From fa5da361d774027efad0497b54fa1fb22fd1f67a Mon Sep 17 00:00:00 2001
From: Mautisim Munir <mautisim@edgestore.ai>
Date: Fri, 28 Oct 2022 14:01:10 +0500
Subject: [PATCH 1/4] changed timestamp to nanoseconds, added presence

---
 .../solutions/lindera/ComputerVisionPlugin.java      |  2 +-
 .../google/mediapipe/solutions/lindera/Lindera.java  | 12 +++++++-----
 .../solutions/lindera/XYZPointWithConfidence.java    |  1 +
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/mediapipe/java/com/google/mediapipe/solutions/lindera/ComputerVisionPlugin.java b/mediapipe/java/com/google/mediapipe/solutions/lindera/ComputerVisionPlugin.java
index db577f5d9..2d1dc0242 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/lindera/ComputerVisionPlugin.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/lindera/ComputerVisionPlugin.java
@@ -1,5 +1,5 @@
 package com.google.mediapipe.solutions.lindera;
 
 public interface ComputerVisionPlugin {
-    void bodyJoints(int timestamp, BodyJoints bodyJoints);
+    void bodyJoints(long timestamp, BodyJoints bodyJoints);
 }
diff --git a/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java b/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java
index 52f97d17c..0f8e749bb 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java
@@ -25,8 +25,10 @@ public class Lindera {
     public FpsHelper fpsHelper = new FpsHelper();
     private PoseTracking poseTracking;
     
-    // TODO: Verify that this is the timestamp used in Actual Plugin
-    private int timeStamp = 0;
+
+    private long getTimeStamp(){
+        return System.nanoTime();
+    }
     private CameraRotation cameraRotation = CameraRotation.AUTOMATIC;
     
     // Live camera demo UI and camera components.
@@ -85,14 +87,13 @@ public class Lindera {
                 glSurfaceView.setRenderData(poseTrackingResult);
                 glSurfaceView.requestRender();
                 ImmutableList<LandmarkProto.Landmark> landmarks = poseTrackingResult.multiPoseLandmarks();
-                timeStamp+=1;
 
                 if (landmarks.isEmpty()) return;
 
                 BodyJoints bodyJoints = new BodyJoints();
                 landmarksToBodyJoints(landmarks,bodyJoints);
 
-                plugin.bodyJoints(timeStamp, bodyJoints);
+                plugin.bodyJoints(getTimeStamp(), bodyJoints);
             });
     }
 
@@ -180,7 +181,6 @@ public class Lindera {
         if (poseTracking != null) {
             poseTracking.close();
         }
-        timeStamp = 0;
     }
 
     private void landmarkToXYZPointWithConfidence(LandmarkProto.Landmark landmark,XYZPointWithConfidence bodyJoint){
@@ -188,6 +188,8 @@ public class Lindera {
         bodyJoint.y = landmark.getY();
         bodyJoint.z = landmark.getZ();
         bodyJoint.confidence = landmark.getVisibility();
+        bodyJoint.presence = landmark.getPresence();
+
     }
 
     private void landmarksToBodyJoints(ImmutableList<LandmarkProto.Landmark> landmarks , BodyJoints bodyJoints){
diff --git a/mediapipe/java/com/google/mediapipe/solutions/lindera/XYZPointWithConfidence.java b/mediapipe/java/com/google/mediapipe/solutions/lindera/XYZPointWithConfidence.java
index 576f8f489..ac368d60c 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/lindera/XYZPointWithConfidence.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/lindera/XYZPointWithConfidence.java
@@ -5,6 +5,7 @@ public class XYZPointWithConfidence {
     public float y = 0;
     public float z = 0;
     public float confidence = 0;
+    public float presence = 0;
 
 
 

From e2884bc21f39e1d76d46d3f9b32b0287fcc31317 Mon Sep 17 00:00:00 2001
From: Mautisim Munir <mautisim@edgestore.ai>
Date: Fri, 28 Oct 2022 14:01:39 +0500
Subject: [PATCH 2/4] added interpolation implementation without visualization

---
 .../ComputerVisionPluginImpl.java             | 70 ++++++++++++++++++-
 1 file changed, 69 insertions(+), 1 deletion(-)

diff --git a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
index 88d1e0f45..cb5af4132 100644
--- a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
+++ b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
@@ -1,5 +1,7 @@
 package com.google.mediapipe.examples.posetracking_lindera;
 
+import static java.lang.Math.min;
+
 import com.google.mediapipe.solutions.lindera.BodyJoints;
 import com.google.mediapipe.solutions.lindera.ComputerVisionPlugin;
 import com.google.mediapipe.solutions.lindera.XYZPointWithConfidence;
@@ -9,8 +11,10 @@ import org.json.JSONException;
 import org.json.JSONObject;
 
 import java.lang.reflect.Field;
+import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.Locale;
+import java.util.Map;
 
 public class ComputerVisionPluginImpl implements ComputerVisionPlugin {
 
@@ -84,6 +88,7 @@ public class ComputerVisionPluginImpl implements ComputerVisionPlugin {
 
                 }
             }
+            bodyJointsString = bodyJointsString.concat(interpolateJoints(bodyJoints));
             // remove the last equal sign
             bodyJointsString = bodyJointsString.substring(0,bodyJointsString.length()-1);
 
@@ -101,9 +106,72 @@ public class ComputerVisionPluginImpl implements ComputerVisionPlugin {
 
