=2)[:, :, -self.max_points :]
            scores = np.take_along_axis(heatmaps, ind, axis=2)
            # Keep top scores sorted.
            subind = np.argsort(-scores, axis=2)
            ind = np.take_along_axis(ind, subind, axis=2)
            scores = np.take_along_axis(scores, subind, axis=2)
            y, x = np.divmod(ind, W)
            return x, y, scores
    
        @staticmethod
        def refine(heatmap, x, y):
            h, w = heatmap.shape[-2:]
            valid = np.logical_and(np.logical_and(x > 0, x < w - 1), np.logical_and(y > 0, y < h - 1))
            xx = x[valid]
            yy = y[valid]
            dx = np.sign(heatmap[yy, xx + 1] - heatmap[yy, xx - 1], dtype=np.float32) * 0.25
            dy = np.sign(heatmap[yy + 1, xx] - heatmap[yy - 1, xx], dtype=np.float32) * 0.25
            x = x.astype(np.float32)
            y = y.astype(np.float32)
            x[valid] += dx
            y[valid] += dy
            return x, y
    
        @staticmethod
        def is_disjoint(pose_a, pose_b):
            pose_a = pose_a[:-2]
            pose_b = pose_b[:-2]
            return np.all(np.logical_or.reduce((pose_a == pose_b, pose_a < 0, pose_b < 0)))
    
        def update_poses(
            self,
            kpt_a_id,
            kpt_b_id,
            all_keypoints,
            connections,
            pose_entries,
            pose_entry_size,
        ):
            for connection in connections:
                pose_a_idx = -1
                pose_b_idx = -1
                for j, pose in enumerate(pose_entries):
                    if pose[kpt_a_id] == connection[0]:
                        pose_a_idx = j
                    if pose[kpt_b_id] == connection[1]:
                        pose_b_idx = j
                if pose_a_idx < 0 and pose_b_idx < 0:
                    # Create new pose entry.
                    pose_entry = np.full(pose_entry_size, -1, dtype=np.float32)
                    pose_entry[kpt_a_id] = connection[0]
                    pose_entry[kpt_b_id] = connection[1]
                    pose_entry[-1] = 2
                    pose_entry[-2] = np.sum(all_keypoints[connection[0:2], 2]) + connection[2]
                    pose_entries.append(pose_entry)
                elif pose_a_idx >= 0 and pose_b_idx >= 0 and pose_a_idx != pose_b_idx:
                    # Merge two poses are disjoint merge them, otherwise ignore connection.
                    pose_a = pose_entries[pose_a_idx]
                    pose_b = pose_entries[pose_b_idx]
                    if self.is_disjoint(pose_a, pose_b):
                        pose_a += pose_b
                        pose_a[:-2] += 1
                        pose_a[-2] += connection[2]
                        del pose_entries[pose_b_idx]
                elif pose_a_idx >= 0 and pose_b_idx >= 0:
                    # Adjust score of a pose.
                    pose_entries[pose_a_idx][-2] += connection[2]
                elif pose_a_idx >= 0:
                    # Add a new limb into pose.
                    pose = pose_entries[pose_a_idx]
                    if pose[kpt_b_id] < 0:
                        pose[-2] += all_keypoints[connection[1], 2]
                    pose[kpt_b_id] = connection[1]
                    pose[-2] += connection[2]
                    pose[-1] += 1
                elif pose_b_idx >= 0:
                    # Add a new limb into pose.
                    pose = pose_entries[pose_b_idx]
                    if pose[kpt_a_id] < 0:
                        pose[-2] += all_keypoints[connection[0], 2]
                    pose[kpt_a_id] = connection[0]
                    pose[-2] += connection[2]
                    pose[-1] += 1
            return pose_entries
    
        @staticmethod
        def connections_nms(a_idx, b_idx, affinity_scores):
            # From all retrieved connections that share starting/ending keypoints leave only the top-scoring ones.
            order = affinity_scores.argsort()[::-1]
            affinity_scores = affinity_scores[order]
            a_idx = a_idx[order]
            b_idx = b_idx[order]
            idx = []
            has_kpt_a = set()
            has_kpt_b = set()
            for t, (i, j) in enumerate(zip(a_idx, b_idx)):
                if i not in has_kpt_a and j not in has_kpt_b:
                    idx.append(t)
                    has_kpt_a.add(i)
                    has_kpt_b.add(j)
            idx = np.asarray(idx, dtype=np.int32)
            return a_idx[idx], b_idx[idx], affinity_scores[idx]
    
        def group_keypoints(self, all_keypoints_by_type, pafs, pose_entry_size=20):
            all_keypoints = np.concatenate(all_keypoints_by_type, axis=0)
            pose_entries = []
            # For every limb.
            for part_id, paf_channel in enumerate(self.paf_indices):
                kpt_a_id, kpt_b_id = self.skeleton[part_id]
                kpts_a = all_keypoints_by_type[kpt_a_id]
                kpts_b = all_keypoints_by_type[kpt_b_id]
                n = len(kpts_a)
                m = len(kpts_b)
                if n == 0 or m == 0:
                    continue
    
