body tracking implementation #39

lpasselin · 2020-08-06T21:48:50Z

Previous PR was a mess so let's continue here.

Implements body tracking with #ifdef BODY_TRACKING macros.

See README.md for instructions on how to install.

Enabling body tracking this way is a hack but we don't need to maintain two repositories.

Is there any other simple way to do this?

Release GIL in device_get_capture

Fixes, Example

# Conflicts: # example/threads.py # pyk4a/pyk4a.cpp

Reformat code Add type hintings Fix code errors

Refactor tests. Patch module for tests.

# Conflicts: # README.md # pyk4a/pyk4a.cpp

Refactor tests

romilpunetha · 2020-12-20T20:21:12Z

Any tentative release date for this?

lpasselin · 2020-12-20T21:21:40Z

No sorry. It used to work but now it would need a couple hours of refactor to be updated. Is this a feature you would use? Would you be willing to help me test if I work on it?

…

On Sun., Dec. 20, 2020, 15:21 Romil Punetha, ***@***.***> wrote: Any tentative release date for this? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#39 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABTB77F7EUWCBDMIXIY3RODSVZMELANCNFSM4PXAI55Q> .

romilpunetha · 2020-12-21T04:46:13Z

No sorry. It used to work but now it would need a couple hours of refactor to be updated. Is this a feature you would use? Would you be willing to help me test if I work on it?
…
On Sun., Dec. 20, 2020, 15:21 Romil Punetha, @.***> wrote: Any tentative release date for this? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#39 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABTB77F7EUWCBDMIXIY3RODSVZMELANCNFSM4PXAI55Q .

Yes, I have a kinect device and am looking at making use of the body tracking sdk using python. I can help test it.

codecov · 2020-12-21T14:52:49Z

Codecov Report

Merging #39 (da97299) into develop (7d18e35) will decrease coverage by 0.65%.
The diff coverage is 75.00%.

❗ Current head da97299 differs from pull request most recent head 007fb38. Consider uploading reports for the commit 007fb38 to get more accurate results

@@             Coverage Diff             @@
##           develop      #39      +/-   ##
===========================================
- Coverage    91.55%   90.90%   -0.65%     
===========================================
  Files            5        5              
  Lines          308      319      +11     
===========================================
+ Hits           282      290       +8     
- Misses          26       29       +3

Impacted Files	Coverage Δ
pyk4a/config.py	`95.89% <72.72%> (-4.11%)`	⬇️
pyk4a/pyk4a.py	`89.52% <100.00%> (+0.05%)`	⬆️

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lpasselin · 2020-12-21T18:24:18Z

@romilpunetha it works again!

For details, see property Capture.body_skeleton in pyk4a/capture.py

And example/pose_display_2d.py

romilpunetha · 2020-12-22T05:34:01Z

@romilpunetha it works again!

For details, see property Capture.body_skeleton in pyk4a/capture.py

And example/pose_display_2d.py

Great! I'll give it a try now.

romilpunetha · 2020-12-22T06:36:26Z

@romilpunetha it works again!

For details, see property Capture.body_skeleton in pyk4a/capture.py

And example/pose_display_2d.py

I'm getting the following error in reinstalling:

error: option --enable-body-tracking not recognized

Using the following command:

pip install pyk4a --no-use-pep517 --global-option=build_ext --global-option="-IC:\Program Files\Azure Kinect SDK v1.4.1\sdk\include" --global-option="-LC:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\lib" --global-option="build_ext"  --global-option="--enable-body-tracking"

romilpunetha · 2020-12-22T07:45:39Z

I also edited the setup.py to not depend on the body tracking flag. The setup completed. However, the example is throwing the following error:

$ python example/pose_display_2d.py
Traceback (most recent call last):
  File "example/pose_display_2d.py", line 19, in <module>
    body_skeleton = capture.body_skeleton
AttributeError: 'PyK4ACapture' object has no attribute 'body_skeleton'

lpasselin · 2020-12-22T14:10:54Z

The error you are getting is from wrong python code being used.

Maybe you are reusing an older pyk4a version. Make sure you install with --upgrade or pip uninstall pyk4a before installing the body tracking version. Also, try calling the example script from an other directory.