     }
 
+    String interpolateJoints(BodyJoints bodyJoints){
+
+        Map<String,XYZPointWithConfidence> pts = new HashMap<>();
+        pts.put("PE", getPelvis(bodyJoints));
+        pts.put("NN",bodyJoints.nose);
+        // Assuming Thorax is 1/3 of distance between shoulders and pelvis
+        XYZPointWithConfidence thorax = getSpinePoint(bodyJoints,1/3f);
+        // Assuming spine/middle back is 2/3 of distance between shoulders and pelvis
+        XYZPointWithConfidence spine = getSpinePoint(bodyJoints,2/3f);
+        pts.put("TH",thorax);
+        pts.put("SP",spine);
+        pts.put("HT",getHeadTop(bodyJoints));
+        final String[] bodyJointsString = {""};
+        pts.forEach((key,data)->{
+            bodyJointsString[0] = bodyJointsString[0].concat(String.format(key+":%f,%f,%f=",data.x,data.y,data.z));
+
+        });
+
+        return bodyJointsString[0];
+
+
+
+
+
+    }
+    XYZPointWithConfidence getPelvis(BodyJoints bodyJoints){
+        return getMiddleJoint(bodyJoints.leftHip,bodyJoints.rightHip);
+
+    }
+
+    XYZPointWithConfidence getJointBetweenPoints(XYZPointWithConfidence pt1,XYZPointWithConfidence pt2,float distance){
+        XYZPointWithConfidence midpt = new XYZPointWithConfidence();
+        midpt.x  = pt1.x + (pt2.x-pt1.x)*distance;
+        midpt.y  = pt1.y + (pt2.y-pt1.y)*distance;
+        midpt.z  = pt1.z + (pt2.z-pt1.z)*distance;
+
+
+        midpt.presence = min(pt1.presence,pt2.presence);
+        midpt.confidence = min(pt1.confidence,pt2.confidence);
+        return midpt;
+    }
+    XYZPointWithConfidence getMiddleJoint(XYZPointWithConfidence pt1,XYZPointWithConfidence pt2) {
+        XYZPointWithConfidence midpt = new XYZPointWithConfidence();
+        midpt.x  = (pt1.x + pt2.x)/2;
+        midpt.y  = (pt1.y + pt2.y)/2;
+        midpt.z  = (pt1.z + pt2.z)/2;
+
+        midpt.presence = min(pt1.presence,pt2.presence);
+        midpt.confidence = min(pt1.confidence,pt2.confidence);
+        return midpt;
+    }
+        XYZPointWithConfidence getSpinePoint(BodyJoints bodyJoints, float distanceFromShoulders){
+            XYZPointWithConfidence midShoulder = getMiddleJoint(bodyJoints.leftShoulder, bodyJoints.rightShoulder);
+            XYZPointWithConfidence pelvis = getPelvis(bodyJoints);
+            return getJointBetweenPoints(midShoulder,pelvis,distanceFromShoulders);
+    }
+
+    XYZPointWithConfidence getHeadTop(BodyJoints bodyJoints){
+        XYZPointWithConfidence middleEye = getMiddleJoint(bodyJoints.leftEye,bodyJoints.rightEye);
+        return getJointBetweenPoints(middleEye,bodyJoints.nose,2);
+    }
+
+
 
     @Override
-    public void bodyJoints(int timestamp, BodyJoints bodyJoints) {
+    public void bodyJoints(long timestamp, BodyJoints bodyJoints) {
         if (isLogging){
             this.bodyJointsEventList.add(new BodyJointsEvent(timestamp,bodyJoints));
 

From be07542ef787bf4d7cbed1f2b31d84a00f69435e Mon Sep 17 00:00:00 2001
From: Mautisim Munir <mautisim@edgestore.ai>
Date: Fri, 28 Oct 2022 19:51:05 +0500
Subject: [PATCH 3/4] added interpolation with visualization

---
 .../posetracking-lindera/src/main/BUILD       |   1 +
 .../ComputerVisionPluginImpl.java             |  58 -----
 .../posetracking_lindera/MainActivity.java    |   6 +-
 .../src/main/res/layout/activity_main.xml     |  49 ++--
 .../SolutionGlSurfaceViewRenderer.java        |   3 +
 .../solutions/lindera/BodyJoints.java         |  20 +-
 .../mediapipe/solutions/lindera/Lindera.java  |  19 +-
 .../posetracking/PoseTrackingResult.java      | 213 ++++++++++++------
 .../PoseTrackingResultGlRenderer.java         |  37 ++-
 9 files changed, 246 insertions(+), 160 deletions(-)

diff --git a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/BUILD b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/BUILD
index 3bd9f445f..748ab157d 100644
--- a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/BUILD
+++ b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/BUILD
@@ -20,6 +20,7 @@ android_binary(
     name = "posetracking-lindera",
     srcs = glob(["**/*.java"]),
     custom_package = "com.google.mediapipe.examples.posetracking_lindera",
+    dex_shards = 10,
     manifest = "AndroidManifest.xml",
     manifest_values = {
         "applicationId": "com.google.mediapipe.examples.posetracking_lindera",
diff --git a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
index cb5af4132..6ae829d53 100644
--- a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
+++ b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
@@ -88,7 +88,6 @@ public class ComputerVisionPluginImpl implements ComputerVisionPlugin {
 
                 }
             }
-            bodyJointsString = bodyJointsString.concat(interpolateJoints(bodyJoints));
             // remove the last equal sign
             bodyJointsString = bodyJointsString.substring(0,bodyJointsString.length()-1);
 