                # Get vectors between all pairs of keypoints, i.e. candidate limb vectors.
                a = kpts_a[:, :2]
                a = np.broadcast_to(a[None], (m, n, 2))
                b = kpts_b[:, :2]
                vec_raw = (b[:, None, :] - a).reshape(-1, 1, 2)
    
                # Sample points along every candidate limb vector.
                steps = 1 / (self.points_per_limb - 1) * vec_raw
                points = steps * self.grid + a.reshape(-1, 1, 2)
                points = points.round().astype(dtype=np.int32)
                x = points[..., 0].ravel()
                y = points[..., 1].ravel()
    
                # Compute affinity score between candidate limb vectors and part affinity field.
                part_pafs = pafs[0, :, :, paf_channel : paf_channel + 2]
                field = part_pafs[y, x].reshape(-1, self.points_per_limb, 2)
                vec_norm = np.linalg.norm(vec_raw, ord=2, axis=-1, keepdims=True)
                vec = vec_raw / (vec_norm + 1e-6)
                affinity_scores = (field * vec).sum(-1).reshape(-1, self.points_per_limb)
                valid_affinity_scores = affinity_scores > self.min_paf_alignment_score
                valid_num = valid_affinity_scores.sum(1)
                affinity_scores = (affinity_scores * valid_affinity_scores).sum(1) / (valid_num + 1e-6)
                success_ratio = valid_num / self.points_per_limb
    
                # Get a list of limbs according to the obtained affinity score.
                valid_limbs = np.where(np.logical_and(affinity_scores > 0, success_ratio > 0.8))[0]
                if len(valid_limbs) == 0:
                    continue
                b_idx, a_idx = np.divmod(valid_limbs, n)
                affinity_scores = affinity_scores[valid_limbs]
    
                # Suppress incompatible connections.
                a_idx, b_idx, affinity_scores = self.connections_nms(a_idx, b_idx, affinity_scores)
                connections = list(
                    zip(
                        kpts_a[a_idx, 3].astype(np.int32),
                        kpts_b[b_idx, 3].astype(np.int32),
                        affinity_scores,
                    )
                )
                if len(connections) == 0:
                    continue
    
                # Update poses with new connections.
                pose_entries = self.update_poses(
                    kpt_a_id,
                    kpt_b_id,
                    all_keypoints,
                    connections,
                    pose_entries,
                    pose_entry_size,
                )
    
            # Remove poses with not enough points.
            pose_entries = np.asarray(pose_entries, dtype=np.float32).reshape(-1, pose_entry_size)
            pose_entries = pose_entries[pose_entries[:, -1] >= 3]
            return pose_entries, all_keypoints
    
        @staticmethod
        def convert_to_coco_format(pose_entries, all_keypoints):
            num_joints = 17
            coco_keypoints = []
            scores = []
            for pose in pose_entries:
                if len(pose) == 0:
                    continue
                keypoints = np.zeros(num_joints * 3)
                reorder_map = [0, -1, 6, 8, 10, 5, 7, 9, 12, 14, 16, 11, 13, 15, 2, 1, 4, 3]
                person_score = pose[-2]
                for keypoint_id, target_id in zip(pose[:-2], reorder_map):
                    if target_id < 0:
                        continue
                    cx, cy, score = 0, 0, 0  # keypoint not found
                    if keypoint_id != -1:
                        cx, cy, score = all_keypoints[int(keypoint_id), 0:3]
                    keypoints[target_id * 3 + 0] = cx
                    keypoints[target_id * 3 + 1] = cy
                    keypoints[target_id * 3 + 2] = score
                coco_keypoints.append(keypoints)
                scores.append(person_score * max(0, (pose[-1] - 1)))  # -1 for 'neck'
            return np.asarray(coco_keypoints), np.asarray(scores)

Processing
----------



.. code:: ipython3

    decoder = OpenPoseDecoder()

