Preserves all elements of BASE_HAND_RECTS input streams in HandAssociationCalculator.
PiperOrigin-RevId: 516339343
This commit is contained in:
Esha Uboweja
Copybara-Service
parent
c32ddcb04c
commit
0f58d89992
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@ -36,6 +36,7 @@ cc_library(
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":hand_association_calculator_cc_proto",
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"//mediapipe/calculators/util:association_calculator",
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"//mediapipe/framework:calculator_framework",
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"//mediapipe/framework:collection_item_id",
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"//mediapipe/framework/api2:node",
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"//mediapipe/framework/formats:rect_cc_proto",
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"//mediapipe/framework/port:rectangle",
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@ -19,6 +19,7 @@ limitations under the License.
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#include "mediapipe/framework/api2/node.h"
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#include "mediapipe/framework/calculator_framework.h"
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#include "mediapipe/framework/collection_item_id.h"
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#include "mediapipe/framework/formats/rect.pb.h"
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#include "mediapipe/framework/port/rectangle.h"
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#include "mediapipe/framework/port/status.h"
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@ -29,30 +30,55 @@ namespace mediapipe::api2 {
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using ::mediapipe::NormalizedRect;
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// HandAssociationCalculator accepts multiple inputs of vectors of
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// NormalizedRect. The output is a vector of NormalizedRect that contains
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// rects from the input vectors that don't overlap with each other. When two
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// rects overlap, the rect that comes in from an earlier input stream is
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// kept in the output. If a rect has no ID (i.e. from detection stream),
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// then a unique rect ID is assigned for it.
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// The rects in multiple input streams are effectively flattened to a single
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// list. For example:
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// Stream1 : rect 1, rect 2
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// Stream2: rect 3, rect 4
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// Stream3: rect 5, rect 6
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// (Conceptually) flattened list : rect 1, 2, 3, 4, 5, 6
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// In the flattened list, if a rect with a higher index overlaps with a rect a
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// lower index, beyond a specified IOU threshold, the rect with the lower
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// index will be in the output, and the rect with higher index will be
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// discarded.
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// Input:
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// BASE_RECTS - Vector of NormalizedRect.
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// RECTS - Vector of NormalizedRect.
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//
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// Output:
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// No tag - Vector of NormalizedRect.
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//
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// Example use:
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// node {
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// calculator: "HandAssociationCalculator"
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// input_stream: "BASE_RECTS:base_rects"
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// input_stream: "RECTS:0:rects0"
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// input_stream: "RECTS:1:rects1"
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// input_stream: "RECTS:2:rects2"
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// output_stream: "output_rects"
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// options {
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// [mediapipe.HandAssociationCalculatorOptions.ext] {
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// min_similarity_threshold: 0.1
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// }
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// }
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//
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// IMPORTANT Notes:
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// - Rects from input streams tagged with "BASE_RECTS" are always preserved.
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// - This calculator checks for overlap among rects from input streams tagged
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// with "RECTS". Rects are prioritized based on their index in the vector and
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// input streams to the calculator. When two rects overlap, the rect that
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// comes from an input stream with lower tag-index is kept in the output.
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// - Example of inputs for the node above:
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// "base_rects": rect 0, rect 1
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// "rects0": rect 2, rect 3
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// "rects1": rect 4, rect 5
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// "rects2": rect 6, rect 7
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// (Conceptually) flattened list: 0, 1, 2, 3, 4, 5, 6, 7.
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// Rects 0, 1 will be preserved. Rects 2, 3, 4, 5, 6, 7 will be checked for
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// overlap. If a rect with a higher index overlaps with a rect with lower
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// index, beyond a specified IOU threshold, the rect with the lower index
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// will be in the output, and the rect with higher index will be discarded.
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// TODO: Upgrade this to latest API for calculators
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class HandAssociationCalculator : public CalculatorBase {
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public:
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static absl::Status GetContract(CalculatorContract* cc) {
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// Initialize input and output streams.
