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refactor: rename Anchor (InstantMotionTracking) to Anchor3d

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This commit is contained in:
homuler 2021-09-10 14:08:58 +09:00
parent 710fb3de58
commit 416723b933
4 changed files with 24 additions and 24 deletions
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14
mediapipe/graphs/instant_motion_tracking/calculators/matrices_manager_calculator.cc
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@ -58,7 +58,7 @@ constexpr float kInitialZ = -10.0f;
// perspective matrix] // perspective matrix]
// //
// Input streams: // Input streams:
// ANCHORS - Anchor data with x,y,z coordinates (x,y are in [0.0-1.0] range for // ANCHORS - Anchor3d data with x,y,z coordinates (x,y are in [0.0-1.0] range for
// position on the device screen, while z is the scaling factor that changes // position on the device screen, while z is the scaling factor that changes
// in proportion to the distance from the tracked region) [REQUIRED] // in proportion to the distance from the tracked region) [REQUIRED]
// IMU_ROTATION - float[9] of row-major device rotation matrix [REQUIRED] // IMU_ROTATION - float[9] of row-major device rotation matrix [REQUIRED]
@ -101,7 +101,7 @@ class MatricesManagerCalculator : public CalculatorBase {
const Matrix4fCM GenerateEigenModelMatrix( const Matrix4fCM GenerateEigenModelMatrix(
const Vector3f& translation_vector, const Vector3f& translation_vector,
const Matrix3f& rotation_submatrix) const; const Matrix3f& rotation_submatrix) const;
const Vector3f GenerateAnchorVector(const Anchor& tracked_anchor) const; const Vector3f GenerateAnchorVector(const Anchor3d& tracked_anchor) const;
DiagonalMatrix3f GetDefaultRenderScaleDiagonal( DiagonalMatrix3f GetDefaultRenderScaleDiagonal(
const int render_id, const float user_scale_factor, const int render_id, const float user_scale_factor,
const float gif_aspect_ratio) const; const float gif_aspect_ratio) const;
@ -145,7 +145,7 @@ absl::Status MatricesManagerCalculator::GetContract(CalculatorContract* cc) {
cc->InputSidePackets().HasTag(kFOVSidePacketTag) && cc->InputSidePackets().HasTag(kFOVSidePacketTag) &&
cc->InputSidePackets().HasTag(kAspectRatioSidePacketTag)); cc->InputSidePackets().HasTag(kAspectRatioSidePacketTag));
cc->Inputs().Tag(kAnchorsTag).Set<std::vector<Anchor>>(); cc->Inputs().Tag(kAnchorsTag).Set<std::vector<Anchor3d>>();
cc->Inputs().Tag(kIMUMatrixTag).Set<float[]>(); cc->Inputs().Tag(kIMUMatrixTag).Set<float[]>();
cc->Inputs().Tag(kUserScalingsTag).Set<std::vector<UserScaling>>(); cc->Inputs().Tag(kUserScalingsTag).Set<std::vector<UserScaling>>();
cc->Inputs().Tag(kUserRotationsTag).Set<std::vector<UserRotation>>(); cc->Inputs().Tag(kUserRotationsTag).Set<std::vector<UserRotation>>();
@ -193,8 +193,8 @@ absl::Status MatricesManagerCalculator::Process(CalculatorContext* cc) {
const std::vector<int> render_data = const std::vector<int> render_data =
cc->Inputs().Tag(kRendersTag).Get<std::vector<int>>(); cc->Inputs().Tag(kRendersTag).Get<std::vector<int>>();
const std::vector<Anchor> anchor_data = const std::vector<Anchor3d> anchor_data =
cc->Inputs().Tag(kAnchorsTag).Get<std::vector<Anchor>>(); cc->Inputs().Tag(kAnchorsTag).Get<std::vector<Anchor3d>>();
if (cc->Inputs().HasTag(kGifAspectRatioTag) && if (cc->Inputs().HasTag(kGifAspectRatioTag) &&
!cc->Inputs().Tag(kGifAspectRatioTag).IsEmpty()) { !cc->Inputs().Tag(kGifAspectRatioTag).IsEmpty()) {