@@ -106,68 +105,11 @@ public class ComputerVisionPluginImpl implements ComputerVisionPlugin {
 
     }
 
-    String interpolateJoints(BodyJoints bodyJoints){
-
-        Map<String,XYZPointWithConfidence> pts = new HashMap<>();
-        pts.put("PE", getPelvis(bodyJoints));
-        pts.put("NN",bodyJoints.nose);
-        // Assuming Thorax is 1/3 of distance between shoulders and pelvis
-        XYZPointWithConfidence thorax = getSpinePoint(bodyJoints,1/3f);
-        // Assuming spine/middle back is 2/3 of distance between shoulders and pelvis
-        XYZPointWithConfidence spine = getSpinePoint(bodyJoints,2/3f);
-        pts.put("TH",thorax);
-        pts.put("SP",spine);
-        pts.put("HT",getHeadTop(bodyJoints));
-        final String[] bodyJointsString = {""};
-        pts.forEach((key,data)->{
-            bodyJointsString[0] = bodyJointsString[0].concat(String.format(key+":%f,%f,%f=",data.x,data.y,data.z));
-
-        });
-
-        return bodyJointsString[0];
 
 
 
 
 
-    }
-    XYZPointWithConfidence getPelvis(BodyJoints bodyJoints){
-        return getMiddleJoint(bodyJoints.leftHip,bodyJoints.rightHip);
-
-    }
-
-    XYZPointWithConfidence getJointBetweenPoints(XYZPointWithConfidence pt1,XYZPointWithConfidence pt2,float distance){
-        XYZPointWithConfidence midpt = new XYZPointWithConfidence();
-        midpt.x  = pt1.x + (pt2.x-pt1.x)*distance;
-        midpt.y  = pt1.y + (pt2.y-pt1.y)*distance;
-        midpt.z  = pt1.z + (pt2.z-pt1.z)*distance;
-
-
-        midpt.presence = min(pt1.presence,pt2.presence);
-        midpt.confidence = min(pt1.confidence,pt2.confidence);
-        return midpt;
-    }
-    XYZPointWithConfidence getMiddleJoint(XYZPointWithConfidence pt1,XYZPointWithConfidence pt2) {
-        XYZPointWithConfidence midpt = new XYZPointWithConfidence();
-        midpt.x  = (pt1.x + pt2.x)/2;
-        midpt.y  = (pt1.y + pt2.y)/2;
-        midpt.z  = (pt1.z + pt2.z)/2;
-
-        midpt.presence = min(pt1.presence,pt2.presence);
-        midpt.confidence = min(pt1.confidence,pt2.confidence);
-        return midpt;
-    }
-        XYZPointWithConfidence getSpinePoint(BodyJoints bodyJoints, float distanceFromShoulders){
-            XYZPointWithConfidence midShoulder = getMiddleJoint(bodyJoints.leftShoulder, bodyJoints.rightShoulder);
-            XYZPointWithConfidence pelvis = getPelvis(bodyJoints);
-            return getJointBetweenPoints(midShoulder,pelvis,distanceFromShoulders);
-    }
-
-    XYZPointWithConfidence getHeadTop(BodyJoints bodyJoints){
-        XYZPointWithConfidence middleEye = getMiddleJoint(bodyJoints.leftEye,bodyJoints.rightEye);
-        return getJointBetweenPoints(middleEye,bodyJoints.nose,2);
-    }
-
 
 
     @Override
diff --git a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/MainActivity.java b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/MainActivity.java
index a39a50013..3cd14ab9a 100644
--- a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/MainActivity.java
+++ b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/MainActivity.java
@@ -83,7 +83,7 @@ public class MainActivity extends AppCompatActivity {
 
         findViewById(R.id.button_set_model).setVisibility(View.GONE);
         findViewById(R.id.button_toggle_landmarks).setVisibility(View.GONE);
-        findViewById(R.id.button_start_capture).setVisibility(View.GONE);
+        findViewById(R.id.button_capture_logging).setVisibility(View.GONE);
         setupLiveDemoUiComponents();
         plugin = new ComputerVisionPluginImpl();
 
@@ -116,7 +116,7 @@ public class MainActivity extends AppCompatActivity {
         Button startDetectionButton = findViewById(R.id.button_start_detection);
         Button toggleLandmarks = findViewById(R.id.button_toggle_landmarks);
         Button modelComplexity = findViewById(R.id.button_set_model);
-        Button startCapture = findViewById(R.id.button_start_capture);
+        Button startCapture = findViewById(R.id.button_capture_logging);
         FrameLayout frameLayout = findViewById(R.id.preview_display_layout);
 
         startDetectionButton.setOnClickListener(
@@ -129,7 +129,7 @@ public class MainActivity extends AppCompatActivity {
                             startDetectionButton.setVisibility(View.GONE);
                             findViewById(R.id.button_set_model).setVisibility(View.VISIBLE);
                             findViewById(R.id.button_toggle_landmarks).setVisibility(View.VISIBLE);
-                            findViewById(R.id.button_start_capture).setVisibility(View.VISIBLE);
+                            findViewById(R.id.button_capture_logging).setVisibility(View.VISIBLE);
 
                             updateLandmarkButtonText();
                             updateModelComplexityButtonText();
diff --git a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/res/layout/activity_main.xml b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/res/layout/activity_main.xml
index 84418b5b3..ba95a5142 100644
--- a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/res/layout/activity_main.xml
+++ b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/res/layout/activity_main.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
@@ -10,7 +11,8 @@
         style="?android:attr/buttonBarStyle"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:gravity="center">
+        android:gravity="center"
+        android:orientation="horizontal">
 