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for (auto& input_stream : cc->Inputs()) {
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input_stream.Set<std::vector<NormalizedRect>>();
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for (CollectionItemId id = cc->Inputs().BeginId("BASE_RECTS");
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id != cc->Inputs().EndId("BASE_RECTS"); ++id) {
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cc->Inputs().Get(id).Set<std::vector<NormalizedRect>>();
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}
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for (CollectionItemId id = cc->Inputs().BeginId("RECTS");
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id != cc->Inputs().EndId("RECTS"); ++id) {
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cc->Inputs().Get(id).Set<std::vector<NormalizedRect>>();
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}
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cc->Outputs().Index(0).Set<std::vector<NormalizedRect>>();
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@ -89,7 +115,24 @@ class HandAssociationCalculator : public CalculatorBase {
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CalculatorContext* cc) {
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std::vector<NormalizedRect> result;
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for (const auto& input_stream : cc->Inputs()) {
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for (CollectionItemId id = cc->Inputs().BeginId("BASE_RECTS");
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id != cc->Inputs().EndId("BASE_RECTS"); ++id) {
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const auto& input_stream = cc->Inputs().Get(id);
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if (input_stream.IsEmpty()) {
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continue;
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}
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for (auto rect : input_stream.Get<std::vector<NormalizedRect>>()) {
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if (!rect.has_rect_id()) {
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rect.set_rect_id(GetNextRectId());
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}
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result.push_back(rect);
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}
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}
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for (CollectionItemId id = cc->Inputs().BeginId("RECTS");
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id != cc->Inputs().EndId("RECTS"); ++id) {
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const auto& input_stream = cc->Inputs().Get(id);
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if (input_stream.IsEmpty()) {
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continue;
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}
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@ -27,6 +27,8 @@ namespace mediapipe {
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namespace {
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using ::mediapipe::NormalizedRect;
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using ::testing::ElementsAre;
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using ::testing::EqualsProto;
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class HandAssociationCalculatorTest : public testing::Test {
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protected:
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@ -87,9 +89,9 @@ class HandAssociationCalculatorTest : public testing::Test {
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TEST_F(HandAssociationCalculatorTest, NormRectAssocTest) {
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CalculatorRunner runner(ParseTextProtoOrDie<CalculatorGraphConfig::Node>(R"pb(
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calculator: "HandAssociationCalculator"
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input_stream: "input_vec_0"
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input_stream: "input_vec_1"
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input_stream: "input_vec_2"
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input_stream: "BASE_RECTS:input_vec_0"
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input_stream: "RECTS:0:input_vec_1"
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input_stream: "RECTS:1:input_vec_2"
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output_stream: "output_vec"
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options {
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[mediapipe.HandAssociationCalculatorOptions.ext] {
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@ -103,20 +105,23 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTest) {
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input_vec_0->push_back(nr_0_);
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input_vec_0->push_back(nr_1_);
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input_vec_0->push_back(nr_2_);
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runner.MutableInputs()->Index(0).packets.push_back(
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Adopt(input_vec_0.release()).At(Timestamp(1)));
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runner.MutableInputs()
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->Tag("BASE_RECTS")
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.packets.push_back(Adopt(input_vec_0.release()).At(Timestamp(1)));
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// Input Stream 1: nr_3, nr_4.
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auto input_vec_1 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_1->push_back(nr_3_);
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input_vec_1->push_back(nr_4_);
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runner.MutableInputs()->Index(1).packets.push_back(
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auto index_id = runner.MutableInputs()->GetId("RECTS", 0);
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runner.MutableInputs()->Get(index_id).packets.push_back(
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Adopt(input_vec_1.release()).At(Timestamp(1)));
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// Input Stream 2: nr_5.
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auto input_vec_2 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_2->push_back(nr_5_);
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runner.MutableInputs()->Index(2).packets.push_back(
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index_id = runner.MutableInputs()->GetId("RECTS", 1);
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runner.MutableInputs()->Get(index_id).packets.push_back(
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Adopt(input_vec_2.release()).At(Timestamp(1)));
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MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
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@ -134,25 +139,18 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTest) {
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EXPECT_EQ(3, assoc_rects.size());
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// Check that IDs are filled in and contents match.
