From ed1275b673a1b534874bfe1a974ba8b8e5ae96b0 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Mon, 3 Jan 2022 15:42:27 +0100
Subject: [PATCH 01/24] Add pose tracking subproject

---
 mediapipe/pose_tracking_dll/BUILD             |  59 ++++++
 mediapipe/pose_tracking_dll/README.md         |  30 +++
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 179 ++++++++++++++++++
 mediapipe/pose_tracking_dll/pose_tracking.h   |  99 ++++++++++
 .../pose_tracking_dll/windows_dll_library.bzl |  62 ++++++
 5 files changed, 429 insertions(+)
 create mode 100644 mediapipe/pose_tracking_dll/BUILD
 create mode 100644 mediapipe/pose_tracking_dll/README.md
 create mode 100644 mediapipe/pose_tracking_dll/pose_tracking.cpp
 create mode 100644 mediapipe/pose_tracking_dll/pose_tracking.h
 create mode 100644 mediapipe/pose_tracking_dll/windows_dll_library.bzl

diff --git a/mediapipe/pose_tracking_dll/BUILD b/mediapipe/pose_tracking_dll/BUILD
new file mode 100644
index 000000000..98b5f9dc9
--- /dev/null
+++ b/mediapipe/pose_tracking_dll/BUILD
@@ -0,0 +1,59 @@
+# Copyright 2020 The MediaPipe Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+load("windows_dll_library.bzl", "windows_dll_library")
+licenses(["notice"])
+
+package(default_visibility = ["//mediapipe/examples:__subpackages__"])
+
+# Define the shared library
+windows_dll_library(
+    name = "pose_tracking_lib",
+    srcs = ["pose_tracking.cpp"],
+    hdrs = ["pose_tracking.h"],
+    # Define COMPILING_DLL to export symbols during compiling the DLL.
+    copts = ["-DCOMPILING_DLL"],
+    deps = [
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/formats:image_frame_opencv",
+        "//mediapipe/framework/formats:landmark_cc_proto",
+        "//mediapipe/framework/formats:rect_cc_proto",
+        "//mediapipe/framework/port:file_helpers",
+        "//mediapipe/framework/port:opencv_highgui",
+        "//mediapipe/framework/port:opencv_imgproc",
+        "//mediapipe/framework/port:opencv_video",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status",
+        "@com_google_absl//absl/flags:flag",
+        "@com_google_absl//absl/flags:parse",
+
+        "//mediapipe/calculators/core:constant_side_packet_calculator",
+        "//mediapipe/calculators/core:packet_presence_calculator",
+        "//mediapipe/calculators/core:flow_limiter_calculator",
+        "//mediapipe/calculators/tflite:tflite_model_calculator",
+        "//mediapipe/calculators/util:local_file_contents_calculator",
+        "//mediapipe/graphs/pose_tracking:pose_tracking_cpu_deps",
+    ]
+)
+
+# **Implicitly link to face_mesh_lib.dll**
+cc_binary(
+    name = "pose_tracking_cpu",
+    deps = [
+        "//mediapipe/examples/desktop:demo_run_graph_main",
+        "//mediapipe/graphs/pose_tracking:pose_tracking_cpu_deps",
+		":pose_tracking_lib"
+    ],
+)
diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
new file mode 100644
index 000000000..a183c4f2b
--- /dev/null
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -0,0 +1,30 @@
+## Description
+The pose_tracking_dll module allows for building a dll library that can be used with any C++ project. All the dependencies such as tensorflow are built statically into the dll. 
+
+Currently, the following features are supported:
+- Segmenting the person(s) of interest
+- Segmenting the skeleton(s)
+- Accessing the 3D coordinates of each node of the skeleton by name (using enum)
+
+## Prerequisites
+Follow the guidelines on the official Mediapipe website: https://google.github.io/mediapipe/getting_started/install.html#installing-on-windows
+
+IMPORTANT: The tutorial does not specify which version of Bazel to install. Install Bazel version 3.7.2
+
+## How to build
+Assuming you're in the root of the repository:
+
+cd mediapipe
+
+bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_tracking_cpu
+
+The results will be stored in bazel-bin\mediapipe\pose_tracking_dll folder.
+
+## How to use
+Go to bazel-bin\mediapipe\pose_tracking_dll
+
+Link pose_tracking_cpu.lib and pose_tracking_lib.dll.if.lib statically in your project.
+
+Make sure the opencv_world3410.dll and pose_tracking_lib.dll are accessible in your working directory.
+
+Use mediapipe\pose_tracking_dll\pose_tracking.h header file to access the methods of the library.
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
new file mode 100644
index 000000000..65f9f619f
--- /dev/null
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -0,0 +1,179 @@
+#include <cstdlib>
+#include <string>
+
+#include "pose_tracking.h"
+
+#include "absl/flags/flag.h"
+#include "absl/flags/parse.h"
+#include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/image_frame.h"
+#include "mediapipe/framework/formats/image_frame_opencv.h"
+#include "mediapipe/framework/port/file_helpers.h"
+#include "mediapipe/framework/port/opencv_highgui_inc.h"
+#include "mediapipe/framework/port/opencv_imgproc_inc.h"
+#include "mediapipe/framework/port/opencv_video_inc.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status.h"
+
+class PoseTrackingImpl {
+public:
+	PoseTrackingImpl(const std::string& calculatorGraphConfigFile) {
+		auto status = initialize(calculatorGraphConfigFile);
+		if (!status.ok()) {
+			LOG(WARNING) << "Warning: " << status;
+		}
+	}
+
+	absl::Status initialize(const std::string& calculatorGraphConfigFile) {
+		std::string graphContents;
+		MP_RETURN_IF_ERROR(mediapipe::file::GetContents(
+			calculatorGraphConfigFile,
+			&graphContents));
+
+		mediapipe::CalculatorGraphConfig config =
+			mediapipe::ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig>(
+				graphContents);
+		
+		MP_RETURN_IF_ERROR(graph.Initialize(config));
+		ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller poller,
+			graph.AddOutputStreamPoller(kOutputSegmentationStream));
+
+		ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller landmarksPoller,
+			graph.AddOutputStreamPoller(kOutpuLandmarksStream));
+
+		ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller posePresencePoller,
+			graph.AddOutputStreamPoller(kOutpuPosePresenceStream));
+
+
+		maskPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(std::move(poller));
+
+		landmarksPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(
+			std::move(landmarksPoller));
+
+		posePresencePollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(
+			std::move(posePresencePoller));
+
+		MP_RETURN_IF_ERROR(graph.StartRun({}));
+	}
+
+	bool processFrame(const cv::Mat& inputRGB8Bit) {
+		// Wrap Mat into an ImageFrame.
+		auto inputFrame = absl::make_unique<mediapipe::ImageFrame>(
+			mediapipe::ImageFormat::SRGB, inputRGB8Bit.cols, inputRGB8Bit.rows,
+			mediapipe::ImageFrame::kDefaultAlignmentBoundary);
+		cv::Mat inputFrameMat = mediapipe::formats::MatView(inputFrame.get());
+		inputRGB8Bit.copyTo(inputFrameMat);
+
+		// Send image packet into the graph.
+		size_t frameTimestampUs =
+			(double)cv::getTickCount() / (double)cv::getTickFrequency() * 1e6;
+		auto status = graph.AddPacketToInputStream(
+			kInputStream, mediapipe::Adopt(inputFrame.release())
+			.At(mediapipe::Timestamp(frameTimestampUs)));
+
+		if (!status.ok()) {
+			LOG(WARNING) << "Graph execution failed: " << status;
+			return false;
+		}
+
+		mediapipe::Packet posePresencePacket;
+		if (!posePresencePollerPtr || !posePresencePollerPtr->Next(&posePresencePacket)) return false;
+		auto landmarksDetected = posePresencePacket.Get<bool>();
+
+		if (!landmarksDetected) {
+			return false;
+		}
+
+		// Get the graph result packet, or stop if that fails.
+		mediapipe::Packet maskPacket;
+		if (!maskPollerPtr || !maskPollerPtr->Next(&maskPacket)) return false;