         <Button
             android:id="@+id/button_start_detection"
@@ -24,38 +26,57 @@
             style="?android:attr/buttonBarButtonStyle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:text="Show Landmarks" />
+            android:text="Landmarks" />
 
         <Button
             android:id="@+id/button_set_model"
             style="?android:attr/buttonBarButtonStyle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:text="Set Model" />
+            android:text="Model" />
 
         <Button
-            android:id="@+id/button_start_capture"
+            android:id="@+id/button_capture_logging"
             style="?android:attr/buttonBarButtonStyle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:text="Start Capture" />
 
-        <TextView
-            android:id="@+id/fps_view"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content" />
     </LinearLayout>
 
     <FrameLayout
-        android:id="@+id/preview_display_layout"
+        android:id="@+id/overlay"
+        style="?android:attr/buttonBarStyle"
         android:layout_width="match_parent"
-        android:layout_height="match_parent">
+        android:layout_height="match_parent"
+        android:gravity="center"
+        android:orientation="horizontal">
+
+        <FrameLayout
+            android:id="@+id/preview_display_layout"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent">
+
+            <TextView
+                android:id="@+id/no_view"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:gravity="center"
+                android:text="@string/instruction" />
+
+        </FrameLayout>
 
         <TextView
-            android:id="@+id/no_view"
-            android:layout_width="match_parent"
+            android:id="@+id/fps_view"
+            android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:gravity="center"
-            android:text="@string/instruction" />
+            android:textSize="30sp"
+            android:textStyle="bold"
+            android:layout_marginTop="20dp"
+            android:layout_marginLeft="20dp"
+            android:elevation="10dp"
+            android:gravity="center_horizontal|center_vertical"/>
+
     </FrameLayout>
+
 </LinearLayout>
diff --git a/mediapipe/java/com/google/mediapipe/solutioncore/SolutionGlSurfaceViewRenderer.java b/mediapipe/java/com/google/mediapipe/solutioncore/SolutionGlSurfaceViewRenderer.java
index 47f7695ae..4f13973d5 100644
--- a/mediapipe/java/com/google/mediapipe/solutioncore/SolutionGlSurfaceViewRenderer.java
+++ b/mediapipe/java/com/google/mediapipe/solutioncore/SolutionGlSurfaceViewRenderer.java
@@ -49,6 +49,9 @@ public class SolutionGlSurfaceViewRenderer<T extends ImageSolutionResult>
   public void setSolutionResultRenderer(ResultGlRenderer<T> resultGlRenderer) {
     this.resultGlRenderer = resultGlRenderer;
   }
+  public ResultGlRenderer<T> getSolutionResultRenderer(){
+    return this.resultGlRenderer;
+  }
 
   /**
    * Sets the next input {@link TextureFrame} and solution result to render.
diff --git a/mediapipe/java/com/google/mediapipe/solutions/lindera/BodyJoints.java b/mediapipe/java/com/google/mediapipe/solutions/lindera/BodyJoints.java
index e2addd572..81b5c3946 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/lindera/BodyJoints.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/lindera/BodyJoints.java
@@ -1,7 +1,7 @@
 package com.google.mediapipe.solutions.lindera;
 
 public class BodyJoints {
-    public XYZPointWithConfidence nose;
+    public XYZPointWithConfidence neckNose;
     
     public XYZPointWithConfidence leftEyeInner;
     public XYZPointWithConfidence leftEye;
@@ -52,16 +52,15 @@ public class BodyJoints {
     public XYZPointWithConfidence leftFoot;
     
     
-//    public XYZPointWithConfidence pelvis;
-//
-//    public XYZPointWithConfidence spine;
-//    public XYZPointWithConfidence thorax;
-//    public XYZPointWithConfidence neckNose;
-//    public XYZPointWithConfidence headTop;
+    public XYZPointWithConfidence pelvis;
+
+    public XYZPointWithConfidence spine;
+    public XYZPointWithConfidence thorax;
+    public XYZPointWithConfidence headTop;
 
 
     public BodyJoints() {
-         nose = new XYZPointWithConfidence();
+         neckNose = new XYZPointWithConfidence();
 
          leftEyeInner= new XYZPointWithConfidence();
          leftEye= new XYZPointWithConfidence();
@@ -111,5 +110,10 @@ public class BodyJoints {
          rightFoot= new XYZPointWithConfidence();
          leftFoot= new XYZPointWithConfidence();
 
+        pelvis = new XYZPointWithConfidence();
+         spine = new XYZPointWithConfidence();
+         thorax = new XYZPointWithConfidence();
+         headTop = new XYZPointWithConfidence();
+
     }
 }
\ No newline at end of file
diff --git a/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java b/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java
index 0f8e749bb..662c053e8 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/lindera/Lindera.java
@@ -37,6 +37,7 @@ public class Lindera {
     private CameraInput.CameraFacing cameraFacing = CameraInput.CameraFacing.FRONT;
     private AppCompatActivity appCompatActivity;
     private  ViewGroup computerVisionContainerView;
+    private PoseTrackingResultGlRenderer solutionRenderer;
     