Be careful with the include paths. You are including the regular SDK files. We need them but also the body tracking sdk (it is possible they are already included). The following command is from the readme of the body tracking branch. It installs directly the code from the live branch. Notice the path is k4abt which stands for k4a body tracking:

pip install -v --no-use-pep517 --no-build-isolation --upgrade git+https://github.com/etiennedub/pyk4a.git@feature/body-tracking --global-option="build_ext" --global-option="-I/home/louis/p/pyk4a/k4abt/usr/include/" --global-option="-L/home/louis/p/pyk4a/k4abt/usr/lib/" --global-option="--enable-body-tracking"

romilpunetha · 2020-12-23T06:31:35Z

This is the full command:

pip install pyk4a --no-use-pep517 --no-build-isolation --global-option=build_ext --global-option="-IC:\Program Files\Azure Kinect SDK v1.4.1\sdk\include;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\include" --global-option="-LC:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\lib;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\windows-desktop\amd64\release\lib" --upgrade git+https://github.com/etiennedub/pyk4a.git@feature/body-tracking   --global-option="--enable-body-tracking"

I'm getting the following error due to compiler issues...fixing it:

 pyk4a/pyk4a.cpp(8): fatal error C1021: invalid preprocessor command 'warning'

lpasselin · 2020-12-23T12:36:20Z

Yes, with your body tracking install paths

…

On Wed., Dec. 23, 2020, 01:31 Romil Punetha, ***@***.***> wrote: Do I need to update these paths? /home/louis/p/pyk4a/k4abt/usr/include/ /home/louis/p/pyk4a/k4abt/usr/lib/ — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#39 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABTB77FZCAXKR2NJ6E4YE2DSWGFFJANCNFSM4PXAI55Q> .

romilpunetha · 2020-12-27T19:10:26Z

Had some issues with the nvidia library. Fixed those and it seems to be working now.
Thanks a lot for the help @lpasselin!

romilpunetha · 2021-03-25T04:55:20Z

Any way to run the same on ubuntu 18.04? I used the following command to install this on windows:

pip install --no-use-pep517 --no-build-isolation --global-option=build_ext --global-option="-IC:\Program Files\Azure Kinect SDK v1.4.1\sdk\include;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\include" --global-option="-LC:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\lib;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\windows-desktop\amd64\release\lib" . --force-reinstall

For ubuntu, this is what I've done for now:

sudo apt install libk4a1.4-dev
sudo apt install k4a-tools

However, when I try to run the examples, it gives the following error:

AttributeError: 'PyK4ACapture' object has no attribute 'body_skeleton'

romilpunetha · 2021-03-25T05:18:43Z

Any way to run the same on ubuntu 18.04? I used the following command to install this on windows:

pip install --no-use-pep517 --no-build-isolation --global-option=build_ext --global-option="-IC:\Program Files\Azure Kinect SDK v1.4.1\sdk\include;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\include" --global-option="-LC:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\lib;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\windows-desktop\amd64\release\lib" . --force-reinstall

For ubuntu, this is what I've done for now:

sudo apt install libk4a1.4-dev
sudo apt install k4a-tools

However, when I try to run the examples, it gives the following error:

AttributeError: 'PyK4ACapture' object has no attribute 'body_skeleton'

The command for linux is simpler:

pip install --no-use-pep517 --no-build-isolation --global-option=build_ext  --global-option="--enable-body-tracking" .

But I'm getting this error now:

/tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:123 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] /tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:117 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] CUDA failure 100: no CUDA-capable device is detected ; GPU=32672 ; hostname=romil-Precision-7530 ; expr=cudaSetDevice(device_id_); 


[2021-03-26 00:31:33.626] [error] [t=11666] [K4ABT] ../src/TrackerHost/TrackerHost.cpp (185): Create(). /tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:123 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] /tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:117 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] CUDA failure 100: no CUDA-capable device is detected ; GPU=32672 ; hostname=romil-Precision-7530 ; expr=cudaSetDevice(device_id_); 


[2021-03-26 00:31:33.626] [error] [t=11666] [K4ABT] ../src/sdk/k4abt.cpp (38): tracker->Create(sensor_calibration, config) returned failure in k4abt_tracker_create()
Traceback (most recent call last):
 File "example/pose_display_2d.py", line 19, in <module>
   body_skeleton = capture.body_skeleton
 File "/home/romil/scifi/lib/python3.7/site-packages/pyk4a/capture.py", line 155, in body_skeleton
   self._calibration.body_tracker_handle,
 File "/home/romil/scifi/lib/python3.7/site-packages/pyk4a/calibration.py", line 131, in body_tracker_handle
   raise K4AException("Cannot create body tracker handle")
pyk4a.errors.K4AException: Cannot create body tracker handle

romilpunetha · 2021-03-30T07:06:50Z

Any way to run the same on ubuntu 18.04? I used the following command to install this on windows:

pip install --no-use-pep517 --no-build-isolation --global-option=build_ext --global-option="-IC:\Program Files\Azure Kinect SDK v1.4.1\sdk\include;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\include" --global-option="-LC:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\lib;C:\Program Files\Azure Kinect Body Tracking SDK\sdk\windows-desktop\amd64\release\lib" . --force-reinstall

For ubuntu, this is what I've done for now:

sudo apt install libk4a1.4-dev
sudo apt install k4a-tools

However, when I try to run the examples, it gives the following error:

AttributeError: 'PyK4ACapture' object has no attribute 'body_skeleton'

The command for linux is simpler:

pip install --no-use-pep517 --no-build-isolation --global-option=build_ext  --global-option="--enable-body-tracking" .