+		auto& outputFrame = maskPacket.Get<mediapipe::ImageFrame>();
+
+		// Get pose landmarks.
+		if (!landmarksPollerPtr ||
+			!landmarksPollerPtr->Next(&poseLandmarksPacket)) {
+			return false;
+		}
+
+		// Convert back to opencv for display or saving.
+		auto mask = mediapipe::formats::MatView(&outputFrame);
+		segmentedMask = mask.clone();
+
+		absl::Status landmarksStatus = detectLandmarksWithStatus(poseLandmarks);
+
+		return landmarksStatus.ok();
+	}
+
+	absl::Status detectLandmarksWithStatus(
+		nimagna::cv_wrapper::Point3f* poseLandmarks) {
+
+		if (poseLandmarksPacket.IsEmpty()) {
+			return absl::CancelledError("Pose landmarks packet is empty.");
+		}
+
+		auto retrievedLandmarks =
+			poseLandmarksPacket
+			.Get<::mediapipe::NormalizedLandmarkList>();
+
+		// Convert landmarks to cv::Point3f**.
+		const auto landmarksCount = retrievedLandmarks.landmark_size();
+
+		for (int j = 0; j < landmarksCount; ++j) {
+			const auto& landmark = retrievedLandmarks.landmark(j);
+			poseLandmarks[j].x = landmark.x();
+			poseLandmarks[j].y = landmark.y();
+			poseLandmarks[j].z = landmark.z();
+		}
+
+		return absl::OkStatus();
+	}
+
+	nimagna::cv_wrapper::Point3f* lastDetectedLandmarks() {
+		return poseLandmarks;
+	}
+
+	cv::Mat lastSegmentedFrame() {
+		return segmentedMask;
+	}
+
+	static constexpr size_t kLandmarksCount = 33u;
+
+private:
+	mediapipe::Packet poseLandmarksPacket;
+	cv::Mat segmentedMask;
+	nimagna::cv_wrapper::Point3f poseLandmarks[kLandmarksCount];
+	std::unique_ptr<mediapipe::OutputStreamPoller> posePresencePollerPtr;
+	std::unique_ptr<mediapipe::OutputStreamPoller> maskPollerPtr;
+	std::unique_ptr<mediapipe::OutputStreamPoller> landmarksPollerPtr;
+	mediapipe::CalculatorGraph graph;
+	const char* kInputStream = "input_video";
+	const char* kOutputSegmentationStream = "segmentation_mask";
+	const char* kOutpuLandmarksStream = "pose_landmarks";
+	const char* kOutpuPosePresenceStream = "pose_presence";
+};
+
+namespace nimagna {
+	PoseTracking::PoseTracking(const char* calculatorGraphConfigFile) {
+		myInstance = new PoseTrackingImpl(calculatorGraphConfigFile);
+	}
+
+	bool PoseTracking::processFrame(const cv_wrapper::Mat& inputRGB8Bit) {
+		auto* instance = static_cast<PoseTrackingImpl*>(myInstance);
+		const auto frame = cv::Mat(inputRGB8Bit.rows, inputRGB8Bit.cols, CV_8UC3, inputRGB8Bit.data);
+		return instance->processFrame(frame);
+	}
+
+	cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
+		auto* instance = static_cast<PoseTrackingImpl*>(myInstance);
+		return instance->lastDetectedLandmarks();
+	}
+
+	cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
+		auto* instance = static_cast<PoseTrackingImpl*>(myInstance);
+		const cv::Mat result = instance->lastSegmentedFrame();
+
+		return cv_wrapper::Mat(result.rows, result.cols, result.data);
+	}
+
+}
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
new file mode 100644
index 000000000..34161506c
--- /dev/null
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -0,0 +1,99 @@
+#ifndef POSE_TRACKING_LIBRARY_H
+#define POSE_TRACKING_LIBRARY_H
+
+#ifdef COMPILING_DLL
+#define DLLEXPORT __declspec(dllexport)
+#else
+#define DLLEXPORT __declspec(dllimport)
+#endif
+
+namespace nimagna {
+    namespace cv_wrapper {
+        struct Point2f {
+            float x = 0;
+            float y = 0;
+
+            Point2f() = default;
+            Point2f(float x, float y) : x(x), y(y) {}
+        };
+        struct Point3f {
+            float x = 0;
+            float y = 0;
+            float z = 0;
+
+            Point3f() = default;
+            Point3f(float x, float y, float z) : x(x), y(y), z(z) {}
+        };
+
+        struct Rect {
+            int x = 0;
+            int y = 0;
+            int width = 0;
+            int height = 0;
+
+            Rect() = default;
+            Rect(int x, int y, int width, int height) : x(x), y(y), width(width), height(height) {}
+        };
+
+        struct Mat {
+            int rows = 0;
+            int cols = 0;
+            unsigned char* data = 0;
+
+            Mat(int rows, int cols, unsigned char* data) : rows(rows), cols(cols), data(data) {}
+        };
+    }
+
+    class DLLEXPORT PoseTracking {
+    public:
+        static constexpr size_t landmarksCount = 33u;
+        enum LandmarkNames {
+            NOSE = 0,
+            LEFT_EYE_INNER,
+            LEFT_EYE,
+            LEFT_EYE_OUTER,
+            RIGHT_EYE_INNER,
+            RIGHT_EYE,
+            RIGHT_EYE_OUTER,
+            LEFT_EAR,
+            RIGHT_EAR,
+            MOUTH_LEFT,
+            MOUTH_RIGHT,
+            LEFT_SHOULDER,
+            RIGHT_SHOULDER,
+            LEFT_ELBOW,
+            RIGHT_ELBOW,
+            LEFT_WRIST,
+            RIGHT_WRIST,
+            LEFT_PINKY,
+            RIGHT_PINKY,
+            LEFT_INDEX,
+            RIGHT_INDEX,
+            LEFT_THUMB,
+            RIGHT_THUMB,
+            LEFT_HIP,
+            RIGHT_HIP,
+            LEFT_KNEE,
+            RIGHT_KNEE,
+            LEFT_ANKLE,
+            RIGHT_ANKLE,
+            LEFT_HEEL,
+            RIGHT_HEEL,
+            LEFT_FOOT_INDEX,
+            RIGHT_FOOT_INDEX,
+            COUNT = landmarksCount
+        };
+
+        PoseTracking(const char* calculatorGraphConfigFile);
+        ~PoseTracking() { delete myInstance; }
+
+        bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
+        cv_wrapper::Mat lastSegmentedFrame();
+        cv_wrapper::Point3f* lastDetectedLandmarks();
+
+    private:
+        void* myInstance;
+    };
+}
+
+#endif
\ No newline at end of file
diff --git a/mediapipe/pose_tracking_dll/windows_dll_library.bzl b/mediapipe/pose_tracking_dll/windows_dll_library.bzl
new file mode 100644
index 000000000..69c243d60
--- /dev/null
+++ b/mediapipe/pose_tracking_dll/windows_dll_library.bzl
@@ -0,0 +1,62 @@
+"""
+This is a simple windows_dll_library rule for builing a DLL Windows
+that can be depended on by other cc rules.
+Example useage:
+  windows_dll_library(
+      name = "hellolib",
+      srcs = [
+          "hello-library.cpp",
+      ],
+      hdrs = ["hello-library.h"],
+      # Define COMPILING_DLL to export symbols during compiling the DLL.
+      copts = ["/DCOMPILING_DLL"],
+  )
+"""
+
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_import", "cc_library")
+
+def windows_dll_library(
+        name,
+        srcs = [],
+        deps = [],
+        hdrs = [],
+        visibility = None,
+        **kwargs):
+    """A simple windows_dll_library rule for builing a DLL Windows."""
+    dll_name = name + ".dll"
+    import_lib_name = name + "_import_lib"
+    import_target_name = name + "_dll_import"
+
+    # Build the shared library
+    cc_binary(
+        name = dll_name,
+        srcs = srcs + hdrs,
+        deps = deps,
+        linkshared = 1,
+        **kwargs
+    )
+
+    # Get the import library for the dll
+    native.filegroup(
+        name = import_lib_name,
+        srcs = [":" + dll_name],
+        output_group = "interface_library",
+    )
+
+    # Because we cannot directly depend on cc_binary from other cc rules in deps attribute,
+    # we use cc_import as a bridge to depend on the dll.
+    cc_import(
+        name = import_target_name,
+        interface_library = ":" + import_lib_name,
+        shared_library = ":" + dll_name,
+    )
+
+    # Create a new cc_library to also include the headers needed for the shared library
+    cc_library(
+        name = name,
+        hdrs = hdrs,
+        visibility = visibility,
+        deps = deps + [
+            ":" + import_target_name,
+        ],
+    )
\ No newline at end of file

