Use c++ struct as hand landmark detection results.

PiperOrigin-RevId: 504048095

mediapipe/tasks/cc/components/containers/BUILD

@@ -62,3 +62,12 @@ cc_library(
         "//mediapipe/tasks/cc/components/containers/proto:embeddings_cc_proto",
     ],
 )
+
+cc_library(
+    name = "landmark",
+    srcs = ["landmark.cc"],
+    hdrs = ["landmark.h"],
+    deps = [
+        "//mediapipe/framework/formats:landmark_cc_proto",
+    ],
+)

mediapipe/tasks/cc/components/containers/classification_result.cc

@@ -40,6 +40,19 @@ Classifications ConvertToClassifications(const proto::Classifications& proto) {
   return classifications;
 }
 
+Classifications ConvertToClassifications(
+    const mediapipe::ClassificationList& proto, int head_index,
+    std::optional<std::string> head_name) {
+  Classifications classifications;
+  classifications.categories.reserve(proto.classification_size());
+  for (const auto& classification : proto.classification()) {
+    classifications.categories.push_back(ConvertToCategory(classification));
+  }
+  classifications.head_index = head_index;
+  classifications.head_name = head_name;
+  return classifications;
+}
+
 ClassificationResult ConvertToClassificationResult(
     const proto::ClassificationResult& proto) {
   ClassificationResult classification_result;

mediapipe/tasks/cc/components/containers/classification_result.h

@@ -20,6 +20,7 @@ limitations under the License.
 #include <string>
 #include <vector>
 
+#include "mediapipe/framework/formats/classification.pb.h"
 #include "mediapipe/tasks/cc/components/containers/category.h"
 #include "mediapipe/tasks/cc/components/containers/proto/classifications.pb.h"
 
@@ -58,6 +59,12 @@ struct ClassificationResult {
 // Classifications struct.
 Classifications ConvertToClassifications(const proto::Classifications& proto);
 
+// Utility function to convert from ClassificationList proto to
+// Classifications struct.
+Classifications ConvertToClassifications(
+    const mediapipe::ClassificationList& proto, int head_index = 0,
+    std::optional<std::string> head_name = std::nullopt);
+
 // Utility function to convert from ClassificationResult proto to
 // ClassificationResult struct.
 ClassificationResult ConvertToClassificationResult(

mediapipe/tasks/cc/components/containers/landmark.cc

@@ -0,0 +1,65 @@
+/* Copyright 2023 The MediaPipe Authors. All Rights Reserved.
+
+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 "mediapipe/tasks/cc/components/containers/landmark.h"
+
+#include <optional>
+#include <utility>
+
+#include "mediapipe/framework/formats/landmark.pb.h"
+
+namespace mediapipe::tasks::components::containers {
+
+Landmark ConvertToLandmark(const mediapipe::Landmark& proto) {
+  return {/*x=*/proto.x(), /*y=*/proto.y(), /*z=*/proto.z(),
+          /*visibility=*/proto.has_visibility()
+              ? std::optional<float>(proto.visibility())
+              : std::nullopt,
+          /*presence=*/proto.has_presence()
+              ? std::optional<float>(proto.presence())
+              : std::nullopt};
+}
+
+NormalizedLandmark ConvertToNormalizedLandmark(
+    const mediapipe::NormalizedLandmark& proto) {
+  return {/*x=*/proto.x(), /*y=*/proto.y(), /*z=*/proto.z(),
+          /*visibility=*/proto.has_visibility()
+              ? std::optional<float>(proto.visibility())
+              : std::nullopt,
+          /*presence=*/proto.has_presence()
+              ? std::optional<float>(proto.presence())
+              : std::nullopt};
+}
+
+Landmarks ConvertToLandmarks(const mediapipe::LandmarkList& proto) {
+  Landmarks landmarks;
+  landmarks.landmarks.reserve(proto.landmark_size());
+  for (const auto& landmark : proto.landmark()) {
+    landmarks.landmarks.push_back(ConvertToLandmark(landmark));
+  }
+  return landmarks;
+}
+
+NormalizedLandmarks ConvertToNormalizedLandmarks(
+    const mediapipe::NormalizedLandmarkList& proto) {
+  NormalizedLandmarks landmarks;
+  landmarks.landmarks.reserve(proto.landmark_size());
+  for (const auto& landmark : proto.landmark()) {
+    landmarks.landmarks.push_back(ConvertToNormalizedLandmark(landmark));
+  }
+  return landmarks;
+}
+
+}  // namespace mediapipe::tasks::components::containers