Process Results
~~~~~~~~~~~~~~~



A bunch of useful functions to transform results into poses.

First, pool the heatmap. Since pooling is not available in numpy, use a
simple method to do it directly with numpy. Then, use non-maximum
suppression to get the keypoints from the heatmap. After that, decode
poses by using the decoder. Since the input image is bigger than the
network outputs, you need to multiply all pose coordinates by a scaling
factor.

.. code:: ipython3

    # 2D pooling in numpy (from: https://stackoverflow.com/a/54966908/1624463)
    def pool2d(A, kernel_size, stride, padding, pool_mode="max"):
        """
        2D Pooling
    
        Parameters:
            A: input 2D array
            kernel_size: int, the size of the window
            stride: int, the stride of the window
            padding: int, implicit zero paddings on both sides of the input
            pool_mode: string, 'max' or 'avg'
        """
        # Padding
        A = np.pad(A, padding, mode="constant")
    
        # Window view of A
        output_shape = (
            (A.shape[0] - kernel_size) // stride + 1,
            (A.shape[1] - kernel_size) // stride + 1,
        )
        kernel_size = (kernel_size, kernel_size)
        A_w = as_strided(
            A,
            shape=output_shape + kernel_size,
            strides=(stride * A.strides[0], stride * A.strides[1]) + A.strides,
        )
        A_w = A_w.reshape(-1, *kernel_size)
    
        # Return the result of pooling.
        if pool_mode == "max":
            return A_w.max(axis=(1, 2)).reshape(output_shape)
        elif pool_mode == "avg":
            return A_w.mean(axis=(1, 2)).reshape(output_shape)
    
    
    # non maximum suppression
    def heatmap_nms(heatmaps, pooled_heatmaps):
        return heatmaps * (heatmaps == pooled_heatmaps)
    
    
    # Get poses from results.
    def process_results(img, pafs, heatmaps):
        # This processing comes from
        # https://github.com/openvinotoolkit/open_model_zoo/blob/master/demos/common/python/models/open_pose.py
        pooled_heatmaps = np.array([[pool2d(h, kernel_size=3, stride=1, padding=1, pool_mode="max") for h in heatmaps[0]]])
        nms_heatmaps = heatmap_nms(heatmaps, pooled_heatmaps)
    
        # Decode poses.
        poses, scores = decoder(heatmaps, nms_heatmaps, pafs)
        output_shape = list(compiled_model.output(index=0).partial_shape)
        output_scale = (
            img.shape[1] / output_shape[3].get_length(),
            img.shape[0] / output_shape[2].get_length(),
        )
        # Multiply coordinates by a scaling factor.
        poses[:, :, :2] *= output_scale
        return poses, scores

Draw Pose Overlays
~~~~~~~~~~~~~~~~~~



Draw pose overlays on the image to visualize estimated poses. Joints are
drawn as circles and limbs are drawn as lines. The code is based on the
`Human Pose Estimation
Demo <https://github.com/openvinotoolkit/open_model_zoo/tree/master/demos/human_pose_estimation_demo/python>`__
from Open Model Zoo.

.. code:: ipython3

    colors = (
        (255, 0, 0),
        (255, 0, 255),
        (170, 0, 255),
        (255, 0, 85),
        (255, 0, 170),
        (85, 255, 0),
        (255, 170, 0),
        (0, 255, 0),
        (255, 255, 0),
        (0, 255, 85),
        (170, 255, 0),
        (0, 85, 255),
        (0, 255, 170),
        (0, 0, 255),
        (0, 255, 255),
        (85, 0, 255),
        (0, 170, 255),
    )
    
    default_skeleton = (
        (15, 13),
        (13, 11),
        (16, 14),
        (14, 12),
        (11, 12),
        (5, 11),
        (6, 12),
        (5, 6),
        (5, 7),
        (6, 8),
        (7, 9),
        (8, 10),
        (1, 2),
        (0, 1),
        (0, 2),
        (1, 3),
        (2, 4),
        (3, 5),
        (4, 6),
    )
    
    
    def draw_poses(img, poses, point_score_threshold, skeleton=default_skeleton):
        if poses.size == 0:
            return img
    
        img_limbs = np.copy(img)
        for pose in poses:
            points = pose[:, :2].astype(np.int32)
            points_scores = pose[:, 2]
            # Draw joints.
            for i, (p, v) in enumerate(zip(points, points_scores)):
                if v > point_score_threshold:
                    cv2.circle(img, tuple(p), 1, colors[i], 2)
            # Draw limbs.
            for i, j in skeleton:
                if points_scores[i] > point_score_threshold and points_scores[j] > point_score_threshold:
                    cv2.line(
                        img_limbs,
                        tuple(points[i]),
                        tuple(points[j]),
                        color=colors[j],
                        thickness=4,
                    )
        cv2.addWeighted(img, 0.4, img_limbs, 0.6, 0, dst=img)
        return img

