Merge pull request #1 from NimagnaAG/pose_tracking_dll

Add pose tracking subproject

mediapipe/pose_tracking_dll/BUILD

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+# Copyright 2020 The MediaPipe Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+load("windows_dll_library.bzl", "windows_dll_library")
+licenses(["notice"])
+
+package(default_visibility = ["//mediapipe/examples:__subpackages__"])
+
+# Define the shared library
+windows_dll_library(
+    name = "pose_tracking_lib",
+    srcs = ["pose_tracking.cpp"],
+    hdrs = ["pose_tracking.h"],
+    # Define COMPILING_DLL to export symbols during the DLL compilation.
+    copts = ["-DCOMPILING_DLL"],
+    deps = [
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/formats:image_frame_opencv",
+        "//mediapipe/framework/formats:landmark_cc_proto",
+        "//mediapipe/framework/formats:rect_cc_proto",
+        "//mediapipe/framework/port:file_helpers",
+        "//mediapipe/framework/port:opencv_highgui",
+        "//mediapipe/framework/port:opencv_imgproc",
+        "//mediapipe/framework/port:opencv_video",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status",
+        "@com_google_absl//absl/flags:flag",
+        "@com_google_absl//absl/flags:parse",
+
+        "//mediapipe/calculators/core:constant_side_packet_calculator",
+        "//mediapipe/calculators/core:packet_presence_calculator",
+        "//mediapipe/calculators/core:flow_limiter_calculator",
+        "//mediapipe/calculators/tflite:tflite_model_calculator",
+        "//mediapipe/calculators/util:local_file_contents_calculator",
+        "//mediapipe/graphs/pose_tracking:pose_tracking_cpu_deps",
+    ]
+)
+
+# **Implicitly link to face_mesh_lib.dll**
+cc_binary(
+    name = "pose_tracking_cpu",
+    deps = [
+        "//mediapipe/examples/desktop:demo_run_graph_main",
+        "//mediapipe/graphs/pose_tracking:pose_tracking_cpu_deps",
+		":pose_tracking_lib"
+    ],
+)

mediapipe/pose_tracking_dll/README.md

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+## Description
+The pose_tracking_dll module allows for building a Mediapipe-based pose tracking DLL library that can be used with any C++ project. All the dependencies such as tensorflow are built statically into the dll. 
+
+Currently, the following features are supported:
+- Segmenting the person(s) of interest
+- Segmenting the skeleton(s)
+- Accessing the 3D coordinates of each node of the skeleton
+
+## Prerequisites
+Follow the guidelines on the official Mediapipe website: https://google.github.io/mediapipe/getting_started/install.html#installing-on-windows
+
+IMPORTANT: The tutorial does not specify which version of Bazel to install. Install Bazel version 3.7.2. The OpenCV version used by default in mediapipe is 3.4.10.
+
+If you are using a different OpenCV version, adapt the `OPENCV_VERSION` variable in the file `mediapipe/external/opencv_<platform>.BUILD` to the one installed in the system (https://github.com/google/mediapipe/issues/1926#issuecomment-825874197).
+
+
+## How to build
+Assuming you're in the root of the repository:
+
+```
+cd mediapipe
+bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=<path to the python executable described using forward slashes ("/")> pose_tracking_dll:pose_tracking_cpu
+```
+
+Alternatively `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
+
+The results will be stored in the bazel-bin\mediapipe\pose_tracking_dll folder.
+
+## How to use
+Go to bazel-bin\mediapipe\pose_tracking_dll
+
+Link pose_tracking_cpu.lib and pose_tracking_lib.dll.if.lib statically in your project.
+
+Make sure the opencv_world3410.dll and pose_tracking_lib.dll are accessible in your working directory.
+
+Use the mediapipe\pose_tracking_dll\pose_tracking.h header file to access the methods of the library.