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EXPECT_EQ(assoc_rects[0].rect_id(), 1);
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assoc_rects[0].clear_rect_id();
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EXPECT_THAT(assoc_rects[0], testing::EqualsProto(nr_0_));
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EXPECT_EQ(assoc_rects[1].rect_id(), 2);
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assoc_rects[1].clear_rect_id();
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EXPECT_THAT(assoc_rects[1], testing::EqualsProto(nr_1_));
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EXPECT_EQ(assoc_rects[2].rect_id(), 3);
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assoc_rects[2].clear_rect_id();
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EXPECT_THAT(assoc_rects[2], testing::EqualsProto(nr_2_));
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nr_0_.set_rect_id(1);
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nr_1_.set_rect_id(2);
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nr_2_.set_rect_id(3);
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EXPECT_THAT(assoc_rects, ElementsAre(EqualsProto(nr_0_), EqualsProto(nr_1_),
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EqualsProto(nr_2_)));
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}
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TEST_F(HandAssociationCalculatorTest, NormRectAssocTestWithTrackedHands) {
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CalculatorRunner runner(ParseTextProtoOrDie<CalculatorGraphConfig::Node>(R"pb(
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calculator: "HandAssociationCalculator"
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input_stream: "input_vec_0"
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input_stream: "input_vec_1"
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input_stream: "input_vec_2"
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input_stream: "BASE_RECTS:input_vec_0"
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input_stream: "RECTS:0:input_vec_1"
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output_stream: "output_vec"
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options {
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[mediapipe.HandAssociationCalculatorOptions.ext] {
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@ -169,14 +167,15 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTestWithTrackedHands) {
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input_vec_0->push_back(nr_0_);
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nr_1_.set_rect_id(-1);
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input_vec_0->push_back(nr_1_);
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runner.MutableInputs()->Index(0).packets.push_back(
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Adopt(input_vec_0.release()).At(Timestamp(1)));
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runner.MutableInputs()
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->Tag("BASE_RECTS")
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.packets.push_back(Adopt(input_vec_0.release()).At(Timestamp(1)));
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// Input Stream 1: nr_2, nr_3. Newly detected palms.
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auto input_vec_1 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_1->push_back(nr_2_);
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input_vec_1->push_back(nr_3_);
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runner.MutableInputs()->Index(1).packets.push_back(
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runner.MutableInputs()->Tag("RECTS").packets.push_back(
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Adopt(input_vec_1.release()).At(Timestamp(1)));
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MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
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@ -192,23 +191,17 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTestWithTrackedHands) {
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EXPECT_EQ(3, assoc_rects.size());
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// Check that IDs are filled in and contents match.
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EXPECT_EQ(assoc_rects[0].rect_id(), -2);
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EXPECT_THAT(assoc_rects[0], testing::EqualsProto(nr_0_));
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EXPECT_EQ(assoc_rects[1].rect_id(), -1);
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EXPECT_THAT(assoc_rects[1], testing::EqualsProto(nr_1_));
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EXPECT_EQ(assoc_rects[2].rect_id(), 1);
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assoc_rects[2].clear_rect_id();
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EXPECT_THAT(assoc_rects[2], testing::EqualsProto(nr_2_));
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nr_2_.set_rect_id(1);
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EXPECT_THAT(assoc_rects, ElementsAre(EqualsProto(nr_0_), EqualsProto(nr_1_),
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EqualsProto(nr_2_)));
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}
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TEST_F(HandAssociationCalculatorTest, NormRectAssocTestReverse) {
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CalculatorRunner runner(ParseTextProtoOrDie<CalculatorGraphConfig::Node>(R"pb(
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calculator: "HandAssociationCalculator"
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input_stream: "input_vec_0"
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input_stream: "input_vec_1"
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input_stream: "input_vec_2"
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input_stream: "BASE_RECTS:input_vec_0"
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input_stream: "RECTS:0:input_vec_1"
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input_stream: "RECTS:1:input_vec_2"
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output_stream: "output_vec"
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options {
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[mediapipe.HandAssociationCalculatorOptions.ext] {
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@ -220,14 +213,16 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTestReverse) {
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// Input Stream 0: nr_5.