     public Lindera(ComputerVisionPlugin plugin){
         this.plugin = plugin;
@@ -45,6 +46,8 @@ public class Lindera {
     public void setLandmarksVisibility(boolean visible){
         this.poseTracking.options = PoseTrackingOptions.builder().withPoseTrackingOptions(this.poseTracking
                 .options).setLandmarkVisibility(visible).build();
+        solutionRenderer.setLandmarksVisibility(this.poseTracking.options.landmarkVisibility());
+        glSurfaceView.setSolutionResultRenderer(solutionRenderer);
     }
     public boolean getLandmarkVisibility(){
         return this.poseTracking.options.landmarkVisibility();
@@ -154,7 +157,9 @@ public class Lindera {
                 poseTracking.getGlContext(), 
                 poseTracking.getGlMajorVersion()
             );
-        glSurfaceView.setSolutionResultRenderer(new PoseTrackingResultGlRenderer());
+        solutionRenderer = new PoseTrackingResultGlRenderer();
+        solutionRenderer.setLandmarksVisibility(this.poseTracking.options.landmarkVisibility());
+        glSurfaceView.setSolutionResultRenderer(solutionRenderer);
         glSurfaceView.setRenderInputImage(true);
 
         setupEventListener();
@@ -193,7 +198,7 @@ public class Lindera {
     }
 
     private void landmarksToBodyJoints(ImmutableList<LandmarkProto.Landmark> landmarks , BodyJoints bodyJoints){
-        landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.NOSE), bodyJoints.nose);
+        landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.NOSE), bodyJoints.neckNose);
 
         landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.LEFT_EYE_INNER), bodyJoints.leftEyeInner);
         landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.LEFT_EYE), bodyJoints.leftEye);
@@ -242,6 +247,16 @@ public class Lindera {
 
         landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.RIGHT_FOOT), bodyJoints.rightFoot);
         landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.LEFT_FOOT), bodyJoints.leftFoot);
+
+        // additional points
+        landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.PELVIS), bodyJoints.pelvis);
+        landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.SPINE), bodyJoints.spine);
+        landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.THORAX), bodyJoints.thorax);
+        landmarkToXYZPointWithConfidence(landmarks.get(PoseTrackingResult.HEAD_TOP), bodyJoints.headTop);
+
+
+
+
     }
 
     private void startCamera() {
diff --git a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java
index 46dc45f90..fb77d0cd9 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java
@@ -14,16 +14,21 @@
 
 package com.google.mediapipe.solutions.posetracking;
 
+import static java.lang.Math.min;
+
 import android.graphics.Bitmap;
+
 import com.google.auto.value.AutoBuilder;
 import com.google.common.collect.ImmutableList;
+import com.google.mediapipe.formats.proto.DetectionProto.Detection;
 import com.google.mediapipe.formats.proto.LandmarkProto;
 import com.google.mediapipe.framework.Packet;
 import com.google.mediapipe.framework.TextureFrame;
 import com.google.mediapipe.solutioncore.ImageSolutionResult;
-import com.google.mediapipe.formats.proto.DetectionProto.Detection;
-import java.util.List;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
 
 
 /**
@@ -32,80 +37,152 @@ import java.util.List;
  * the corresponding input image.
  */
 public class PoseTrackingResult extends ImageSolutionResult {
-  private final ImmutableList<Detection> multiPoseDetections;
-  private final ImmutableList<LandmarkProto.Landmark> multiPoseLandmarks;
-
-  public static final int NOSE = 0;
-  public static final int LEFT_EYE_INNER = 1;
-  public static final int LEFT_EYE = 2;
-  public static final int LEFT_EYE_OUTER = 3;
-  public static final int RIGHT_EYE_INNER = 4;
-  public static final int RIGHT_EYE = 5;
-  public static final int RIGHT_EYE_OUTER = 6;
-  public static final int LEFT_EAR = 7;
-  public static final int RIGHT_EAR = 8;
-  public static final int MOUTH_LEFT = 9;
-  public static final int MOUTH_RIGHT = 10;
-  public static final int LEFT_SHOULDER = 11;
-  public static final int RIGHT_SHOULDER = 12;
-  public static final int LEFT_ELBOW = 13;
-  public static final int RIGHT_ELBOW = 14;
-  public static final int LEFT_WRIST = 15;
-  public static final int RIGHT_WRIST = 16;
-  public static final int LEFT_PINKY = 17;
-  public static final int RIGHT_PINKY = 18;
-  public static final int LEFT_INDEX = 19;
-  public static final int RIGHT_INDEX = 20;
-  public static final int LEFT_THUMB = 21;
-  public static final int RIGHT_THUMB = 22;
-  public static final int LEFT_HIP = 23;
-  public static final int RIGHT_HIP = 24;
-  public static final int LEFT_KNEE = 25;
-  public static final int RIGHT_KNEE = 26;
-  public static final int LEFT_ANKLE = 27;
-  public static final int RIGHT_ANKLE = 28;
-  public static final int LEFT_HEEL = 29;
-  public static final int RIGHT_HEEL = 30;
-  public static final int LEFT_FOOT = 31;
-  public static final int RIGHT_FOOT = 32;
+    private final ImmutableList<Detection> multiPoseDetections;
+    private final ImmutableList<LandmarkProto.Landmark> multiPoseLandmarks;
 