From 561da620df4fb44d24f4f2b0a44d9d93e8a64628 Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Tue, 4 Jan 2022 11:43:21 +0100
Subject: [PATCH 02/24] Update mediapipe/pose_tracking_dll/README.md

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index a183c4f2b..9fed2b27f 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -4,7 +4,7 @@ The pose_tracking_dll module allows for building a dll library that can be used
 Currently, the following features are supported:
 - Segmenting the person(s) of interest
 - Segmenting the skeleton(s)
-- Accessing the 3D coordinates of each node of the skeleton by name (using enum)
+- Accessing the 3D coordinates of each node of the skeleton
 
 ## Prerequisites
 Follow the guidelines on the official Mediapipe website: https://google.github.io/mediapipe/getting_started/install.html#installing-on-windows

From 3e9b56010eea2d7ac2c3e6224eb0b61a0dc0d993 Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Tue, 4 Jan 2022 11:43:34 +0100
Subject: [PATCH 03/24] Update mediapipe/pose_tracking_dll/pose_tracking.h

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/pose_tracking.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index 34161506c..5583cb6de 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -96,4 +96,4 @@ namespace nimagna {
     };
 }
 
-#endif
\ No newline at end of file
+#endif

From 95483fa64aeb0843fa877dde85933305a562d4b2 Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Tue, 4 Jan 2022 11:45:17 +0100
Subject: [PATCH 04/24] Update
 mediapipe/pose_tracking_dll/windows_dll_library.bzl

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/windows_dll_library.bzl | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/windows_dll_library.bzl b/mediapipe/pose_tracking_dll/windows_dll_library.bzl
index 69c243d60..ef7371af8 100644
--- a/mediapipe/pose_tracking_dll/windows_dll_library.bzl
+++ b/mediapipe/pose_tracking_dll/windows_dll_library.bzl
@@ -59,4 +59,4 @@ def windows_dll_library(
         deps = deps + [
             ":" + import_target_name,
         ],
-    )
\ No newline at end of file
+    )

From 8b3cd11c39257829b8edb8eff45a85008de612cb Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Tue, 4 Jan 2022 11:45:31 +0100
Subject: [PATCH 05/24] Update mediapipe/pose_tracking_dll/BUILD

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/BUILD | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/BUILD b/mediapipe/pose_tracking_dll/BUILD
index 98b5f9dc9..9e2df0b7d 100644
--- a/mediapipe/pose_tracking_dll/BUILD
+++ b/mediapipe/pose_tracking_dll/BUILD
@@ -22,7 +22,7 @@ windows_dll_library(
     name = "pose_tracking_lib",
     srcs = ["pose_tracking.cpp"],
     hdrs = ["pose_tracking.h"],
-    # Define COMPILING_DLL to export symbols during compiling the DLL.
+    # Define COMPILING_DLL to export symbols during the DLL compilation.
     copts = ["-DCOMPILING_DLL"],
     deps = [
         "//mediapipe/framework:calculator_framework",

From d5581dabb338c6963e888bb316c0ee2178c713f4 Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Tue, 4 Jan 2022 11:46:27 +0100
Subject: [PATCH 06/24] Update mediapipe/pose_tracking_dll/README.md

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 9fed2b27f..12e330393 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -1,5 +1,5 @@
 ## Description
-The pose_tracking_dll module allows for building a dll library that can be used with any C++ project. All the dependencies such as tensorflow are built statically into the dll. 
+The pose_tracking_dll module allows for building a Mediapipe-based pose tracking DLL library that can be used with any C++ project. All the dependencies such as tensorflow are built statically into the dll. 
 
 Currently, the following features are supported:
 - Segmenting the person(s) of interest

From d0cce9d97d8730ad7f3b316bb0bff3d9563595fd Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Tue, 4 Jan 2022 11:54:01 +0100
Subject: [PATCH 07/24] Modify readme

---
 mediapipe/pose_tracking_dll/README.md | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 12e330393..b47ce0294 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -14,9 +14,11 @@ IMPORTANT: The tutorial does not specify which version of Bazel to install. Inst
 ## How to build
 Assuming you're in the root of the repository:
 
-cd mediapipe
+`cd mediapipe`
 
-bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_tracking_cpu
+`bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_tracking_cpu`
+
+Alternatively `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
 
 The results will be stored in bazel-bin\mediapipe\pose_tracking_dll folder.
 

From a55e33824b437289a040f37369ea86fe02bcea64 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Tue, 4 Jan 2022 11:55:37 +0100
Subject: [PATCH 08/24] Use Cpp style cast

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index 65f9f619f..369542eb9 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -67,7 +67,7 @@ public:
 
 		// Send image packet into the graph.
 		size_t frameTimestampUs =
-			(double)cv::getTickCount() / (double)cv::getTickFrequency() * 1e6;
+			static_cast<double>(cv::getTickCount()) / static_cast<double>(cv::getTickFrequency()) * 1e6;
 		auto status = graph.AddPacketToInputStream(
 			kInputStream, mediapipe::Adopt(inputFrame.release())
 			.At(mediapipe::Timestamp(frameTimestampUs)));

From 281199e27888ce2e6ed15b8ad3bd7e54244bb553 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Tue, 4 Jan 2022 12:09:48 +0100
Subject: [PATCH 09/24] Avoid void* for the sake of forward declaration

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 11 ++++-------
 mediapipe/pose_tracking_dll/pose_tracking.h   |  6 ++++--
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index 369542eb9..abb56c9e8 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -155,23 +155,20 @@ private:
 
 namespace nimagna {
 	PoseTracking::PoseTracking(const char* calculatorGraphConfigFile) {
-		myInstance = new PoseTrackingImpl(calculatorGraphConfigFile);
+		mImplementation = new PoseTrackingImpl(calculatorGraphConfigFile);
 	}
 
 	bool PoseTracking::processFrame(const cv_wrapper::Mat& inputRGB8Bit) {
-		auto* instance = static_cast<PoseTrackingImpl*>(myInstance);
 		const auto frame = cv::Mat(inputRGB8Bit.rows, inputRGB8Bit.cols, CV_8UC3, inputRGB8Bit.data);
-		return instance->processFrame(frame);
+		return mImplementation->processFrame(frame);
 	}
 
 	cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
-		auto* instance = static_cast<PoseTrackingImpl*>(myInstance);
-		return instance->lastDetectedLandmarks();
+		return mImplementation->lastDetectedLandmarks();
 	}
 
 	cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
-		auto* instance = static_cast<PoseTrackingImpl*>(myInstance);
-		const cv::Mat result = instance->lastSegmentedFrame();
+		const cv::Mat result = mImplementation->lastSegmentedFrame();
 
 		return cv_wrapper::Mat(result.rows, result.cols, result.data);
 	}
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index 5583cb6de..05c017b78 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -7,6 +7,8 @@
 #define DLLEXPORT __declspec(dllimport)
 #endif
 
+class PoseTrackingImpl;
+
 namespace nimagna {
     namespace cv_wrapper {
         struct Point2f {
@@ -85,14 +87,14 @@ namespace nimagna {
         };
 
         PoseTracking(const char* calculatorGraphConfigFile);
-        ~PoseTracking() { delete myInstance; }
+        ~PoseTracking() { delete mImplementation; }
 
         bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
         cv_wrapper::Mat lastSegmentedFrame();
         cv_wrapper::Point3f* lastDetectedLandmarks();
 
     private:
-        void* myInstance;
+        PoseTrackingImpl* mImplementation;
     };
 }
 

From 092e1ad899aba0f37a4723568a820d50c1a4af92 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Tue, 4 Jan 2022 13:52:01 +0100
Subject: [PATCH 10/24] Avoid void* for the sake of forward declaration

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 243 +++++++++---------
 mediapipe/pose_tracking_dll/pose_tracking.h   | 154 +++++------
 2 files changed, 192 insertions(+), 205 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index abb56c9e8..a928bf708 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -1,14 +1,14 @@
+#include "pose_tracking.h"
+
 #include <cstdlib>
 #include <string>
 
-#include "pose_tracking.h"
-
 #include "absl/flags/flag.h"
 #include "absl/flags/parse.h"
-#include "mediapipe/framework/formats/landmark.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/formats/image_frame.h"
 #include "mediapipe/framework/formats/image_frame_opencv.h"
+#include "mediapipe/framework/formats/landmark.pb.h"
 #include "mediapipe/framework/port/file_helpers.h"
 #include "mediapipe/framework/port/opencv_highgui_inc.h"
 #include "mediapipe/framework/port/opencv_imgproc_inc.h"
@@ -17,160 +17,147 @@
 #include "mediapipe/framework/port/status.h"
 
 class PoseTrackingImpl {
-public:
-	PoseTrackingImpl(const std::string& calculatorGraphConfigFile) {
-		auto status = initialize(calculatorGraphConfigFile);
-		if (!status.ok()) {
-			LOG(WARNING) << "Warning: " << status;
-		}
-	}
+ public:
+  PoseTrackingImpl(const std::string& calculatorGraphConfigFile) {
+    auto status = initialize(calculatorGraphConfigFile);
+    if (!status.ok()) {
+      LOG(WARNING) << "Warning: " << status;
+    }
+  }
 
-	absl::Status initialize(const std::string& calculatorGraphConfigFile) {
-		std::string graphContents;
-		MP_RETURN_IF_ERROR(mediapipe::file::GetContents(
-			calculatorGraphConfigFile,
-			&graphContents));
+  absl::Status initialize(const std::string& calculatorGraphConfigFile) {
+    std::string graphContents;
+    MP_RETURN_IF_ERROR(mediapipe::file::GetContents(calculatorGraphConfigFile, &graphContents));
 
-		mediapipe::CalculatorGraphConfig config =
-			mediapipe::ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig>(
-				graphContents);
-		
-		MP_RETURN_IF_ERROR(graph.Initialize(config));
-		ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller poller,
-			graph.AddOutputStreamPoller(kOutputSegmentationStream));
+    mediapipe::CalculatorGraphConfig config =
+        mediapipe::ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig>(graphContents);
 
-		ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller landmarksPoller,
-			graph.AddOutputStreamPoller(kOutpuLandmarksStream));
+    MP_RETURN_IF_ERROR(graph.Initialize(config));
+    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller poller,
+                     graph.AddOutputStreamPoller(kOutputSegmentationStream));
 