But I'm getting this error now:

/tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:123 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] /tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:117 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] CUDA failure 100: no CUDA-capable device is detected ; GPU=32672 ; hostname=romil-Precision-7530 ; expr=cudaSetDevice(device_id_); 


[2021-03-26 00:31:33.626] [error] [t=11666] [K4ABT] ../src/TrackerHost/TrackerHost.cpp (185): Create(). /tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:123 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] /tmp/onnxruntime/onnxruntime/core/providers/cuda/cuda_call.cc:117 bool onnxruntime::CudaCall(ERRTYPE, const char*, const char*, ERRTYPE, const char*) [with ERRTYPE = cudaError; bool THRW = true] CUDA failure 100: no CUDA-capable device is detected ; GPU=32672 ; hostname=romil-Precision-7530 ; expr=cudaSetDevice(device_id_); 


[2021-03-26 00:31:33.626] [error] [t=11666] [K4ABT] ../src/sdk/k4abt.cpp (38): tracker->Create(sensor_calibration, config) returned failure in k4abt_tracker_create()
Traceback (most recent call last):
 File "example/pose_display_2d.py", line 19, in <module>
   body_skeleton = capture.body_skeleton
 File "/home/romil/scifi/lib/python3.7/site-packages/pyk4a/capture.py", line 155, in body_skeleton
   self._calibration.body_tracker_handle,
 File "/home/romil/scifi/lib/python3.7/site-packages/pyk4a/calibration.py", line 131, in body_tracker_handle
   raise K4AException("Cannot create body tracker handle")
pyk4a.errors.K4AException: Cannot create body tracker handle

Solved this by disabling secure boot on ubuntu.

shagren and others added 6 commits July 23, 2020 12:52

Simple test

2535591

More functions supported

29716b2

Merge pull request #1 from shagren/threading-gil-releasing

009148a

Release GIL in device_get_capture

Fixes, Example

68e9505

Merge pull request #2 from shagren/threading-gil-releasing

0b2ab2f

Fixes, Example

body tracking implementation

bee991c

lpasselin mentioned this pull request Aug 6, 2020

Feature/body tracking optional #11

Closed

shagren and others added 23 commits August 10, 2020 13:56

Merge remote-tracking branch 'upstream/develop' into develop

21f38a2

# Conflicts: # example/threads.py # pyk4a/pyk4a.cpp

Merge remote-tracking branch 'upstream/develop' into develop

516bfb1

Merge remote-tracking branch 'upstream/develop' into develop

1b0c0b1

Merge remote-tracking branch 'upstream/develop' into develop

3fa1349

Add code quality tool

889072f

Reformat code Add type hintings Fix code errors

Add .mypy_cache to .gitignore

6411a4a

Make line length 120 chars

58005f0

Initial playback support

c94b0da

Seek support

1e88ed5

Add tests

d0264c2

Format tests too

44982bb

Remove commented code

fa2323d

Smaller asset.

04b0639

Refactor tests. Patch module for tests.

Fix build

52c6a64

Remove debug

e66dad4

Validate if open() method called twice

4af8758

Remove unused file placeholder

9a7765a

Better typing

146536f

Merge branch 'develop' into mkv-support-3

da8fdd7

Merge branch 'develop' into mkv-support-3

1264175

# Conflicts: # README.md # pyk4a/pyk4a.cpp

Merge develop

60f892b

Refactor tests

CI changes

b5ce7b2

CI changes

f6efd0a

lpasselin added 7 commits September 17, 2020 12:53

remove duplicated line

9bc0a54

WIP refactor get capture body

11b2362

move body_tracker into calibration and fix cpp

8a069a7

fix compilation

413a312

remove diff with develop

897fa4b

remove body tracking support check

980e5e3

body tracking works but image points are wrong

d7597ac

shagren mentioned this pull request Sep 22, 2020

Fix windows build #68

Merged

lpasselin and others added 2 commits December 21, 2020 09:43

Merge branch 'develop' into feature/body-tracking

7e96744

fmt and lint

db76215

lpasselin added 3 commits December 21, 2020 13:05

fix problems in k4abt. 2d viewer works

e92ee0d

3d pose display works

cfacfba

format

da97299

lpasselin mentioned this pull request Oct 4, 2021

How to use body tracking with pyk4a? #149

Closed

add Py_INCREF(Py_None) (#201)

007fb38

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body tracking implementation #39

body tracking implementation #39

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romilpunetha commented Mar 30, 2021

body tracking implementation #39

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body tracking implementation #39

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