mediapipe/pose_tracking_dll/pose_tracking.cpp

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+#include "pose_tracking.h"
+
+#include <cstdlib>
+#include <string>
+
+#include "absl/flags/flag.h"
+#include "absl/flags/parse.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/image_frame.h"
+#include "mediapipe/framework/formats/image_frame_opencv.h"
+#include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/framework/port/file_helpers.h"
+#include "mediapipe/framework/port/opencv_highgui_inc.h"
+#include "mediapipe/framework/port/opencv_imgproc_inc.h"
+#include "mediapipe/framework/port/opencv_video_inc.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status.h"
+
+class PoseTrackingImpl {
+ public:
+  PoseTrackingImpl(const std::string& calculatorGraphConfigFile) {
+    auto status = initialize(calculatorGraphConfigFile);
+    if (!status.ok()) {
+      LOG(WARNING) << "Warning: " << status;
+    }
+  }
+
+  absl::Status initialize(const std::string& calculatorGraphConfigFile) {
+    std::string graphContents;
+    MP_RETURN_IF_ERROR(mediapipe::file::GetContents(calculatorGraphConfigFile, &graphContents));
+
+    mediapipe::CalculatorGraphConfig config =
+        mediapipe::ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig>(graphContents);
+
+    MP_RETURN_IF_ERROR(graph.Initialize(config));
+    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller poller,
+                     graph.AddOutputStreamPoller(kOutputSegmentationStream));
+
+    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller landmarksPoller,
+                     graph.AddOutputStreamPoller(kOutpuLandmarksStream));
+
+    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller posePresencePoller,
+                     graph.AddOutputStreamPoller(kOutpuPosePresenceStream));
+
+    maskPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(std::move(poller));
+
+    landmarksPollerPtr =
+        std::make_unique<mediapipe::OutputStreamPoller>(std::move(landmarksPoller));
+
+    posePresencePollerPtr =
+        std::make_unique<mediapipe::OutputStreamPoller>(std::move(posePresencePoller));
+
+    MP_RETURN_IF_ERROR(graph.StartRun({}));
+  }
+
+  bool processFrame(const cv::Mat& inputRGB8Bit) {
+    // Wrap Mat into an ImageFrame.
+    auto inputFrame = absl::make_unique<mediapipe::ImageFrame>(
+        mediapipe::ImageFormat::SRGB, inputRGB8Bit.cols, inputRGB8Bit.rows,
+        mediapipe::ImageFrame::kDefaultAlignmentBoundary);
+    cv::Mat inputFrameMat = mediapipe::formats::MatView(inputFrame.get());
+    inputRGB8Bit.copyTo(inputFrameMat);
+
+    // Send image packet into the graph.
+    size_t frameTimestampUs =
+        static_cast<double>(cv::getTickCount()) / static_cast<double>(cv::getTickFrequency()) * 1e6;
+    auto status = graph.AddPacketToInputStream(
+        kInputStream,
+        mediapipe::Adopt(inputFrame.release()).At(mediapipe::Timestamp(frameTimestampUs)));
+
+    if (!status.ok()) {
+      LOG(WARNING) << "Graph execution failed: " << status;
+      return false;
+    }
+
+    mediapipe::Packet posePresencePacket;