mediapipe/tasks/cc/components/containers/landmark.h

@@ -0,0 +1,103 @@
+/* Copyright 2023 The MediaPipe Authors. All Rights Reserved.
+
+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 MEDIAPIPE_TASKS_CC_COMPONENTS_CONTAINERS_LANDMARK_H_
+#define MEDIAPIPE_TASKS_CC_COMPONENTS_CONTAINERS_LANDMARK_H_
+
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+#include "mediapipe/framework/formats/landmark.pb.h"
+
+namespace mediapipe::tasks::components::containers {
+constexpr float kLandmarkTolerance = 1e-6;
+
+// Landmark represents a point in 3D space with x, y, z coordinates. The
+// landmark coordinates are in meters. z represents the landmark depth, and the
+// smaller the value the closer the world landmark is to the camera.
+struct Landmark {
+  float x;
+  float y;
+  float z;
+  // Landmark visibility. Should stay unset if not supported.
+  // Float score of whether landmark is visible or occluded by other objects.
+  // Landmark considered as invisible also if it is not present on the screen
+  // (out of scene bounds). Depending on the model, visibility value is either a
+  // sigmoid or an argument of sigmoid.
+  std::optional<float> visibility = std::nullopt;
+  // Landmark presence. Should stay unset if not supported.
+  // Float score of whether landmark is present on the scene (located within
+  // scene bounds). Depending on the model, presence value is either a result of
+  // sigmoid or an argument of sigmoid function to get landmark presence
+  // probability.
+  std::optional<float> presence = std::nullopt;
+  // Landmark name. Should stay unset if not supported.
+  std::optional<std::string> name = std::nullopt;
+};
+
+inline bool operator==(const Landmark& lhs, const Landmark& rhs) {
+  return abs(lhs.x - rhs.x) < kLandmarkTolerance &&
+         abs(lhs.y - rhs.y) < kLandmarkTolerance &&
+         abs(lhs.z - rhs.z) < kLandmarkTolerance;
+}
+
+// A normalized version of above Landmark struct. All coordinates should be
+// within [0, 1].
+struct NormalizedLandmark {
+  float x;
+  float y;
+  float z;
+  std::optional<float> visibility = std::nullopt;
+  std::optional<float> presence = std::nullopt;
+  std::optional<std::string> name = std::nullopt;
+};
+
+inline bool operator==(const NormalizedLandmark& lhs,
+                       const NormalizedLandmark& rhs) {
+  return abs(lhs.x - rhs.x) < kLandmarkTolerance &&
+         abs(lhs.y - rhs.y) < kLandmarkTolerance &&
+         abs(lhs.z - rhs.z) < kLandmarkTolerance;
+}
+
+// A list of Landmarks.
+struct Landmarks {
+  std::vector<Landmark> landmarks;
+};
+
+// A list of NormalizedLandmarks.
+struct NormalizedLandmarks {
+  std::vector<NormalizedLandmark> landmarks;
+};
+
+// Utility function to convert from Landmark proto to Landmark struct.
+Landmark ConvertToLandmark(const mediapipe::Landmark& proto);
+
+// Utility function to convert from NormalizedLandmark proto to
+// NormalizedLandmark struct.
+NormalizedLandmark ConvertToNormalizedLandmark(
+    const mediapipe::NormalizedLandmark& proto);
+
+// Utility function to convert from LandmarkList proto to Landmarks struct.
+Landmarks ConvertToLandmarks(const mediapipe::LandmarkList& proto);
+
+// Utility function to convert from NormalizedLandmarkList proto to
+// NormalizedLandmarks struct.
+NormalizedLandmarks ConvertToNormalizedLandmarks(
+    const mediapipe::NormalizedLandmarkList& proto);
+
+}  // namespace mediapipe::tasks::components::containers
+
+#endif  // MEDIAPIPE_TASKS_CC_COMPONENTS_CONTAINERS_LANDMARK_H_