-		ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller posePresencePoller,
-			graph.AddOutputStreamPoller(kOutpuPosePresenceStream));
+    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller landmarksPoller,
+                     graph.AddOutputStreamPoller(kOutpuLandmarksStream));
 
+    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller posePresencePoller,
+                     graph.AddOutputStreamPoller(kOutpuPosePresenceStream));
 
-		maskPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(std::move(poller));
+    maskPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(std::move(poller));
 
-		landmarksPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(
-			std::move(landmarksPoller));
+    landmarksPollerPtr =
+        std::make_unique<mediapipe::OutputStreamPoller>(std::move(landmarksPoller));
 
-		posePresencePollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(
-			std::move(posePresencePoller));
+    posePresencePollerPtr =
+        std::make_unique<mediapipe::OutputStreamPoller>(std::move(posePresencePoller));
 
-		MP_RETURN_IF_ERROR(graph.StartRun({}));
-	}
+    MP_RETURN_IF_ERROR(graph.StartRun({}));
+  }
 
-	bool processFrame(const cv::Mat& inputRGB8Bit) {
-		// Wrap Mat into an ImageFrame.
-		auto inputFrame = absl::make_unique<mediapipe::ImageFrame>(
-			mediapipe::ImageFormat::SRGB, inputRGB8Bit.cols, inputRGB8Bit.rows,
-			mediapipe::ImageFrame::kDefaultAlignmentBoundary);
-		cv::Mat inputFrameMat = mediapipe::formats::MatView(inputFrame.get());
-		inputRGB8Bit.copyTo(inputFrameMat);
+  bool processFrame(const cv::Mat& inputRGB8Bit) {
+    // Wrap Mat into an ImageFrame.
+    auto inputFrame = absl::make_unique<mediapipe::ImageFrame>(
+        mediapipe::ImageFormat::SRGB, inputRGB8Bit.cols, inputRGB8Bit.rows,
+        mediapipe::ImageFrame::kDefaultAlignmentBoundary);
+    cv::Mat inputFrameMat = mediapipe::formats::MatView(inputFrame.get());
+    inputRGB8Bit.copyTo(inputFrameMat);
 
-		// Send image packet into the graph.
-		size_t frameTimestampUs =
-			static_cast<double>(cv::getTickCount()) / static_cast<double>(cv::getTickFrequency()) * 1e6;
-		auto status = graph.AddPacketToInputStream(
-			kInputStream, mediapipe::Adopt(inputFrame.release())
-			.At(mediapipe::Timestamp(frameTimestampUs)));
+    // Send image packet into the graph.
+    size_t frameTimestampUs =
+        static_cast<double>(cv::getTickCount()) / static_cast<double>(cv::getTickFrequency()) * 1e6;
+    auto status = graph.AddPacketToInputStream(
+        kInputStream,
+        mediapipe::Adopt(inputFrame.release()).At(mediapipe::Timestamp(frameTimestampUs)));
 
-		if (!status.ok()) {
-			LOG(WARNING) << "Graph execution failed: " << status;
-			return false;
-		}
+    if (!status.ok()) {
+      LOG(WARNING) << "Graph execution failed: " << status;
+      return false;
+    }
 
-		mediapipe::Packet posePresencePacket;
-		if (!posePresencePollerPtr || !posePresencePollerPtr->Next(&posePresencePacket)) return false;
-		auto landmarksDetected = posePresencePacket.Get<bool>();
+    mediapipe::Packet posePresencePacket;
+    if (!posePresencePollerPtr || !posePresencePollerPtr->Next(&posePresencePacket)) return false;
+    auto landmarksDetected = posePresencePacket.Get<bool>();
 
-		if (!landmarksDetected) {
-			return false;
-		}
+    if (!landmarksDetected) {
+      return false;
+    }
 
-		// Get the graph result packet, or stop if that fails.
-		mediapipe::Packet maskPacket;
-		if (!maskPollerPtr || !maskPollerPtr->Next(&maskPacket)) return false;
-		auto& outputFrame = maskPacket.Get<mediapipe::ImageFrame>();
+    // Get the graph result packet, or stop if that fails.
+    mediapipe::Packet maskPacket;
+    if (!maskPollerPtr || !maskPollerPtr->Next(&maskPacket)) return false;
+    auto& outputFrame = maskPacket.Get<mediapipe::ImageFrame>();
 
-		// Get pose landmarks.
-		if (!landmarksPollerPtr ||
-			!landmarksPollerPtr->Next(&poseLandmarksPacket)) {
-			return false;
-		}
+    // Get pose landmarks.
+    if (!landmarksPollerPtr || !landmarksPollerPtr->Next(&poseLandmarksPacket)) {
+      return false;
+    }
 
-		// Convert back to opencv for display or saving.
-		auto mask = mediapipe::formats::MatView(&outputFrame);
-		segmentedMask = mask.clone();
+    // Convert back to opencv for display or saving.
+    auto mask = mediapipe::formats::MatView(&outputFrame);
+    segmentedMask = mask.clone();
 
-		absl::Status landmarksStatus = detectLandmarksWithStatus(poseLandmarks);
+    absl::Status landmarksStatus = detectLandmarksWithStatus(poseLandmarks);
 
-		return landmarksStatus.ok();
-	}
+    return landmarksStatus.ok();
+  }
 
-	absl::Status detectLandmarksWithStatus(
-		nimagna::cv_wrapper::Point3f* poseLandmarks) {
+  absl::Status detectLandmarksWithStatus(nimagna::cv_wrapper::Point3f* poseLandmarks) {
+    if (poseLandmarksPacket.IsEmpty()) {
+      return absl::CancelledError("Pose landmarks packet is empty.");
+    }
 
-		if (poseLandmarksPacket.IsEmpty()) {
-			return absl::CancelledError("Pose landmarks packet is empty.");
-		}
+    auto retrievedLandmarks = poseLandmarksPacket.Get<::mediapipe::NormalizedLandmarkList>();
 
-		auto retrievedLandmarks =
-			poseLandmarksPacket
-			.Get<::mediapipe::NormalizedLandmarkList>();
+    // Convert landmarks to cv::Point3f**.
+    const auto landmarksCount = retrievedLandmarks.landmark_size();
 
-		// Convert landmarks to cv::Point3f**.
-		const auto landmarksCount = retrievedLandmarks.landmark_size();
+    for (int j = 0; j < landmarksCount; ++j) {
+      const auto& landmark = retrievedLandmarks.landmark(j);
+      poseLandmarks[j].x = landmark.x();
+      poseLandmarks[j].y = landmark.y();
+      poseLandmarks[j].z = landmark.z();
+    }
 
-		for (int j = 0; j < landmarksCount; ++j) {
-			const auto& landmark = retrievedLandmarks.landmark(j);
-			poseLandmarks[j].x = landmark.x();
-			poseLandmarks[j].y = landmark.y();
-			poseLandmarks[j].z = landmark.z();
-		}
+    return absl::OkStatus();
+  }
 
-		return absl::OkStatus();
-	}
+  nimagna::cv_wrapper::Point3f* lastDetectedLandmarks() { return poseLandmarks; }
 
-	nimagna::cv_wrapper::Point3f* lastDetectedLandmarks() {
-		return poseLandmarks;
-	}
+  cv::Mat lastSegmentedFrame() { return segmentedMask; }
 
-	cv::Mat lastSegmentedFrame() {
-		return segmentedMask;
-	}
+  static constexpr size_t kLandmarksCount = 33u;
 
-	static constexpr size_t kLandmarksCount = 33u;
-
-private:
-	mediapipe::Packet poseLandmarksPacket;
-	cv::Mat segmentedMask;
-	nimagna::cv_wrapper::Point3f poseLandmarks[kLandmarksCount];
-	std::unique_ptr<mediapipe::OutputStreamPoller> posePresencePollerPtr;
-	std::unique_ptr<mediapipe::OutputStreamPoller> maskPollerPtr;
-	std::unique_ptr<mediapipe::OutputStreamPoller> landmarksPollerPtr;
-	mediapipe::CalculatorGraph graph;
-	const char* kInputStream = "input_video";
-	const char* kOutputSegmentationStream = "segmentation_mask";
-	const char* kOutpuLandmarksStream = "pose_landmarks";
-	const char* kOutpuPosePresenceStream = "pose_presence";
+ private:
+  mediapipe::Packet poseLandmarksPacket;
+  cv::Mat segmentedMask;
+  nimagna::cv_wrapper::Point3f poseLandmarks[kLandmarksCount];
+  std::unique_ptr<mediapipe::OutputStreamPoller> posePresencePollerPtr;
+  std::unique_ptr<mediapipe::OutputStreamPoller> maskPollerPtr;
+  std::unique_ptr<mediapipe::OutputStreamPoller> landmarksPollerPtr;
+  mediapipe::CalculatorGraph graph;
+  const char* kInputStream = "input_video";
+  const char* kOutputSegmentationStream = "segmentation_mask";
+  const char* kOutpuLandmarksStream = "pose_landmarks";
+  const char* kOutpuPosePresenceStream = "pose_presence";
 };
 