gif_aspect_ratio_ = cc->Inputs().Tag(kGifAspectRatioTag).Get<float>(); gif_aspect_ratio_ = cc->Inputs().Tag(kGifAspectRatioTag).Get<float>();
@ -213,7 +213,7 @@ absl::Status MatricesManagerCalculator::Process(CalculatorContext* cc) {
} }
int render_idx = 0; int render_idx = 0;
for (const Anchor& anchor : anchor_data) { for (const Anchor3d& anchor : anchor_data) {
const int id = anchor.sticker_id; const int id = anchor.sticker_id;
mediapipe::TimedModelMatrixProto* model_matrix; mediapipe::TimedModelMatrixProto* model_matrix;
// Add model matrix to matrices list for defined object render ID // Add model matrix to matrices list for defined object render ID
@ -302,7 +302,7 @@ const Matrix3f MatricesManagerCalculator::GenerateUserRotationMatrix(
// screen Using the sticker anchor data, a translation vector can be generated // screen Using the sticker anchor data, a translation vector can be generated
// in OpenGL coordinate space // in OpenGL coordinate space
const Vector3f MatricesManagerCalculator::GenerateAnchorVector( const Vector3f MatricesManagerCalculator::GenerateAnchorVector(
const Anchor& tracked_anchor) const { const Anchor3d& tracked_anchor) const {
// Using an initial z-value in OpenGL space, generate a new base z-axis value // Using an initial z-value in OpenGL space, generate a new base z-axis value
// to mimic scaling by distance. // to mimic scaling by distance.
const float z = kInitialZ * tracked_anchor.z; const float z = kInitialZ * tracked_anchor.z;

8
mediapipe/graphs/instant_motion_tracking/calculators/sticker_manager_calculator.cc
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@ -61,7 +61,7 @@ class StickerManagerCalculator : public CalculatorBase {
cc->Outputs().HasTag(kRenderDescriptorsTag)); cc->Outputs().HasTag(kRenderDescriptorsTag));
cc->Inputs().Tag(kProtoDataString).Set<std::string>(); cc->Inputs().Tag(kProtoDataString).Set<std::string>();
cc->Outputs().Tag(kAnchorsTag).Set<std::vector<Anchor>>(); cc->Outputs().Tag(kAnchorsTag).Set<std::vector<Anchor3d>>();
cc->Outputs().Tag(kUserRotationsTag).Set<std::vector<UserRotation>>(); cc->Outputs().Tag(kUserRotationsTag).Set<std::vector<UserRotation>>();
cc->Outputs().Tag(kUserScalingsTag).Set<std::vector<UserScaling>>(); cc->Outputs().Tag(kUserScalingsTag).Set<std::vector<UserScaling>>();
cc->Outputs().Tag(kRenderDescriptorsTag).Set<std::vector<int>>(); cc->Outputs().Tag(kRenderDescriptorsTag).Set<std::vector<int>>();
@ -78,7 +78,7 @@ class StickerManagerCalculator : public CalculatorBase {
std::string sticker_proto_string = std::string sticker_proto_string =
cc->Inputs().Tag(kProtoDataString).Get<std::string>(); cc->Inputs().Tag(kProtoDataString).Get<std::string>();
std::vector<Anchor> initial_anchor_data; std::vector<Anchor3d> initial_anchor_data;
std::vector<UserRotation> user_rotation_data; std::vector<UserRotation> user_rotation_data;
std::vector<UserScaling> user_scaling_data; std::vector<UserScaling> user_scaling_data;
std::vector<int> render_data; std::vector<int> render_data;
@ -91,7 +91,7 @@ class StickerManagerCalculator : public CalculatorBase {
for (int i = 0; i < sticker_roll.sticker().size(); ++i) { for (int i = 0; i < sticker_roll.sticker().size(); ++i) {
// Declare empty structures for sticker data // Declare empty structures for sticker data
Anchor initial_anchor; Anchor3d initial_anchor;
UserRotation user_rotation; UserRotation user_rotation;