mediapipe/tasks/cc/vision/hand_landmarker/BUILD

@@ -154,11 +154,14 @@ cc_library(
 
 cc_library(
     name = "hand_landmarker_result",
+    srcs = ["hand_landmarker_result.cc"],
     hdrs = ["hand_landmarker_result.h"],
     visibility = ["//visibility:public"],
     deps = [
         "//mediapipe/framework/formats:classification_cc_proto",
         "//mediapipe/framework/formats:landmark_cc_proto",
+        "//mediapipe/tasks/cc/components/containers:classification_result",
+        "//mediapipe/tasks/cc/components/containers:landmark",
     ],
 )
 

mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker.cc

@@ -155,9 +155,13 @@ absl::StatusOr<std::unique_ptr<HandLandmarker>> HandLandmarker::Create(
       Packet hand_world_landmarks_packet =
           status_or_packets.value()[kHandWorldLandmarksStreamName];
       result_callback(
-          {{handedness_packet.Get<std::vector<ClassificationList>>(),
+          ConvertToHandLandmarkerResult(
+              /* handedness= */ handedness_packet
+                  .Get<std::vector<ClassificationList>>(),
+              /* hand_landmarks= */
               hand_landmarks_packet.Get<std::vector<NormalizedLandmarkList>>(),
-            hand_world_landmarks_packet.Get<std::vector<LandmarkList>>()}},
+              /* hand_world_landmarks= */
+              hand_world_landmarks_packet.Get<std::vector<LandmarkList>>()),
           image_packet.Get<Image>(),
           hand_landmarks_packet.Timestamp().Value() /
               kMicroSecondsPerMilliSecond);
@@ -193,15 +197,21 @@ absl::StatusOr<HandLandmarkerResult> HandLandmarker::Detect(
   if (output_packets[kHandLandmarksStreamName].IsEmpty()) {
     return {HandLandmarkerResult()};
   }
-  return {{/* handedness= */
+  return ConvertToHandLandmarkerResult(/* handedness= */
-           {output_packets[kHandednessStreamName]
+                                       output_packets[kHandednessStreamName]
-                .Get<std::vector<mediapipe::ClassificationList>>()},
+                                           .Get<std::vector<
+                                               mediapipe::
+                                                   ClassificationList>>(),
                                        /* hand_landmarks= */
-           {output_packets[kHandLandmarksStreamName]
+                                       output_packets[kHandLandmarksStreamName]
-                .Get<std::vector<mediapipe::NormalizedLandmarkList>>()},
+                                           .Get<std::vector<
+                                               mediapipe::
+                                                   NormalizedLandmarkList>>(),
                                        /* hand_world_landmarks */
-           {output_packets[kHandWorldLandmarksStreamName]
+                                       output_packets
-                .Get<std::vector<mediapipe::LandmarkList>>()}}};
+                                           [kHandWorldLandmarksStreamName]
+                                               .Get<std::vector<
+                                                   mediapipe::LandmarkList>>());
 }
 
 absl::StatusOr<HandLandmarkerResult> HandLandmarker::DetectForVideo(
@@ -228,17 +238,21 @@ absl::StatusOr<HandLandmarkerResult> HandLandmarker::DetectForVideo(
   if (output_packets[kHandLandmarksStreamName].IsEmpty()) {
     return {HandLandmarkerResult()};
   }
-  return {
+  return ConvertToHandLandmarkerResult(/* handedness= */
-      {/* handedness= */
+                                       output_packets[kHandednessStreamName]
-       {output_packets[kHandednessStreamName]
+                                           .Get<std::vector<
-            .Get<std::vector<mediapipe::ClassificationList>>()},
+                                               mediapipe::
+                                                   ClassificationList>>(),
                                        /* hand_landmarks= */
-       {output_packets[kHandLandmarksStreamName]
+                                       output_packets[kHandLandmarksStreamName]
-            .Get<std::vector<mediapipe::NormalizedLandmarkList>>()},
+                                           .Get<std::vector<
+                                               mediapipe::
+                                                   NormalizedLandmarkList>>(),
                                        /* hand_world_landmarks */
-       {output_packets[kHandWorldLandmarksStreamName]
+                                       output_packets
-            .Get<std::vector<mediapipe::LandmarkList>>()}},
+                                           [kHandWorldLandmarksStreamName]
-  };
+                                               .Get<std::vector<
+                                                   mediapipe::LandmarkList>>());
 }
 