 namespace nimagna {
-	PoseTracking::PoseTracking(const char* calculatorGraphConfigFile) {
-		mImplementation = new PoseTrackingImpl(calculatorGraphConfigFile);
-	}
-
-	bool PoseTracking::processFrame(const cv_wrapper::Mat& inputRGB8Bit) {
-		const auto frame = cv::Mat(inputRGB8Bit.rows, inputRGB8Bit.cols, CV_8UC3, inputRGB8Bit.data);
-		return mImplementation->processFrame(frame);
-	}
-
-	cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
-		return mImplementation->lastDetectedLandmarks();
-	}
-
-	cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
-		const cv::Mat result = mImplementation->lastSegmentedFrame();
-
-		return cv_wrapper::Mat(result.rows, result.cols, result.data);
-	}
-
+PoseTracking::PoseTracking(const char* calculatorGraphConfigFile) {
+  mImplementation = new PoseTrackingImpl(calculatorGraphConfigFile);
 }
+
+bool PoseTracking::processFrame(const cv_wrapper::Mat& inputRGB8Bit) {
+  const auto frame = cv::Mat(inputRGB8Bit.rows, inputRGB8Bit.cols, CV_8UC3, inputRGB8Bit.data);
+  return mImplementation->processFrame(frame);
+}
+
+cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
+  return mImplementation->lastDetectedLandmarks();
+}
+
+cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
+  const cv::Mat result = mImplementation->lastSegmentedFrame();
+
+  return cv_wrapper::Mat(result.rows, result.cols, result.data);
+}
+
+}  // namespace nimagna
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index 05c017b78..b521aef9e 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -10,92 +10,92 @@
 class PoseTrackingImpl;
 
 namespace nimagna {
-    namespace cv_wrapper {
-        struct Point2f {
-            float x = 0;
-            float y = 0;
+namespace cv_wrapper {
+struct Point2f {
+  float x = 0;
+  float y = 0;
 
-            Point2f() = default;
-            Point2f(float x, float y) : x(x), y(y) {}
-        };
-        struct Point3f {
-            float x = 0;
-            float y = 0;
-            float z = 0;
+  Point2f() = default;
+  Point2f(float x, float y) : x(x), y(y) {}
+};
+struct Point3f {
+  float x = 0;
+  float y = 0;
+  float z = 0;
 
-            Point3f() = default;
-            Point3f(float x, float y, float z) : x(x), y(y), z(z) {}
-        };
+  Point3f() = default;
+  Point3f(float x, float y, float z) : x(x), y(y), z(z) {}
+};
 
-        struct Rect {
-            int x = 0;
-            int y = 0;
-            int width = 0;
-            int height = 0;
+struct Rect {
+  int x = 0;
+  int y = 0;
+  int width = 0;
+  int height = 0;
 
-            Rect() = default;
-            Rect(int x, int y, int width, int height) : x(x), y(y), width(width), height(height) {}
-        };
+  Rect() = default;
+  Rect(int x, int y, int width, int height) : x(x), y(y), width(width), height(height) {}
+};
 
-        struct Mat {
-            int rows = 0;
-            int cols = 0;
-            unsigned char* data = 0;
+struct Mat {
+  int rows = 0;
+  int cols = 0;
+  unsigned char* data = 0;
 
-            Mat(int rows, int cols, unsigned char* data) : rows(rows), cols(cols), data(data) {}
-        };
-    }
+  Mat(int rows, int cols, unsigned char* data) : rows(rows), cols(cols), data(data) {}
+};
+}  // namespace cv_wrapper
 
-    class DLLEXPORT PoseTracking {
-    public:
-        static constexpr size_t landmarksCount = 33u;
-        enum LandmarkNames {
-            NOSE = 0,
-            LEFT_EYE_INNER,
-            LEFT_EYE,
-            LEFT_EYE_OUTER,
-            RIGHT_EYE_INNER,
-            RIGHT_EYE,
-            RIGHT_EYE_OUTER,
-            LEFT_EAR,
-            RIGHT_EAR,
-            MOUTH_LEFT,
-            MOUTH_RIGHT,
-            LEFT_SHOULDER,
-            RIGHT_SHOULDER,
-            LEFT_ELBOW,
-            RIGHT_ELBOW,
-            LEFT_WRIST,
-            RIGHT_WRIST,
-            LEFT_PINKY,
-            RIGHT_PINKY,
-            LEFT_INDEX,
-            RIGHT_INDEX,
-            LEFT_THUMB,
-            RIGHT_THUMB,
-            LEFT_HIP,
-            RIGHT_HIP,
-            LEFT_KNEE,
-            RIGHT_KNEE,
-            LEFT_ANKLE,
-            RIGHT_ANKLE,
-            LEFT_HEEL,
-            RIGHT_HEEL,
-            LEFT_FOOT_INDEX,
-            RIGHT_FOOT_INDEX,
-            COUNT = landmarksCount
-        };
+class DLLEXPORT PoseTracking {
+ public:
+  static constexpr size_t landmarksCount = 33u;
+  enum LandmarkNames {
+    NOSE = 0,
+    LEFT_EYE_INNER,
+    LEFT_EYE,
+    LEFT_EYE_OUTER,
+    RIGHT_EYE_INNER,
+    RIGHT_EYE,
+    RIGHT_EYE_OUTER,
+    LEFT_EAR,
+    RIGHT_EAR,
+    MOUTH_LEFT,
+    MOUTH_RIGHT,
+    LEFT_SHOULDER,
+    RIGHT_SHOULDER,
+    LEFT_ELBOW,
+    RIGHT_ELBOW,
+    LEFT_WRIST,
+    RIGHT_WRIST,
+    LEFT_PINKY,
+    RIGHT_PINKY,
+    LEFT_INDEX,
+    RIGHT_INDEX,
+    LEFT_THUMB,
+    RIGHT_THUMB,
+    LEFT_HIP,
+    RIGHT_HIP,
+    LEFT_KNEE,
+    RIGHT_KNEE,
+    LEFT_ANKLE,
+    RIGHT_ANKLE,
+    LEFT_HEEL,
+    RIGHT_HEEL,
+    LEFT_FOOT_INDEX,
+    RIGHT_FOOT_INDEX,
+    COUNT = landmarksCount
+  };
 
-        PoseTracking(const char* calculatorGraphConfigFile);
-        ~PoseTracking() { delete mImplementation; }
+  PoseTracking(const char* calculatorGraphConfigFile);
+  ~PoseTracking() { delete mImplementation; }
 
-        bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
-        cv_wrapper::Mat lastSegmentedFrame();
-        cv_wrapper::Point3f* lastDetectedLandmarks();
+  bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
+  cv_wrapper::Mat lastSegmentedFrame();
+  cv_wrapper::Point3f* lastDetectedLandmarks();
 
-    private:
-        PoseTrackingImpl* mImplementation;
-    };
-}
+ private:
+  PoseTrackingImpl* mImplementation;
+};
+}  // namespace nimagna
 
 #endif

From 365eb9a1ab71c7328df3969856976b4d97583f26 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Wed, 5 Jan 2022 11:35:04 +0100
Subject: [PATCH 11/24] Fix formatting in readme

---
 mediapipe/pose_tracking_dll/README.md | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index b47ce0294..6307e4fe8 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -14,9 +14,10 @@ IMPORTANT: The tutorial does not specify which version of Bazel to install. Inst
 ## How to build
 Assuming you're in the root of the repository:
 
-`cd mediapipe`
-
-`bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_tracking_cpu`
+```
+cd mediapipe
+bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_tracking_cpu
+```
 
 Alternatively `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
 

From 50a6d5cbe9d66a0293781d56443e062cace9e110 Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Wed, 5 Jan 2022 11:42:27 +0100
Subject: [PATCH 12/24] Update mediapipe/pose_tracking_dll/README.md

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 6307e4fe8..6165f1b47 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -21,7 +21,7 @@ bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_track
 
 Alternatively `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
 
-The results will be stored in bazel-bin\mediapipe\pose_tracking_dll folder.
+The results will be stored in the bazel-bin\mediapipe\pose_tracking_dll folder.
 
 ## How to use
 Go to bazel-bin\mediapipe\pose_tracking_dll

From 71998bc650c4003f0238b5c7f223b9319dd8cf0c Mon Sep 17 00:00:00 2001
From: MaksymAtNimagna <88328636+MaksymAtNimagna@users.noreply.github.com>
Date: Wed, 5 Jan 2022 11:42:33 +0100
Subject: [PATCH 13/24] Update mediapipe/pose_tracking_dll/README.md

Co-authored-by: Xavier Valls <xavi@nimagna.com>
---
 mediapipe/pose_tracking_dll/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 6165f1b47..6e4f483c7 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -30,4 +30,4 @@ Link pose_tracking_cpu.lib and pose_tracking_lib.dll.if.lib statically in your p
 
 Make sure the opencv_world3410.dll and pose_tracking_lib.dll are accessible in your working directory.
 