UserScaling user_scaling; UserScaling user_scaling;
// Get individual Sticker object as defined by Protobuffer // Get individual Sticker object as defined by Protobuffer
@ -116,7 +116,7 @@ class StickerManagerCalculator : public CalculatorBase {
if (cc->Outputs().HasTag(kAnchorsTag)) { if (cc->Outputs().HasTag(kAnchorsTag)) {
cc->Outputs() cc->Outputs()
.Tag(kAnchorsTag) .Tag(kAnchorsTag)
.AddPacket(MakePacket<std::vector<Anchor>>(initial_anchor_data) .AddPacket(MakePacket<std::vector<Anchor3d>>(initial_anchor_data)
.At(cc->InputTimestamp())); .At(cc->InputTimestamp()));
} }
if (cc->Outputs().HasTag(kUserRotationsTag)) { if (cc->Outputs().HasTag(kUserRotationsTag)) {

24
mediapipe/graphs/instant_motion_tracking/calculators/tracked_anchor_manager_calculator.cc
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@ -68,7 +68,7 @@ constexpr float kUsToMs =
class TrackedAnchorManagerCalculator : public CalculatorBase { class TrackedAnchorManagerCalculator : public CalculatorBase {
private: private:
// Previous graph iteration anchor data // Previous graph iteration anchor data
std::vector<Anchor> previous_anchor_data_; std::vector<Anchor3d> previous_anchor_data_;
public: public:
static absl::Status GetContract(CalculatorContract* cc) { static absl::Status GetContract(CalculatorContract* cc) {
@ -77,14 +77,14 @@ class TrackedAnchorManagerCalculator : public CalculatorBase {
RET_CHECK(cc->Outputs().HasTag(kAnchorsTag) && RET_CHECK(cc->Outputs().HasTag(kAnchorsTag) &&
cc->Outputs().HasTag(kBoxesOutputTag)); cc->Outputs().HasTag(kBoxesOutputTag));
cc->Inputs().Tag(kAnchorsTag).Set<std::vector<Anchor>>(); cc->Inputs().Tag(kAnchorsTag).Set<std::vector<Anchor3d>>();
cc->Inputs().Tag(kSentinelTag).Set<int>(); cc->Inputs().Tag(kSentinelTag).Set<int>();
if (cc->Inputs().HasTag(kBoxesInputTag)) { if (cc->Inputs().HasTag(kBoxesInputTag)) {
cc->Inputs().Tag(kBoxesInputTag).Set<mediapipe::TimedBoxProtoList>(); cc->Inputs().Tag(kBoxesInputTag).Set<mediapipe::TimedBoxProtoList>();
} }
cc->Outputs().Tag(kAnchorsTag).Set<std::vector<Anchor>>(); cc->Outputs().Tag(kAnchorsTag).Set<std::vector<Anchor3d>>();
cc->Outputs().Tag(kBoxesOutputTag).Set<mediapipe::TimedBoxProtoList>(); cc->Outputs().Tag(kBoxesOutputTag).Set<mediapipe::TimedBoxProtoList>();
if (cc->Outputs().HasTag(kCancelTag)) { if (cc->Outputs().HasTag(kCancelTag)) {
@ -103,10 +103,10 @@ REGISTER_CALCULATOR(TrackedAnchorManagerCalculator);
absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) { absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) {
mediapipe::Timestamp timestamp = cc->InputTimestamp(); mediapipe::Timestamp timestamp = cc->InputTimestamp();
const int sticker_sentinel = cc->Inputs().Tag(kSentinelTag).Get<int>(); const int sticker_sentinel = cc->Inputs().Tag(kSentinelTag).Get<int>();
std::vector<Anchor> current_anchor_data = std::vector<Anchor3d> current_anchor_data =
cc->Inputs().Tag(kAnchorsTag).Get<std::vector<Anchor>>(); cc->Inputs().Tag(kAnchorsTag).Get<std::vector<Anchor3d>>();
auto pos_boxes = absl::make_unique<mediapipe::TimedBoxProtoList>(); auto pos_boxes = absl::make_unique<mediapipe::TimedBoxProtoList>();
std::vector<Anchor> tracked_scaled_anchor_data; std::vector<Anchor3d> tracked_scaled_anchor_data;
// Delete any boxes being tracked without an associated anchor // Delete any boxes being tracked without an associated anchor
for (const mediapipe::TimedBoxProto& box : for (const mediapipe::TimedBoxProto& box :