+    if (!posePresencePollerPtr || !posePresencePollerPtr->Next(&posePresencePacket)) return false;
+    auto landmarksDetected = posePresencePacket.Get<bool>();
+
+    if (!landmarksDetected) {
+      return false;
+    }
+
+    // Get the graph result packet, or stop if that fails.
+    mediapipe::Packet maskPacket;
+    if (!maskPollerPtr || !maskPollerPtr->Next(&maskPacket)) return false;
+    auto& outputFrame = maskPacket.Get<mediapipe::ImageFrame>();
+
+    // Get pose landmarks.
+    if (!landmarksPollerPtr || !landmarksPollerPtr->Next(&poseLandmarksPacket)) {
+      return false;
+    }
+
+    // Convert back to opencv for display or saving.
+    auto mask = mediapipe::formats::MatView(&outputFrame);
+    segmentedMask = mask.clone();
+
+    absl::Status landmarksStatus = detectLandmarksWithStatus(poseLandmarks);
+
+    return landmarksStatus.ok();
+  }
+
+  absl::Status detectLandmarksWithStatus(nimagna::cv_wrapper::Point3f* poseLandmarks) {
+    if (poseLandmarksPacket.IsEmpty()) {
+      return absl::CancelledError("Pose landmarks packet is empty.");
+    }
+
+    auto retrievedLandmarks = poseLandmarksPacket.Get<::mediapipe::NormalizedLandmarkList>();
+
+    // Convert landmarks to cv::Point3f**.
+    const auto landmarksCount = retrievedLandmarks.landmark_size();
+
+    for (int j = 0; j < landmarksCount; ++j) {
+      const auto& landmark = retrievedLandmarks.landmark(j);
+      poseLandmarks[j].x = landmark.x();
+      poseLandmarks[j].y = landmark.y();
+      poseLandmarks[j].z = landmark.z();
+    }
+
+    return absl::OkStatus();
+  }
+
+  nimagna::cv_wrapper::Point3f* lastDetectedLandmarks() { return poseLandmarks; }
+
+  cv::Mat lastSegmentedFrame() { return segmentedMask; }
+
+  static constexpr size_t kLandmarksCount = 33u;
+
+ private:
+  mediapipe::Packet poseLandmarksPacket;
+  cv::Mat segmentedMask;
+  nimagna::cv_wrapper::Point3f poseLandmarks[kLandmarksCount];
+  std::unique_ptr<mediapipe::OutputStreamPoller> posePresencePollerPtr;
+  std::unique_ptr<mediapipe::OutputStreamPoller> maskPollerPtr;
+  std::unique_ptr<mediapipe::OutputStreamPoller> landmarksPollerPtr;
+  mediapipe::CalculatorGraph graph;
+  const char* kInputStream = "input_video";
+  const char* kOutputSegmentationStream = "segmentation_mask";
+  const char* kOutpuLandmarksStream = "pose_landmarks";
+  const char* kOutpuPosePresenceStream = "pose_presence";
+};
+
+namespace nimagna {
+PoseTracking::PoseTracking(const char* calculatorGraphConfigFile) {
+  mImplementation = new PoseTrackingImpl(calculatorGraphConfigFile);
+}
+
+bool PoseTracking::processFrame(const cv_wrapper::Mat& inputRGB8Bit) {
+  const auto frame = cv::Mat(inputRGB8Bit.rows, inputRGB8Bit.cols, CV_8UC3, inputRGB8Bit.data);
+  return mImplementation->processFrame(frame);
+}
+
+cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
+  return mImplementation->lastDetectedLandmarks();
+}
+
+cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
+  const cv::Mat result = mImplementation->lastSegmentedFrame();
+
+  return cv_wrapper::Mat(result.rows, result.cols, result.data);
+}
+
+}  // namespace nimagna