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auto input_vec_0 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_0->push_back(nr_5_);
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runner.MutableInputs()->Index(0).packets.push_back(
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Adopt(input_vec_0.release()).At(Timestamp(1)));
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runner.MutableInputs()
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->Tag("BASE_RECTS")
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.packets.push_back(Adopt(input_vec_0.release()).At(Timestamp(1)));
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// Input Stream 1: nr_4, nr_3
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auto input_vec_1 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_1->push_back(nr_4_);
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input_vec_1->push_back(nr_3_);
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runner.MutableInputs()->Index(1).packets.push_back(
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auto index_id = runner.MutableInputs()->GetId("RECTS", 0);
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runner.MutableInputs()->Get(index_id).packets.push_back(
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Adopt(input_vec_1.release()).At(Timestamp(1)));
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// Input Stream 2: nr_2, nr_1, nr_0.
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@ -235,7 +230,8 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTestReverse) {
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input_vec_2->push_back(nr_2_);
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input_vec_2->push_back(nr_1_);
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input_vec_2->push_back(nr_0_);
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runner.MutableInputs()->Index(2).packets.push_back(
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index_id = runner.MutableInputs()->GetId("RECTS", 1);
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runner.MutableInputs()->Get(index_id).packets.push_back(
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Adopt(input_vec_2.release()).At(Timestamp(1)));
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MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
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@ -253,23 +249,78 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocTestReverse) {
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EXPECT_EQ(3, assoc_rects.size());
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// Outputs are in same order as inputs, and IDs are filled in.
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EXPECT_EQ(assoc_rects[0].rect_id(), 1);
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assoc_rects[0].clear_rect_id();
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EXPECT_THAT(assoc_rects[0], testing::EqualsProto(nr_5_));
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nr_5_.set_rect_id(1);
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nr_4_.set_rect_id(2);
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nr_0_.set_rect_id(3);
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EXPECT_THAT(assoc_rects, ElementsAre(EqualsProto(nr_5_), EqualsProto(nr_4_),
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EqualsProto(nr_0_)));
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}
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EXPECT_EQ(assoc_rects[1].rect_id(), 2);
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assoc_rects[1].clear_rect_id();
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EXPECT_THAT(assoc_rects[1], testing::EqualsProto(nr_4_));
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TEST_F(HandAssociationCalculatorTest, NormRectAssocTestReservesBaseRects) {
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CalculatorRunner runner(ParseTextProtoOrDie<CalculatorGraphConfig::Node>(R"pb(
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calculator: "HandAssociationCalculator"
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input_stream: "BASE_RECTS:input_vec_0"
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input_stream: "RECTS:0:input_vec_1"
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input_stream: "RECTS:1:input_vec_2"
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output_stream: "output_vec"
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options {
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[mediapipe.HandAssociationCalculatorOptions.ext] {
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min_similarity_threshold: 0.1
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}
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}
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)pb"));
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EXPECT_EQ(assoc_rects[2].rect_id(), 3);
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assoc_rects[2].clear_rect_id();
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EXPECT_THAT(assoc_rects[2], testing::EqualsProto(nr_0_));
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// Input Stream 0: nr_5, nr_3, nr_1.
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auto input_vec_0 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_0->push_back(nr_5_);
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input_vec_0->push_back(nr_3_);
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input_vec_0->push_back(nr_1_);
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runner.MutableInputs()
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->Tag("BASE_RECTS")
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.packets.push_back(Adopt(input_vec_0.release()).At(Timestamp(1)));
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// Input Stream 1: nr_4.
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auto input_vec_1 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_1->push_back(nr_4_);
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auto index_id = runner.MutableInputs()->GetId("RECTS", 0);
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runner.MutableInputs()->Get(index_id).packets.push_back(
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Adopt(input_vec_1.release()).At(Timestamp(1)));
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// Input Stream 2: nr_2, nr_0.
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auto input_vec_2 = std::make_unique<std::vector<NormalizedRect>>();
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input_vec_2->push_back(nr_2_);
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input_vec_2->push_back(nr_0_);
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index_id = runner.MutableInputs()->GetId("RECTS", 1);
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runner.MutableInputs()->Get(index_id).packets.push_back(
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Adopt(input_vec_2.release()).At(Timestamp(1)));
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MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
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const std::vector<Packet>& output = runner.Outputs().Index(0).packets;
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EXPECT_EQ(1, output.size());
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auto assoc_rects = output[0].Get<std::vector<NormalizedRect>>();
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// Rectangles are added in the following sequence:
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// nr_5 is added because it is in BASE_RECTS input stream.