 
-  PoseTrackingResult(
-          ImmutableList<Detection> multiPoseDetections,ImmutableList<LandmarkProto.Landmark> multiPoseLandmarks, Packet imagePacket, long timestamp) {
-    this.multiPoseDetections = multiPoseDetections;
-    this.multiPoseLandmarks = multiPoseLandmarks;
-    this.timestamp = timestamp;
-    this.imagePacket = imagePacket;
-  }
+    public static final int NOSE = 0;
+    public static final int LEFT_EYE_INNER = 1;
+    public static final int LEFT_EYE = 2;
+    public static final int LEFT_EYE_OUTER = 3;
+    public static final int RIGHT_EYE_INNER = 4;
+    public static final int RIGHT_EYE = 5;
+    public static final int RIGHT_EYE_OUTER = 6;
+    public static final int LEFT_EAR = 7;
+    public static final int RIGHT_EAR = 8;
+    public static final int MOUTH_LEFT = 9;
+    public static final int MOUTH_RIGHT = 10;
+    public static final int LEFT_SHOULDER = 11;
+    public static final int RIGHT_SHOULDER = 12;
+    public static final int LEFT_ELBOW = 13;
+    public static final int RIGHT_ELBOW = 14;
+    public static final int LEFT_WRIST = 15;
+    public static final int RIGHT_WRIST = 16;
+    public static final int LEFT_PINKY = 17;
+    public static final int RIGHT_PINKY = 18;
+    public static final int LEFT_INDEX = 19;
+    public static final int RIGHT_INDEX = 20;
+    public static final int LEFT_THUMB = 21;
+    public static final int RIGHT_THUMB = 22;
+    public static final int LEFT_HIP = 23;
+    public static final int RIGHT_HIP = 24;
+    public static final int LEFT_KNEE = 25;
+    public static final int RIGHT_KNEE = 26;
+    public static final int LEFT_ANKLE = 27;
+    public static final int RIGHT_ANKLE = 28;
+    public static final int LEFT_HEEL = 29;
+    public static final int RIGHT_HEEL = 30;
+    public static final int LEFT_FOOT = 31;
+    public static final int RIGHT_FOOT = 32;
 
-  // Collection of detected faces, where each face is represented as a detection proto message that
-  // contains a bounding box and 6 {@link FaceKeypoint}s. The bounding box is composed of xmin and
-  // width (both normalized to [0.0, 1.0] by the image width) and ymin and height (both normalized
-  // to [0.0, 1.0] by the image height). Each keypoint is composed of x and y, which are normalized
-  // to [0.0, 1.0] by the image width and height respectively.
-  public ImmutableList<Detection> multiPoseTrackings() {
-    return multiPoseDetections;
-  }
+    // Additional points not provided by MediaPipe
+    public static final int PELVIS = 33;
+    public static final int SPINE = 34;
+    public static final int THORAX = 35;
+    public static final int HEAD_TOP = 36;
 
 
-  public ImmutableList<LandmarkProto.Landmark> multiPoseLandmarks() {
-    return multiPoseLandmarks;
-  }
+    PoseTrackingResult(
+            ImmutableList<Detection> multiPoseDetections, ImmutableList<LandmarkProto.Landmark> multiPoseLandmarks, Packet imagePacket, long timestamp) {
+        this.multiPoseDetections = multiPoseDetections;
+        this.multiPoseLandmarks = multiPoseLandmarks;
+        this.timestamp = timestamp;
+        this.imagePacket = imagePacket;
+    }
 
-  public static Builder builder() {
-    return new AutoBuilder_PoseTrackingResult_Builder();
-  }
+    // Collection of detected faces, where each face is represented as a detection proto message that
+    // contains a bounding box and 6 {@link FaceKeypoint}s. The bounding box is composed of xmin and
+    // width (both normalized to [0.0, 1.0] by the image width) and ymin and height (both normalized
+    // to [0.0, 1.0] by the image height). Each keypoint is composed of x and y, which are normalized
+    // to [0.0, 1.0] by the image width and height respectively.
+    public ImmutableList<Detection> multiPoseTrackings() {
+        return multiPoseDetections;
+    }
 
-  /** Builder for {@link PoseTrackingResult}. */
-  @AutoBuilder
-  public abstract static class Builder {
-    abstract Builder setMultiPoseDetections(List<Detection> value);
-    abstract Builder setMultiPoseLandmarks(List<LandmarkProto.Landmark> value);
+    static LandmarkProto.Landmark getJointBetweenPoints(LandmarkProto.Landmark pt1, LandmarkProto.Landmark pt2, float distance) {
+        return LandmarkProto.Landmark.newBuilder()
+                .setX(pt1.getX() + (pt2.getX() - pt1.getX()) * distance)
+                .setY(pt1.getY() + (pt2.getY() - pt1.getY()) * distance)
+                .setZ(pt1.getZ() + (pt2.getZ() - pt1.getZ()) * distance)
+                .setPresence(min(pt1.getPresence(), pt2.getPresence()))
+                .setVisibility(min(pt1.getVisibility(), pt2.getVisibility())).build();
+    }
 
-    abstract Builder setTimestamp(long value);
+    LandmarkProto.Landmark getPelvis(ImmutableList<LandmarkProto.Landmark> landmarks) {
+        // middle point b/w left hip and right hip
+        return getJointBetweenPoints(landmarks.get(LEFT_HIP), landmarks.get(RIGHT_HIP), 0.5f);
+    }
 
-    abstract Builder setImagePacket(Packet value);
+    LandmarkProto.Landmark getSpinePoint(ImmutableList<LandmarkProto.Landmark> landmarks, float distanceFromShoulders) {
+        LandmarkProto.Landmark pelvis = getPelvis(landmarks);
+        // middle point b/w left shoulder and right shoulder
+        LandmarkProto.Landmark chest = getJointBetweenPoints(landmarks.get(LEFT_SHOULDER), landmarks.get(RIGHT_SHOULDER), 0.5f);
 