mediapipe/pose_tracking_dll/pose_tracking.h

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+#ifndef POSE_TRACKING_LIBRARY_H
+#define POSE_TRACKING_LIBRARY_H
+
+#ifdef COMPILING_DLL
+#define DLLEXPORT __declspec(dllexport)
+#else
+#define DLLEXPORT __declspec(dllimport)
+#endif
+
+class PoseTrackingImpl;
+
+namespace nimagna {
+namespace cv_wrapper {
+struct Point2f {
+  float x = 0;
+  float y = 0;
+
+  Point2f() = default;
+  Point2f(float x, float y) : x(x), y(y) {}
+};
+struct Point3f {
+  float x = 0;
+  float y = 0;
+  float z = 0;
+
+  Point3f() = default;
+  Point3f(float x, float y, float z) : x(x), y(y), z(z) {}
+};
+
+struct Rect {
+  int x = 0;
+  int y = 0;
+  int width = 0;
+  int height = 0;
+
+  Rect() = default;
+  Rect(int x, int y, int width, int height) : x(x), y(y), width(width), height(height) {}
+};
+
+struct Mat {
+  int rows = 0;
+  int cols = 0;
+  unsigned char* data = 0;
+
+  Mat(int rows, int cols, unsigned char* data) : rows(rows), cols(cols), data(data) {}
+};
+}  // namespace cv_wrapper
+
+class DLLEXPORT PoseTracking {
+ public:
+  static constexpr size_t landmarksCount = 33u;
+  enum LandmarkNames {
+    NOSE = 0,
+    LEFT_EYE_INNER,
+    LEFT_EYE,
+    LEFT_EYE_OUTER,
+    RIGHT_EYE_INNER,
+    RIGHT_EYE,
+    RIGHT_EYE_OUTER,
+    LEFT_EAR,
+    RIGHT_EAR,
+    MOUTH_LEFT,
+    MOUTH_RIGHT,
+    LEFT_SHOULDER,
+    RIGHT_SHOULDER,
+    LEFT_ELBOW,
+    RIGHT_ELBOW,
+    LEFT_WRIST,
+    RIGHT_WRIST,
+    LEFT_PINKY,
+    RIGHT_PINKY,
+    LEFT_INDEX,
+    RIGHT_INDEX,
+    LEFT_THUMB,
+    RIGHT_THUMB,
+    LEFT_HIP,
+    RIGHT_HIP,
+    LEFT_KNEE,
+    RIGHT_KNEE,
+    LEFT_ANKLE,
+    RIGHT_ANKLE,
+    LEFT_HEEL,
+    RIGHT_HEEL,
+    LEFT_FOOT_INDEX,
+    RIGHT_FOOT_INDEX,
+    COUNT = landmarksCount
+  };
+
+  PoseTracking(const char* calculatorGraphConfigFile);
+  ~PoseTracking() { delete mImplementation; }
+
+  bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
+  cv_wrapper::Mat lastSegmentedFrame();
+  cv_wrapper::Point3f* lastDetectedLandmarks();
+
+ private:
+  PoseTrackingImpl* mImplementation;
+};
+}  // namespace nimagna
+
+#endif

mediapipe/pose_tracking_dll/windows_dll_library.bzl

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+"""
+This is a simple windows_dll_library rule for builing a DLL Windows
+that can be depended on by other cc rules.
+Example useage:
+  windows_dll_library(
+      name = "hellolib",
+      srcs = [
+          "hello-library.cpp",
+      ],
+      hdrs = ["hello-library.h"],
+      # Define COMPILING_DLL to export symbols during compiling the DLL.
+      copts = ["/DCOMPILING_DLL"],
+  )
+"""
+
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_import", "cc_library")
+
+def windows_dll_library(
+        name,
+        srcs = [],
+        deps = [],
+        hdrs = [],
+        visibility = None,
+        **kwargs):
+    """A simple windows_dll_library rule for builing a DLL Windows."""
+    dll_name = name + ".dll"
+    import_lib_name = name + "_import_lib"
+    import_target_name = name + "_dll_import"
+
+    # Build the shared library
+    cc_binary(
+        name = dll_name,
+        srcs = srcs + hdrs,
+        deps = deps,
+        linkshared = 1,
+        **kwargs
+    )
+
+    # Get the import library for the dll
+    native.filegroup(
+        name = import_lib_name,
+        srcs = [":" + dll_name],
+        output_group = "interface_library",
+    )
+
+    # Because we cannot directly depend on cc_binary from other cc rules in deps attribute,
+    # we use cc_import as a bridge to depend on the dll.
+    cc_import(
+        name = import_target_name,
+        interface_library = ":" + import_lib_name,
+        shared_library = ":" + dll_name,
+    )
+
+    # Create a new cc_library to also include the headers needed for the shared library
+    cc_library(
+        name = name,
+        hdrs = hdrs,
+        visibility = visibility,
+        deps = deps + [
+            ":" + import_target_name,
+        ],
+    )