-Use mediapipe\pose_tracking_dll\pose_tracking.h header file to access the methods of the library.
+Use the mediapipe\pose_tracking_dll\pose_tracking.h header file to access the methods of the library.

From 38f4da8a11662fefdfffdb310f23039a903fa519 Mon Sep 17 00:00:00 2001
From: Xavier Valls <xavi@nimagna.com>
Date: Thu, 6 Jan 2022 11:42:21 +0100
Subject: [PATCH 14/24] Update installation step in README.md

---
 mediapipe/pose_tracking_dll/README.md | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 6e4f483c7..fb4b731ac 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -9,14 +9,17 @@ Currently, the following features are supported:
 ## Prerequisites
 Follow the guidelines on the official Mediapipe website: https://google.github.io/mediapipe/getting_started/install.html#installing-on-windows
 
-IMPORTANT: The tutorial does not specify which version of Bazel to install. Install Bazel version 3.7.2
+IMPORTANT: The tutorial does not specify which version of Bazel to install. Install Bazel version 3.7.2. The OpenCV version used by default in mediapipe is 3.4.10.
+
+If you are using a different OpenCV version, adapt the `OPENCV_VERSION` variable in the file `mediapipe/external/opencv_<platform>.BUILD` to the one installed in the system (https://github.com/google/mediapipe/issues/1926#issuecomment-825874197).
+
 
 ## How to build
 Assuming you're in the root of the repository:
 
 ```
 cd mediapipe
-bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 pose_tracking_dll:pose_tracking_cpu
+bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=<path to the python executable described using forward slashes ("/")> pose_tracking_dll:pose_tracking_cpu
 ```
 
 Alternatively `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.

From 4c002dc3d8d4a758b68c16050616dbf8984ed10c Mon Sep 17 00:00:00 2001
From: Christoph Niederberger
 <83065859+christoph-nimagna@users.noreply.github.com>
Date: Tue, 11 Jan 2022 12:04:12 +0100
Subject: [PATCH 15/24] Update readme: detailed installation instructions

---
 mediapipe/pose_tracking_dll/README.md | 78 ++++++++++++++++++++++-----
 1 file changed, 65 insertions(+), 13 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index fb4b731ac..0946f8c98 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -7,30 +7,82 @@ Currently, the following features are supported:
 - Accessing the 3D coordinates of each node of the skeleton
 
 ## Prerequisites
-Follow the guidelines on the official Mediapipe website: https://google.github.io/mediapipe/getting_started/install.html#installing-on-windows
 
-IMPORTANT: The tutorial does not specify which version of Bazel to install. Install Bazel version 3.7.2. The OpenCV version used by default in mediapipe is 3.4.10.
+Install Mediapipe development environment as follows. 
+
+**Note**: This guide assumes the Nimagna development environment. Otherwise, please follow the guidelines on the official Mediapipe website: https://google.github.io/mediapipe/getting_started/install.html#installing-on-windows with the important change that Bazel version 3.7.2 is required and the helpful sidemark that OpenCV version used by default in mediapipe is 3.4.10.
+
+### Install MSYS2
+
+- Install MSYS2 from https://www.msys2.org/ 
+- Edit the %PATH% environment variable: If MSYS2 is installed to `C:\msys64`, add `C:\msys64\usr\bin` to your %PATH% environment variable.
+
+### Install necessary packages
+
+- Run `pacman -S git patch unzip` and confirm installation
+
+### Install Python 3.9
+
+- Download Python 3.9.9 Windows executable https://www.python.org/downloads/release/python-399/ and install. Note that Python 3.10 does not work.
+- Allow the installer to edit the %PATH% environment variable.
+- The Python installation path is referred to as `PYTHONDIR` in the following steps. Usually, this is `C:\Users\...\AppData\Local\Programs\Python\Python39` when installing only for the current user.
+- Run `pip install numpy` in a new command line.
+
+### Install Visual C++ Build Tools 2019 and WinSDK
+
+- Download and install VC build tools from https://visualstudio.microsoft.com/visual-cpp-build-tools/ with the following settings:
+  ![image](https://user-images.githubusercontent.com/83065859/148920359-fc5830c2-3eb1-47d4-ba33-8b1ba783b728.png)
+
+- Redistributables and WinSDK 10.0.19041.0 should be installed already. If not, install with Visual Studio or download the [WinSDK from the official Microsoft website](https://developer.microsoft.com/en-us/windows/downloads/sdk-archive/) and install.
+
+### Install Bazel 3.7.2
+
+- Download `bazel-3.7.2-windows-x86_64.exe` from https://github.com/bazelbuild/bazel/releases/tag/3.7.2 and rename to `bazel.exe`
+- Add the location of the downloaded Bazel executable to the %PATH% environment variable. 
+- Set additional Bazel environment variables as follows:
+  - `BAZEL_VS=C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools`
+  - `BAZEL_VC=C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC`
+  - `BAZEL_VC_FULL_VERSION=14.29.30133` - or the name of the folder you find in `C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC`
+  - `BAZEL_WINSDK_FULL_VERSION=10.0.19041.0`
+
+### Checkout Mediapipe
+
+- git clone https://github.com/NimagnaAG/mediapipe
+- the repository root folder is referred to as `MEDIAPIPEDIR` in the following steps
+
+### Install OpenCV
+
+- Download OpenCV 3.4.10 from https://sourceforge.net/projects/opencvlibrary/files/3.4.10/opencv-3.4.10-vc14_vc15.exe/download 
+- Extract OpenCV from into a folder, e.g. `C:\Users\ChristophNiederberge\source\repos\opencv_3.4.10`. This folder is referred to as `OPENCVDIR` in the following steps.
+- Edit the `MEDIAPIPEDIR\WORKSPACE` file: Around line 215, is the "windows_opencv" repository. Adapt the path to point to `OPENCVDIR\\build` (using double backslashes):
+  ```
+  new_local_repository(
+    name = "windows_opencv",
+    build_file = "@//third_party:opencv_windows.BUILD",
+    path = "OPENCVDIR\\build",
+  )
+  ```
+
+#### OpenCV side note
 
 If you are using a different OpenCV version, adapt the `OPENCV_VERSION` variable in the file `mediapipe/external/opencv_<platform>.BUILD` to the one installed in the system (https://github.com/google/mediapipe/issues/1926#issuecomment-825874197).
 
-
 ## How to build
-Assuming you're in the root of the repository:
+Assuming you're in `MEDIAPIPEDIR`, the root of the repository, run the following commands by replacing `PYTHONDIR` using forward slashes "/" in the path:
 
 ```
 cd mediapipe
-bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=<path to the python executable described using forward slashes ("/")> pose_tracking_dll:pose_tracking_cpu
+bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=PYTHONDIR/python.exe pose_tracking_dll:pose_tracking_cpu
 ```
 
-Alternatively `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
+The results will be stored in the `bazel-bin\mediapipe\pose_tracking_dll` folder.
 
-The results will be stored in the bazel-bin\mediapipe\pose_tracking_dll folder.
+**Build debug symbols** 
+- `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
 
 ## How to use
-Go to bazel-bin\mediapipe\pose_tracking_dll
 
-Link pose_tracking_cpu.lib and pose_tracking_lib.dll.if.lib statically in your project.
-
-Make sure the opencv_world3410.dll and pose_tracking_lib.dll are accessible in your working directory.
-
-Use the mediapipe\pose_tracking_dll\pose_tracking.h header file to access the methods of the library.
+- Go to bazel-bin\mediapipe\pose_tracking_dll
+- Link `pose_tracking_cpu.lib` and `pose_tracking_lib.dll.if.lib` statically in your project.
+- Make sure `opencv_world3410.dll` and `pose_tracking_lib.dll` are accessible in your working directory.
+- Includeptyh `mediapipe\pose_tracking_dll\pose_tracking.h` header file to access the methods of the library.