Main Processing Function
~~~~~~~~~~~~~~~~~~~~~~~~



Run pose estimation on the specified source. Either a webcam or a video
file.

.. code:: ipython3

    # Main processing function to run pose estimation.
    def run_pose_estimation(source=0, flip=False, use_popup=False, skip_first_frames=0):
        pafs_output_key = compiled_model.output("Mconv7_stage2_L1")
        heatmaps_output_key = compiled_model.output("Mconv7_stage2_L2")
        player = None
        try:
            # Create a video player to play with target fps.
            player = utils.VideoPlayer(source, flip=flip, fps=30, skip_first_frames=skip_first_frames)
            # Start capturing.
            player.start()
            if use_popup:
                title = "Press ESC to Exit"
                cv2.namedWindow(title, cv2.WINDOW_GUI_NORMAL | cv2.WINDOW_AUTOSIZE)
    
            processing_times = collections.deque()
    
            while True:
                # Grab the frame.
                frame = player.next()
                if frame is None:
                    print("Source ended")
                    break
                # If the frame is larger than full HD, reduce size to improve the performance.
                scale = 1280 / max(frame.shape)
                if scale < 1:
                    frame = cv2.resize(frame, None, fx=scale, fy=scale, interpolation=cv2.INTER_AREA)
    
                # Resize the image and change dims to fit neural network input.
                # (see https://github.com/openvinotoolkit/open_model_zoo/tree/master/models/intel/human-pose-estimation-0001)
                input_img = cv2.resize(frame, (width, height), interpolation=cv2.INTER_AREA)
                # Create a batch of images (size = 1).
                input_img = input_img.transpose((2, 0, 1))[np.newaxis, ...]
    
                # Measure processing time.
                start_time = time.time()
                # Get results.
                results = compiled_model([input_img])
                stop_time = time.time()
    
                pafs = results[pafs_output_key]
                heatmaps = results[heatmaps_output_key]
                # Get poses from network results.
                poses, scores = process_results(frame, pafs, heatmaps)
    
                # Draw poses on a frame.
                frame = draw_poses(frame, poses, 0.1)
    
                processing_times.append(stop_time - start_time)
                # Use processing times from last 200 frames.
                if len(processing_times) > 200:
                    processing_times.popleft()
    
                _, f_width = frame.shape[:2]
                # mean processing time [ms]
                processing_time = np.mean(processing_times) * 1000
                fps = 1000 / processing_time
                cv2.putText(
                    frame,
                    f"Inference time: {processing_time:.1f}ms ({fps:.1f} FPS)",
                    (20, 40),
                    cv2.FONT_HERSHEY_COMPLEX,
                    f_width / 1000,
                    (0, 0, 255),
                    1,
                    cv2.LINE_AA,
                )
    
                # Use this workaround if there is flickering.
                if use_popup:
                    cv2.imshow(title, frame)
                    key = cv2.waitKey(1)
                    # escape = 27
                    if key == 27:
                        break
                else:
                    # Encode numpy array to jpg.
                    _, encoded_img = cv2.imencode(".jpg", frame, params=[cv2.IMWRITE_JPEG_QUALITY, 90])
                    # Create an IPython image.
                    i = display.Image(data=encoded_img)
                    # Display the image in this notebook.
                    display.clear_output(wait=True)
                    display.display(i)
        # ctrl-c
        except KeyboardInterrupt:
            print("Interrupted")
        # any different error
        except RuntimeError as e:
            print(e)
        finally:
            if player is not None:
                # Stop capturing.
                player.stop()
            if use_popup:
                cv2.destroyAllWindows()

Run
---



Run Live Pose Estimation
~~~~~~~~~~~~~~~~~~~~~~~~



Use a webcam as the video input. By default, the primary webcam is set
with ``source=0``. If you have multiple webcams, each one will be
assigned a consecutive number starting at 0. Set ``flip=True`` when
using a front-facing camera. Some web browsers, especially Mozilla
Firefox, may cause flickering. If you experience flickering, set
``use_popup=True``.

   **NOTE**: To use this notebook with a webcam, you need to run the
   notebook on a computer with a webcam. If you run the notebook on a
   server (for example, Binder), the webcam will not work. Popup mode
   may not work if you run this notebook on a remote computer (for
   example, Binder).

If you do not have a webcam, you can still run this demo with a video
file. Any `format supported by
OpenCV <https://docs.opencv.org/4.5.1/dd/d43/tutorial_py_video_display.html>`__
will work. You can skip first ``N`` frames to fast forward video.

Run the pose estimation:

.. code:: ipython3

    USE_WEBCAM = False
    cam_id = 0
    video_file = "https://github.com/intel-iot-devkit/sample-videos/blob/master/store-aisle-detection.mp4?raw=true"
    source = cam_id if USE_WEBCAM else video_file
    
    additional_options = {"skip_first_frames": 500} if not USE_WEBCAM else {}
    run_pose_estimation(source=source, flip=isinstance(source, int), use_popup=False, **additional_options)



.. image:: pose-estimation-with-output_files/pose-estimation-with-output_22_0.png


.. parsed-literal::

    Source ended