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// nr_3 is added because it is in BASE_RECTS input stream.
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// nr_1 is added because it is in BASE_RECTS input stream.
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// nr_4 is added because it does not overlap with nr_5.
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// nr_2 is NOT added because it overlaps with nr_4.
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// nr_0 is NOT added because it overlaps with nr_3.
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EXPECT_EQ(4, assoc_rects.size());
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// Outputs are in same order as inputs, and IDs are filled in.
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nr_5_.set_rect_id(1);
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nr_3_.set_rect_id(2);
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nr_1_.set_rect_id(3);
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nr_4_.set_rect_id(4);
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EXPECT_THAT(assoc_rects, ElementsAre(EqualsProto(nr_5_), EqualsProto(nr_3_),
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EqualsProto(nr_1_), EqualsProto(nr_4_)));
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}
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TEST_F(HandAssociationCalculatorTest, NormRectAssocSingleInputStream) {
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CalculatorRunner runner(ParseTextProtoOrDie<CalculatorGraphConfig::Node>(R"pb(
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calculator: "HandAssociationCalculator"
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input_stream: "input_vec"
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input_stream: "BASE_RECTS:input_vec"
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output_stream: "output_vec"
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options {
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[mediapipe.HandAssociationCalculatorOptions.ext] {
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@ -282,8 +333,9 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocSingleInputStream) {
|
|||
auto input_vec = std::make_unique<std::vector<NormalizedRect>>();
|
||||
input_vec->push_back(nr_3_);
|
||||
input_vec->push_back(nr_5_);
|
||||
runner.MutableInputs()->Index(0).packets.push_back(
|
||||
Adopt(input_vec.release()).At(Timestamp(1)));
|
||||
runner.MutableInputs()
|
||||
->Tag("BASE_RECTS")
|
||||
.packets.push_back(Adopt(input_vec.release()).At(Timestamp(1)));
|
||||
|
||||
MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
|
||||
const std::vector<Packet>& output = runner.Outputs().Index(0).packets;
|
||||
|
|
@ -292,12 +344,12 @@ TEST_F(HandAssociationCalculatorTest, NormRectAssocSingleInputStream) {
|
|||
|
||||
// Rectangles are added in the following sequence:
|
||||
// nr_3 is added 1st.
|
||||
// nr_5 is NOT added because it overlaps with nr_3.
|
||||
EXPECT_EQ(1, assoc_rects.size());
|
||||
// nr_5 is added 2nd. The calculator assumes it does not overlap with nr_3.
|
||||
EXPECT_EQ(2, assoc_rects.size());
|
||||
|
||||
EXPECT_EQ(assoc_rects[0].rect_id(), 1);
|
||||
assoc_rects[0].clear_rect_id();
|
||||
EXPECT_THAT(assoc_rects[0], testing::EqualsProto(nr_3_));
|
||||
nr_3_.set_rect_id(1);
|
||||
nr_5_.set_rect_id(2);
|
||||
EXPECT_THAT(assoc_rects, ElementsAre(EqualsProto(nr_3_), EqualsProto(nr_5_)));
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
|
|
|||
|
|
@ -318,9 +318,9 @@ class HandLandmarkerGraph : public core::ModelTaskGraph {
|
|||
.set_min_similarity_threshold(
|
||||
tasks_options.min_tracking_confidence());
|
||||
prev_hand_rects_from_landmarks >>
|
||||
hand_association[Input<std::vector<NormalizedRect>>::Multiple("")][0];
|
||||
hand_association[Input<std::vector<NormalizedRect>>("BASE_RECTS")];
|
||||
hand_rects_from_hand_detector >>
|
||||
hand_association[Input<std::vector<NormalizedRect>>::Multiple("")][1];
|
||||
hand_association[Input<std::vector<NormalizedRect>>("RECTS")];
|
||||
auto hand_rects = hand_association.Out("");
|
||||
hand_rects >> clip_hand_rects.In("");
|
||||
} else {
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user