From e926f3ab37c6577d69208c29d28f87f095fa724d Mon Sep 17 00:00:00 2001
From: Christoph Niederberger
 <83065859+christoph-nimagna@users.noreply.github.com>
Date: Tue, 11 Jan 2022 12:12:39 +0100
Subject: [PATCH 16/24] Update README.md

---
 mediapipe/pose_tracking_dll/README.md | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 0946f8c98..8505ea0a8 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -63,9 +63,10 @@ Install Mediapipe development environment as follows.
   )
   ```
 
-#### OpenCV side note
+#### Installation/build issue handling
 
-If you are using a different OpenCV version, adapt the `OPENCV_VERSION` variable in the file `mediapipe/external/opencv_<platform>.BUILD` to the one installed in the system (https://github.com/google/mediapipe/issues/1926#issuecomment-825874197).
+- If you are using a **different OpenCV version**, adapt the `OPENCV_VERSION` variable in the file `mediapipe/external/opencv_<platform>.BUILD` to the one installed in the system (https://github.com/google/mediapipe/issues/1926#issuecomment-825874197).
+- If bazel fails to download packages, run `bazel clean --expunge` and try again.
 
 ## How to build
 Assuming you're in `MEDIAPIPEDIR`, the root of the repository, run the following commands by replacing `PYTHONDIR` using forward slashes "/" in the path:

From d46dd3c28d0a678558f12f0abd5fc5349abe11a7 Mon Sep 17 00:00:00 2001
From: Christoph Niederberger
 <83065859+christoph-nimagna@users.noreply.github.com>
Date: Tue, 11 Jan 2022 15:57:40 +0100
Subject: [PATCH 17/24] Added a build issue solution

---
 mediapipe/pose_tracking_dll/README.md | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 8505ea0a8..c5b5482a3 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -63,10 +63,9 @@ Install Mediapipe development environment as follows.
   )
   ```
 
-#### Installation/build issue handling
+#### Installation issue handling
 
 - If you are using a **different OpenCV version**, adapt the `OPENCV_VERSION` variable in the file `mediapipe/external/opencv_<platform>.BUILD` to the one installed in the system (https://github.com/google/mediapipe/issues/1926#issuecomment-825874197).
-- If bazel fails to download packages, run `bazel clean --expunge` and try again.
 
 ## How to build
 Assuming you're in `MEDIAPIPEDIR`, the root of the repository, run the following commands by replacing `PYTHONDIR` using forward slashes "/" in the path:
@@ -78,9 +77,15 @@ bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH
 
 The results will be stored in the `bazel-bin\mediapipe\pose_tracking_dll` folder.
 
-**Build debug symbols** 
+### Build debug symbols
 - `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
 
+### Build issue handling
+
+- If bazel fails to download packages, run `bazel clean --expunge` and try again.
+- If bazel fails with an `fatal error C1083: Cannot open compiler generated file: '': Invalid argument`, your [path is too long](https://stackoverflow.com/questions/34074925/vs-2015-cannot-open-compiler-generated-file-invalid-argument). Actually, it is most probably the username... 
+  - Adapt the call to `bazel --output_base=E:\nim_output build build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=PYTHONDIR/python.exe pose_tracking_dll:pose_tracking_cpu` where `E:\nim_output build` can be replaced with some short path where bazel will store the packages and perform the build.
+
 ## How to use
 
 - Go to bazel-bin\mediapipe\pose_tracking_dll

From 37ecba050b6faa9ae8d006c546058cd4f0c09548 Mon Sep 17 00:00:00 2001
From: Christoph Niederberger
 <83065859+christoph-nimagna@users.noreply.github.com>
Date: Tue, 11 Jan 2022 16:15:29 +0100
Subject: [PATCH 18/24] Fixed typo

---
 mediapipe/pose_tracking_dll/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index c5b5482a3..6d886edcf 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -84,7 +84,7 @@ The results will be stored in the `bazel-bin\mediapipe\pose_tracking_dll` folder
 
 - If bazel fails to download packages, run `bazel clean --expunge` and try again.
 - If bazel fails with an `fatal error C1083: Cannot open compiler generated file: '': Invalid argument`, your [path is too long](https://stackoverflow.com/questions/34074925/vs-2015-cannot-open-compiler-generated-file-invalid-argument). Actually, it is most probably the username... 
-  - Adapt the call to `bazel --output_base=E:\nim_output build build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=PYTHONDIR/python.exe pose_tracking_dll:pose_tracking_cpu` where `E:\nim_output build` can be replaced with some short path where bazel will store the packages and perform the build.
+  - Adapt the call to `bazel --output_base=E:\nim_output build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH=PYTHONDIR/python.exe pose_tracking_dll:pose_tracking_cpu` where `E:\nim_output build` can be replaced with some short path where bazel will store the packages and perform the build.
 
 ## How to use
 

From 5361430648926e18a68928562f8244573b2efce5 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Thu, 13 Jan 2022 14:16:54 +0100
Subject: [PATCH 19/24] Add copyright note

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 16 +++++++++++++++
 mediapipe/pose_tracking_dll/pose_tracking.h   | 20 +++++++++++++++++--
 2 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index a928bf708..218339716 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -1,3 +1,19 @@
+/**
+   Copyright 2022, Nimagna AG
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+ */
+ 
 #include "pose_tracking.h"
 
 #include <cstdlib>
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index b521aef9e..5f6ff3285 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -1,3 +1,19 @@
+/**
+   Copyright 2022, Nimagna AG
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+ */
+
 #ifndef POSE_TRACKING_LIBRARY_H
 #define POSE_TRACKING_LIBRARY_H
 
@@ -48,7 +64,7 @@ struct Mat {
 
 class DLLEXPORT PoseTracking {
  public:
-  static constexpr size_t landmarksCount = 33u;
+  static constexpr size_t kLandmarksCount = 33u;
   enum LandmarkNames {
     NOSE = 0,
     LEFT_EYE_INNER,
@@ -83,7 +99,7 @@ class DLLEXPORT PoseTracking {
     RIGHT_HEEL,
     LEFT_FOOT_INDEX,
     RIGHT_FOOT_INDEX,
-    COUNT = landmarksCount
+    COUNT = kLandmarksCount
   };
 
   PoseTracking(const char* calculatorGraphConfigFile);

From 7d16f899a0b89839860f3c6ac84117dafb367dd6 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Thu, 20 Jan 2022 15:53:57 +0100
Subject: [PATCH 20/24] Fix the issue with increasing latency

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 20 +++----------------
 1 file changed, 3 insertions(+), 17 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index 218339716..3db266076 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -50,21 +50,17 @@ class PoseTrackingImpl {
 
     MP_RETURN_IF_ERROR(graph.Initialize(config));
     ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller poller,
-                     graph.AddOutputStreamPoller(kOutputSegmentationStream));
+                     graph.AddOutputStreamPoller(kOutputSegmentationStream, true));
 
     ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller landmarksPoller,
-                     graph.AddOutputStreamPoller(kOutpuLandmarksStream));
+                     graph.AddOutputStreamPoller(kOutpuLandmarksStream, true));
 
-    ASSIGN_OR_RETURN(mediapipe::OutputStreamPoller posePresencePoller,
-                     graph.AddOutputStreamPoller(kOutpuPosePresenceStream));
 
     maskPollerPtr = std::make_unique<mediapipe::OutputStreamPoller>(std::move(poller));
 
     landmarksPollerPtr =
         std::make_unique<mediapipe::OutputStreamPoller>(std::move(landmarksPoller));
 
-    posePresencePollerPtr =
-        std::make_unique<mediapipe::OutputStreamPoller>(std::move(posePresencePoller));
 
     MP_RETURN_IF_ERROR(graph.StartRun({}));
   }
@@ -89,17 +85,9 @@ class PoseTrackingImpl {
       return false;
     }
 
-    mediapipe::Packet posePresencePacket;
-    if (!posePresencePollerPtr || !posePresencePollerPtr->Next(&posePresencePacket)) return false;
-    auto landmarksDetected = posePresencePacket.Get<bool>();
-
-    if (!landmarksDetected) {
-      return false;
-    }
-
     // Get the graph result packet, or stop if that fails.
     mediapipe::Packet maskPacket;
-    if (!maskPollerPtr || !maskPollerPtr->Next(&maskPacket)) return false;
+    if (!maskPollerPtr || !maskPollerPtr->Next(&maskPacket) || maskPacket.IsEmpty()) return false;
     auto& outputFrame = maskPacket.Get<mediapipe::ImageFrame>();
 
     // Get pose landmarks.
@@ -146,14 +134,12 @@ class PoseTrackingImpl {
   mediapipe::Packet poseLandmarksPacket;
   cv::Mat segmentedMask;
   nimagna::cv_wrapper::Point3f poseLandmarks[kLandmarksCount];
-  std::unique_ptr<mediapipe::OutputStreamPoller> posePresencePollerPtr;
   std::unique_ptr<mediapipe::OutputStreamPoller> maskPollerPtr;
   std::unique_ptr<mediapipe::OutputStreamPoller> landmarksPollerPtr;
   mediapipe::CalculatorGraph graph;
   const char* kInputStream = "input_video";
   const char* kOutputSegmentationStream = "segmentation_mask";
   const char* kOutpuLandmarksStream = "pose_landmarks";
-  const char* kOutpuPosePresenceStream = "pose_presence";
 };
 
 namespace nimagna {

From 2a85afc40581b6bd60807cffa799399314da2c15 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Fri, 21 Jan 2022 16:34:02 +0100
Subject: [PATCH 21/24] Move the destructor definition out of the header
 (C4150)

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 8 +++++---
 mediapipe/pose_tracking_dll/pose_tracking.h   | 2 +-
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index 3db266076..70a598fee 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -36,9 +36,6 @@ class PoseTrackingImpl {
  public:
   PoseTrackingImpl(const std::string& calculatorGraphConfigFile) {
     auto status = initialize(calculatorGraphConfigFile);
-    if (!status.ok()) {
-      LOG(WARNING) << "Warning: " << status;
-    }
   }
 
   absl::Status initialize(const std::string& calculatorGraphConfigFile) {
@@ -162,4 +159,9 @@ cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
   return cv_wrapper::Mat(result.rows, result.cols, result.data);
 }
 