@ -115,7 +115,7 @@ absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) {
.Get<mediapipe::TimedBoxProtoList>() .Get<mediapipe::TimedBoxProtoList>()
.box()) { .box()) {
bool anchor_exists = false; bool anchor_exists = false;
for (Anchor anchor : current_anchor_data) { for (Anchor3d anchor : current_anchor_data) {
if (box.id() == anchor.sticker_id) { if (box.id() == anchor.sticker_id) {
anchor_exists = true; anchor_exists = true;
break; break;
@ -129,8 +129,8 @@ absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) {
} }
// Perform tracking or updating for each anchor position // Perform tracking or updating for each anchor position
for (const Anchor& anchor : current_anchor_data) { for (const Anchor3d& anchor : current_anchor_data) {
Anchor output_anchor = anchor; Anchor3d output_anchor = anchor;
// Check if anchor position is being reset by user in this graph iteration // Check if anchor position is being reset by user in this graph iteration
if (sticker_sentinel == anchor.sticker_id) { if (sticker_sentinel == anchor.sticker_id) {
// Delete associated tracking box // Delete associated tracking box
@ -150,7 +150,7 @@ absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) {
// Default value for normalized z (scale factor) // Default value for normalized z (scale factor)
output_anchor.z = 1.0f; output_anchor.z = 1.0f;
} else { } else {
// Anchor position was not reset by user // Anchor3d position was not reset by user
// Attempt to update anchor position from tracking subgraph // Attempt to update anchor position from tracking subgraph
// (TimedBoxProto) // (TimedBoxProto)
bool updated_from_tracker = false; bool updated_from_tracker = false;
@ -175,7 +175,7 @@ absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) {
// stickers to be tracked at approximately last location even if // stickers to be tracked at approximately last location even if
// re-acquisitioning in the BoxTrackingSubgraph encounters errors // re-acquisitioning in the BoxTrackingSubgraph encounters errors
if (!updated_from_tracker) { if (!updated_from_tracker) {
for (const Anchor& prev_anchor : previous_anchor_data_) { for (const Anchor3d& prev_anchor : previous_anchor_data_) {
if (anchor.sticker_id == prev_anchor.sticker_id) { if (anchor.sticker_id == prev_anchor.sticker_id) {
mediapipe::TimedBoxProto* box = pos_boxes->add_box(); mediapipe::TimedBoxProto* box = pos_boxes->add_box();
box->set_left(prev_anchor.x - kBoxEdgeSize * 0.5f); box->set_left(prev_anchor.x - kBoxEdgeSize * 0.5f);
@ -199,7 +199,7 @@ absl::Status TrackedAnchorManagerCalculator::Process(CalculatorContext* cc) {
cc->Outputs() cc->Outputs()
.Tag(kAnchorsTag) .Tag(kAnchorsTag)
.AddPacket(MakePacket<std::vector<Anchor>>(tracked_scaled_anchor_data) .AddPacket(MakePacket<std::vector<Anchor3d>>(tracked_scaled_anchor_data)
.At(cc->InputTimestamp())); .At(cc->InputTimestamp()));
cc->Outputs() cc->Outputs()
.Tag(kBoxesOutputTag) .Tag(kBoxesOutputTag)

2
mediapipe/graphs/instant_motion_tracking/calculators/transformations.h
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@ -30,7 +30,7 @@ struct UserScaling {
}; };
// The normalized anchor coordinates of a sticker // The normalized anchor coordinates of a sticker
struct Anchor { struct Anchor3d {
float x; // [0.0-1.0] float x; // [0.0-1.0]
float y; // [0.0-1.0] float y; // [0.0-1.0]
float z; // Centered around 1.0 [current_scale = z * initial_scale] float z; // Centered around 1.0 [current_scale = z * initial_scale]