-    abstract PoseTrackingResult build();
-  }
+        return getJointBetweenPoints(chest, pelvis, distanceFromShoulders);
+    }
+
+    LandmarkProto.Landmark getHeadTop(ImmutableList<LandmarkProto.Landmark> landmarks) {
+
+        float x = 0;
+        float y  = 0;
+        float z = 0;
+        final List<Integer> ptsIdx = Arrays.asList(LEFT_EAR, LEFT_EYE, RIGHT_EYE, RIGHT_EAR);
+        for (Integer i :ptsIdx){
+            LandmarkProto.Landmark landmark = landmarks.get(i);
+            x+=landmark.getX();
+            y+=landmark.getY();
+            z+=landmark.getZ();
+        }
+        x = x/ptsIdx.size();
+        y = y/ptsIdx.size();
+        z = z/ptsIdx.size();
+        LandmarkProto.Landmark midupper = LandmarkProto.Landmark.newBuilder().setX(x).setY(y).setZ(z).build();
+
+
+        LandmarkProto.Landmark midlower = getJointBetweenPoints(landmarks.get(MOUTH_LEFT), landmarks.get(MOUTH_RIGHT), 0.5f);
+        // 2 times the distance b/w nose and eyes
+        return getJointBetweenPoints(midlower, midupper, 2.5f);
+    }
+
+    ImmutableList<LandmarkProto.Landmark> getAdditionalLandmarksByInterpolation(ImmutableList<LandmarkProto.Landmark> originalLandmarks) {
+
+        if (originalLandmarks.isEmpty()) return originalLandmarks;
+        List<LandmarkProto.Landmark> landmarks = new ArrayList<>(originalLandmarks);
+        // pelvis
+        landmarks.add(getPelvis(originalLandmarks));
+        // spine assuming it is 2/3rd of distance b/w shoulders and pelvis
+        landmarks.add(getSpinePoint(originalLandmarks, 2 / 3f));
+        // thorax assuming it is 1/3rd of distance b/w shoulders and pelvis
+        landmarks.add(getSpinePoint(originalLandmarks, 1 / 3f));
+        // head top
+        landmarks.add(getHeadTop(originalLandmarks));
+
+
+        return ImmutableList.copyOf(landmarks);
+
+    }
+
+    public ImmutableList<LandmarkProto.Landmark> multiPoseLandmarks() {
+        return getAdditionalLandmarksByInterpolation(multiPoseLandmarks);
+    }
+
+    public static Builder builder() {
+        return new AutoBuilder_PoseTrackingResult_Builder();
+    }
+
+    /**
+     * Builder for {@link PoseTrackingResult}.
+     */
+    @AutoBuilder
+    public abstract static class Builder {
+        abstract Builder setMultiPoseDetections(List<Detection> value);
+
+        abstract Builder setMultiPoseLandmarks(List<LandmarkProto.Landmark> value);
+
+        abstract Builder setTimestamp(long value);
+
+        abstract Builder setImagePacket(Packet value);
+
+        abstract PoseTrackingResult build();
+    }
 }
diff --git a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java
index a74898f3d..c7fb83ecc 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java
@@ -16,7 +16,9 @@ package com.google.mediapipe.solutions.posetracking;
 
 import android.opengl.GLES20;
 
+import com.google.common.collect.ImmutableList;
 import com.google.mediapipe.formats.proto.DetectionProto.Detection;
+import com.google.mediapipe.formats.proto.LandmarkProto;
 import com.google.mediapipe.solutioncore.ResultGlRenderer;
 
 import java.nio.ByteBuffer;
@@ -52,7 +54,10 @@ public class PoseTrackingResultGlRenderer implements ResultGlRenderer<PoseTracki
   private int pointSizeHandle;
   private int projectionMatrixHandle;
   private int colorHandle;
-
+  private boolean areLandmarksVisible= true;
+  public void setLandmarksVisibility(boolean value){
+    areLandmarksVisible = value;
+  }
   private int loadShader(int type, String shaderCode) {
     int shader = GLES20.glCreateShader(type);
     GLES20.glShaderSource(shader, shaderCode);
@@ -79,17 +84,33 @@ public class PoseTrackingResultGlRenderer implements ResultGlRenderer<PoseTracki
    * **/
   @Override
   public void renderResult(PoseTrackingResult result, float[] projectionMatrix) {
-    if (result == null) {
+    if (result == null || !areLandmarksVisible) {
       return;
     }
 
     GLES20.glUseProgram(program);
     GLES20.glUniformMatrix4fv(projectionMatrixHandle, 1, false, projectionMatrix, 0);
-//    GLES20.glUniform1f(pointSizeHandle, KEYPOINT_SIZE);
-//    int numDetectedFaces = result.multiPoseTrackings().size();
-//    for (int i = 0; i < numDetectedFaces; ++i) {
-//      drawDetection(result.multiPoseTrackings().get(i));
-//    }
+    GLES20.glUniform1f(pointSizeHandle, KEYPOINT_SIZE);
+    ImmutableList<LandmarkProto.Landmark> landmarks = result.multiPoseLandmarks();
+
+
+      // Draw keypoints.
+      float[] points = new float[landmarks.size() * 2];
+      for (int i = 0; i < landmarks.size(); ++i) {
+        points[2 * i] = landmarks.get(i).getX();
+        points[2 * i + 1] = 1-landmarks.get(i).getY();
+      }
+      GLES20.glUniform4fv(colorHandle, 1, KEYPOINT_COLOR, 0);
+      FloatBuffer vertexBuffer =
+          ByteBuffer.allocateDirect(points.length * 4)
+              .order(ByteOrder.nativeOrder())
+              .asFloatBuffer()
+              .put(points);
+      vertexBuffer.position(0);
+      GLES20.glEnableVertexAttribArray(positionHandle);
+      GLES20.glVertexAttribPointer(positionHandle, 2, GLES20.GL_FLOAT, false, 0, vertexBuffer);
+      GLES20.glDrawArrays(GLES20.GL_POINTS, 0, landmarks.size());
+
   }
 