+PoseTracking::~PoseTracking()
+{
+	delete mImplementation;
+}
+
 }  // namespace nimagna
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index 5f6ff3285..536547e06 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -103,7 +103,7 @@ class DLLEXPORT PoseTracking {
   };
 
   PoseTracking(const char* calculatorGraphConfigFile);
-  ~PoseTracking() { delete mImplementation; }
+  ~PoseTracking();
 
   bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
   cv_wrapper::Mat lastSegmentedFrame();

From 16d6078325d11e045b420626acf7a434437abc71 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Tue, 9 Aug 2022 14:27:36 +0200
Subject: [PATCH 22/24] Add the possibility to get landmark visibility

---
 mediapipe/pose_tracking_dll/README.md         | 15 +++++++++++++++
 mediapipe/pose_tracking_dll/pose_tracking.cpp |  9 ++++++++-
 mediapipe/pose_tracking_dll/pose_tracking.h   |  1 +
 3 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/README.md b/mediapipe/pose_tracking_dll/README.md
index 6d886edcf..249c0ae15 100644
--- a/mediapipe/pose_tracking_dll/README.md
+++ b/mediapipe/pose_tracking_dll/README.md
@@ -77,6 +77,21 @@ bazel build -c opt --define MEDIAPIPE_DISABLE_GPU=1 --action_env PYTHON_BIN_PATH
 
 The results will be stored in the `bazel-bin\mediapipe\pose_tracking_dll` folder.
 
+In the case the build stalls, pressing Ctrl+C might not be sufficient to stop the task. In that case, if you try to (resume the) build again,
+the following message will be displayed:
+
+```
+Another command (pid=5300) is running. Waiting for it to complete on the server (server_pid=3684)
+```
+
+Unfortunately this process is hidden for some reason and can't be found in taskmgr. Fortunately, you can use the `taskkill` command to kill the process:
+
+```
+taskkill /F /PID 3684
+```
+
+After that, you should be able to run the build command again.
+
 ### Build debug symbols
 - `dbg` can be used in place of `opt` to build the library with debug symbols in Visual Studio pdb format.
 
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index 70a598fee..a87e0fedd 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -116,6 +116,7 @@ class PoseTrackingImpl {
       poseLandmarks[j].x = landmark.x();
       poseLandmarks[j].y = landmark.y();
       poseLandmarks[j].z = landmark.z();
+      visibility[j] = landmark.visibility();
     }
 
     return absl::OkStatus();
@@ -124,6 +125,7 @@ class PoseTrackingImpl {
   nimagna::cv_wrapper::Point3f* lastDetectedLandmarks() { return poseLandmarks; }
 
   cv::Mat lastSegmentedFrame() { return segmentedMask; }
+  float* landmarksVisibility() { return visibility; }
 
   static constexpr size_t kLandmarksCount = 33u;
 
@@ -131,12 +133,13 @@ class PoseTrackingImpl {
   mediapipe::Packet poseLandmarksPacket;
   cv::Mat segmentedMask;
   nimagna::cv_wrapper::Point3f poseLandmarks[kLandmarksCount];
+  float visibility[kLandmarksCount] = {0};
   std::unique_ptr<mediapipe::OutputStreamPoller> maskPollerPtr;
   std::unique_ptr<mediapipe::OutputStreamPoller> landmarksPollerPtr;
   mediapipe::CalculatorGraph graph;
   const char* kInputStream = "input_video";
   const char* kOutputSegmentationStream = "segmentation_mask";
-  const char* kOutpuLandmarksStream = "pose_landmarks";
+  const char* kOutpuLandmarksStream = "pose_world_landmarks";
 };
 
 namespace nimagna {
@@ -153,6 +156,10 @@ cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
   return mImplementation->lastDetectedLandmarks();
 }
 
+float* PoseTracking::lastLandmarksVisibility() {
+  return mImplementation->landmarksVisibility();
+}
+
 cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
   const cv::Mat result = mImplementation->lastSegmentedFrame();
 
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index 536547e06..78b93b0b5 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -108,6 +108,7 @@ class DLLEXPORT PoseTracking {
   bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
   cv_wrapper::Mat lastSegmentedFrame();
   cv_wrapper::Point3f* lastDetectedLandmarks();
+  float* lastLandmarksVisibility();
 
  private:
   PoseTrackingImpl* mImplementation;

From 17d38c9c5aa58bcc1a954a2c836f4a30a392d5af Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Tue, 9 Aug 2022 15:29:58 +0200
Subject: [PATCH 23/24] Fix bug with world landmarks and print init status

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index a87e0fedd..9c4ed4c2d 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -36,6 +36,7 @@ class PoseTrackingImpl {
  public:
   PoseTrackingImpl(const std::string& calculatorGraphConfigFile) {
     auto status = initialize(calculatorGraphConfigFile);
+	LOG(WARNING) << "Initialized PoseTracking with status: " << status;
   }
 
   absl::Status initialize(const std::string& calculatorGraphConfigFile) {
@@ -139,7 +140,7 @@ class PoseTrackingImpl {
   mediapipe::CalculatorGraph graph;
   const char* kInputStream = "input_video";
   const char* kOutputSegmentationStream = "segmentation_mask";
-  const char* kOutpuLandmarksStream = "pose_world_landmarks";
+  const char* kOutpuLandmarksStream = "pose_landmarks";
 };
 
 namespace nimagna {

From 0c292576f9c97c86f32ca4aebb630eea791f3464 Mon Sep 17 00:00:00 2001
From: Maksym Walczak <maksym@nimagna.com>
Date: Thu, 11 Aug 2022 13:56:49 +0200
Subject: [PATCH 24/24] Group landmarks points together with visibility in a
 single structure

---
 mediapipe/pose_tracking_dll/pose_tracking.cpp |  9 ++-------
 mediapipe/pose_tracking_dll/pose_tracking.h   | 14 ++++++++++----
 2 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/mediapipe/pose_tracking_dll/pose_tracking.cpp b/mediapipe/pose_tracking_dll/pose_tracking.cpp
index 9c4ed4c2d..33dbdb934 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.cpp
+++ b/mediapipe/pose_tracking_dll/pose_tracking.cpp
@@ -153,12 +153,8 @@ bool PoseTracking::processFrame(const cv_wrapper::Mat& inputRGB8Bit) {
   return mImplementation->processFrame(frame);
 }
 
-cv_wrapper::Point3f* PoseTracking::lastDetectedLandmarks() {
-  return mImplementation->lastDetectedLandmarks();
-}
-
-float* PoseTracking::lastLandmarksVisibility() {
-  return mImplementation->landmarksVisibility();
+PoseTracking::PoseLandmarks PoseTracking::lastDetectedLandmarks() {
+  return {mImplementation->lastDetectedLandmarks(), mImplementation->landmarksVisibility()};
 }
 
 cv_wrapper::Mat PoseTracking::lastSegmentedFrame() {
@@ -171,5 +167,4 @@ PoseTracking::~PoseTracking()
 {
 	delete mImplementation;
 }
-
 }  // namespace nimagna
diff --git a/mediapipe/pose_tracking_dll/pose_tracking.h b/mediapipe/pose_tracking_dll/pose_tracking.h
index 78b93b0b5..b40925185 100644
--- a/mediapipe/pose_tracking_dll/pose_tracking.h
+++ b/mediapipe/pose_tracking_dll/pose_tracking.h
@@ -62,9 +62,16 @@ struct Mat {
 };
 }  // namespace cv_wrapper
 
+  
 class DLLEXPORT PoseTracking {
  public:
-  static constexpr size_t kLandmarksCount = 33u;
+  struct PoseLandmarks {
+    PoseLandmarks(cv_wrapper::Point3f* points, float* visibility) : points(points), visibility(visibility) {}
+    static constexpr size_t kLandmarksCount = 33u;
+    const cv_wrapper::Point3f* points;
+    const float* visibility;
+  };
+
   enum LandmarkNames {
     NOSE = 0,
     LEFT_EYE_INNER,
@@ -99,7 +106,7 @@ class DLLEXPORT PoseTracking {
     RIGHT_HEEL,
     LEFT_FOOT_INDEX,
     RIGHT_FOOT_INDEX,
-    COUNT = kLandmarksCount
+    COUNT = PoseLandmarks::kLandmarksCount
   };
 
   PoseTracking(const char* calculatorGraphConfigFile);
@@ -107,8 +114,7 @@ class DLLEXPORT PoseTracking {
 
   bool processFrame(const cv_wrapper::Mat& inputRGB8Bit);
   cv_wrapper::Mat lastSegmentedFrame();
-  cv_wrapper::Point3f* lastDetectedLandmarks();
-  float* lastLandmarksVisibility();
+  PoseTracking::PoseLandmarks lastDetectedLandmarks();
 
  private:
   PoseTrackingImpl* mImplementation;