   /**
@@ -100,6 +121,8 @@ public class PoseTrackingResultGlRenderer implements ResultGlRenderer<PoseTracki
   public void release() {
     GLES20.glDeleteProgram(program);
   }
+
+
   /**
    * Not needed anymore, to be cleaned
    * */

From 60bff660d21d7c99552b3295e282f6b9fbcfd4fb Mon Sep 17 00:00:00 2001
From: Mautisim Munir <mautisim@edgestore.ai>
Date: Fri, 28 Oct 2022 20:19:04 +0500
Subject: [PATCH 4/4] added confidence threshold while drawing

---
 .../ComputerVisionPluginImpl.java                    | 12 ++++++++++++
 .../solutions/posetracking/PoseTrackingResult.java   |  7 ++++++-
 .../posetracking/PoseTrackingResultGlRenderer.java   |  9 +++++++--
 3 files changed, 25 insertions(+), 3 deletions(-)

diff --git a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
index 6ae829d53..705a1a699 100644
--- a/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
+++ b/mediapipe/examples/android/solutions/posetracking-lindera/src/main/java/com/google/mediapipe/examples/posetracking_lindera/ComputerVisionPluginImpl.java
@@ -80,6 +80,18 @@ public class ComputerVisionPluginImpl implements ComputerVisionPlugin {
                         }
                     }
                     abbrev = abbrev.toUpperCase(Locale.ROOT);
+                    // correct abbreviations here
+                    switch (abbrev) {
+                        case "P":
+                            abbrev = "PE";
+                            break;
+                        case "T":
+                            abbrev = "TH";
+                            break;
+                        case "S":
+                            abbrev = "SP";
+                            break;
+                    }
                     XYZPointWithConfidence data = (XYZPointWithConfidence) field.get(bodyJoints);
                     assert data != null;
                     bodyJointsString = bodyJointsString.concat(String.format(abbrev+":%f,%f,%f=",data.x,data.y,data.z));
diff --git a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java
index fb77d0cd9..0106893df 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResult.java
@@ -126,17 +126,22 @@ public class PoseTrackingResult extends ImageSolutionResult {
         float x = 0;
         float y  = 0;
         float z = 0;
+        float confidence = 1;
+        float presence = 1;
         final List<Integer> ptsIdx = Arrays.asList(LEFT_EAR, LEFT_EYE, RIGHT_EYE, RIGHT_EAR);
         for (Integer i :ptsIdx){
             LandmarkProto.Landmark landmark = landmarks.get(i);
             x+=landmark.getX();
             y+=landmark.getY();
             z+=landmark.getZ();
+            presence = min(presence,landmark.getPresence());
+            confidence = min(confidence,landmark.getVisibility());
         }
         x = x/ptsIdx.size();
         y = y/ptsIdx.size();
         z = z/ptsIdx.size();
-        LandmarkProto.Landmark midupper = LandmarkProto.Landmark.newBuilder().setX(x).setY(y).setZ(z).build();
+        LandmarkProto.Landmark midupper = LandmarkProto.Landmark.newBuilder().setX(x).setY(y).setZ(z)
+                .setVisibility(confidence).setPresence(presence).build();
 
 
         LandmarkProto.Landmark midlower = getJointBetweenPoints(landmarks.get(MOUTH_LEFT), landmarks.get(MOUTH_RIGHT), 0.5f);
diff --git a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java
index c7fb83ecc..b85e21420 100644
--- a/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java
+++ b/mediapipe/java/com/google/mediapipe/solutions/posetracking/PoseTrackingResultGlRenderer.java
@@ -24,7 +24,9 @@ import com.google.mediapipe.solutioncore.ResultGlRenderer;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.nio.FloatBuffer;
-
+import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 
 /** A custom implementation of {@link ResultGlRenderer} to render {@link PoseTrackingResult}. */
@@ -91,7 +93,10 @@ public class PoseTrackingResultGlRenderer implements ResultGlRenderer<PoseTracki
     GLES20.glUseProgram(program);
     GLES20.glUniformMatrix4fv(projectionMatrixHandle, 1, false, projectionMatrix, 0);
     GLES20.glUniform1f(pointSizeHandle, KEYPOINT_SIZE);
-    ImmutableList<LandmarkProto.Landmark> landmarks = result.multiPoseLandmarks();
+    ImmutableList<LandmarkProto.Landmark> originalLandmarks = result.multiPoseLandmarks();
+    List<LandmarkProto.Landmark> landmarks = originalLandmarks.stream().filter((landmark -> {
+      return landmark.getVisibility() > 0.25 || landmark.getPresence()>0.25;
+    })).collect(Collectors.toList());
 
 
       // Draw keypoints.