 absl::Status HandLandmarker::DetectAsync(

mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker_result.cc

@@ -0,0 +1,56 @@
+/* Copyright 2023 The MediaPipe Authors. All Rights Reserved.
+
+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 "mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker_result.h"
+
+#include <algorithm>
+
+#include "mediapipe/framework/formats/classification.pb.h"
+#include "mediapipe/tasks/cc/components/containers/classification_result.h"
+#include "mediapipe/tasks/cc/components/containers/landmark.h"
+
+namespace mediapipe {
+namespace tasks {
+namespace vision {
+namespace hand_landmarker {
+
+HandLandmarkerResult ConvertToHandLandmarkerResult(
+    const std::vector<mediapipe::ClassificationList>& handedness_proto,
+    const std::vector<mediapipe::NormalizedLandmarkList>& hand_landmarks_proto,
+    const std::vector<mediapipe::LandmarkList>& hand_world_landmarks_proto) {
+  HandLandmarkerResult result;
+  result.handedness.resize(handedness_proto.size());
+  result.hand_landmarks.resize(hand_landmarks_proto.size());
+  result.hand_world_landmarks.resize(hand_world_landmarks_proto.size());
+  std::transform(handedness_proto.begin(), handedness_proto.end(),
+                 result.handedness.begin(),
+                 [](const mediapipe::ClassificationList& classification_list) {
+                   return components::containers::ConvertToClassifications(
+                       classification_list);
+                 });
+  std::transform(hand_landmarks_proto.begin(), hand_landmarks_proto.end(),
+                 result.hand_landmarks.begin(),
+                 components::containers::ConvertToNormalizedLandmarks);
+  std::transform(hand_world_landmarks_proto.begin(),
+                 hand_world_landmarks_proto.end(),
+                 result.hand_world_landmarks.begin(),
+                 components::containers::ConvertToLandmarks);
+  return result;
+}
+
+}  // namespace hand_landmarker
+}  // namespace vision
+}  // namespace tasks
+}  // namespace mediapipe

mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker_result.h

@@ -1,4 +1,4 @@
-/* Copyright 2022 The MediaPipe Authors. All Rights Reserved.
+/* Copyright 2023 The MediaPipe Authors. All Rights Reserved.
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -18,6 +18,8 @@ limitations under the License.
 
 #include "mediapipe/framework/formats/classification.pb.h"
 #include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/tasks/cc/components/containers/classification_result.h"
+#include "mediapipe/tasks/cc/components/containers/landmark.h"
 
 namespace mediapipe {
 namespace tasks {
@@ -28,13 +30,18 @@ namespace hand_landmarker {
 // element represents a single hand detected in the image.
 struct HandLandmarkerResult {
   // Classification of handedness.
-  std::vector<mediapipe::ClassificationList> handedness;
+  std::vector<components::containers::Classifications> handedness;
   // Detected hand landmarks in normalized image coordinates.
-  std::vector<mediapipe::NormalizedLandmarkList> hand_landmarks;
+  std::vector<components::containers::NormalizedLandmarks> hand_landmarks;
   // Detected hand landmarks in world coordinates.
-  std::vector<mediapipe::LandmarkList> hand_world_landmarks;
+  std::vector<components::containers::Landmarks> hand_world_landmarks;
 };
 
+HandLandmarkerResult ConvertToHandLandmarkerResult(
+    const std::vector<mediapipe::ClassificationList>& handedness_proto,
+    const std::vector<mediapipe::NormalizedLandmarkList>& hand_landmarks_proto,
+    const std::vector<mediapipe::LandmarkList>& hand_world_landmarks_proto);
+
 }  // namespace hand_landmarker
 }  // namespace vision
 }  // namespace tasks

mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker_result_test.cc

@@ -0,0 +1,88 @@
+/* Copyright 2023 The MediaPipe Authors. All Rights Reserved.
+
+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 "mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker_result.h"
+
+#include <optional>
+#include <vector>
+
+#include "mediapipe/framework/formats/classification.pb.h"
+#include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/framework/port/gmock.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/tasks/cc/components/containers/classification_result.h"
+#include "mediapipe/tasks/cc/components/containers/landmark.h"
+
+namespace mediapipe {
+namespace tasks {
+namespace vision {
+namespace hand_landmarker {
+
+TEST(ConvertFromProto, Succeeds) {
+  mediapipe::ClassificationList classification_list_proto;
+  mediapipe::Classification& classification_proto =
+      *classification_list_proto.add_classification();
+  classification_proto.set_index(1);
+  classification_proto.set_score(0.5);
+  classification_proto.set_label("Left");
+  classification_proto.set_display_name("Left_Hand");
+
+  mediapipe::NormalizedLandmarkList normalized_landmark_list_proto;
+  mediapipe::NormalizedLandmark& normalized_landmark_proto =
+      *normalized_landmark_list_proto.add_landmark();
+  normalized_landmark_proto.set_x(0.1);
+  normalized_landmark_proto.set_y(0.2);
+  normalized_landmark_proto.set_z(0.3);
+
+  mediapipe::LandmarkList landmark_list_proto;
+  mediapipe::Landmark& landmark_proto = *landmark_list_proto.add_landmark();
+  landmark_proto.set_x(3.1);
+  landmark_proto.set_y(5.2);
+  landmark_proto.set_z(4.3);
+
+  std::vector<mediapipe::ClassificationList> classification_lists = {
+      classification_list_proto};
+  std::vector<mediapipe::NormalizedLandmarkList> normalized_landmarks_lists = {
+      normalized_landmark_list_proto};
+  std::vector<mediapipe::LandmarkList> landmarks_lists = {landmark_list_proto};
+
+  HandLandmarkerResult hand_landmarker_result = ConvertToHandLandmarkerResult(
+      classification_lists, normalized_landmarks_lists, landmarks_lists);
+
+  EXPECT_EQ(hand_landmarker_result.handedness.size(), 1);
+  EXPECT_EQ(hand_landmarker_result.handedness[0].categories.size(), 1);
+  EXPECT_THAT(
+      hand_landmarker_result.handedness[0].categories[0],
+      testing::FieldsAre(1, testing::FloatEq(0.5), "Left", "Left_Hand"));
+
+  EXPECT_EQ(hand_landmarker_result.hand_landmarks.size(), 1);
+  EXPECT_EQ(hand_landmarker_result.hand_landmarks[0].landmarks.size(), 1);
+  EXPECT_THAT(hand_landmarker_result.hand_landmarks[0].landmarks[0],
+              testing::FieldsAre(testing::FloatEq(0.1), testing::FloatEq(0.2),
+                                 testing::FloatEq(0.3), std::nullopt,
+                                 std::nullopt, std::nullopt));
+
+  EXPECT_EQ(hand_landmarker_result.hand_world_landmarks.size(), 1);
+  EXPECT_EQ(hand_landmarker_result.hand_world_landmarks[0].landmarks.size(), 1);
+  EXPECT_THAT(hand_landmarker_result.hand_world_landmarks[0].landmarks[0],
+              testing::FieldsAre(testing::FloatEq(3.1), testing::FloatEq(5.2),
+                                 testing::FloatEq(4.3), std::nullopt,
+                                 std::nullopt, std::nullopt));
+}
+
+}  // namespace hand_landmarker
+}  // namespace vision
+}  // namespace tasks
+}  // namespace mediapipe

mediapipe/tasks/cc/vision/hand_landmarker/hand_landmarker_test.cc

@@ -32,6 +32,8 @@ limitations under the License.
 #include "mediapipe/framework/port/gmock.h"
 #include "mediapipe/framework/port/gtest.h"
 #include "mediapipe/tasks/cc/common.h"
+#include "mediapipe/tasks/cc/components/containers/classification_result.h"
+#include "mediapipe/tasks/cc/components/containers/landmark.h"
 #include "mediapipe/tasks/cc/components/containers/proto/landmarks_detection_result.pb.h"
 #include "mediapipe/tasks/cc/components/containers/rect.h"
 #include "mediapipe/tasks/cc/components/processors/proto/classifier_options.pb.h"
@@ -50,18 +52,16 @@ namespace {
 
 using ::file::Defaults;
 using ::mediapipe::file::JoinPath;
+using ::mediapipe::tasks::components::containers::ConvertToClassifications;
+using ::mediapipe::tasks::components::containers::ConvertToNormalizedLandmarks;
 using ::mediapipe::tasks::components::containers::RectF;
 using ::mediapipe::tasks::containers::proto::LandmarksDetectionResult;
 using ::mediapipe::tasks::vision::core::ImageProcessingOptions;
-using ::testing::EqualsProto;
 using ::testing::HasSubstr;
 using ::testing::Optional;
-using ::testing::Pointwise;
 using ::testing::TestParamInfo;
 using ::testing::TestWithParam;
 using ::testing::Values;
-using ::testing::proto::Approximately;
-using ::testing::proto::Partially;
 
 constexpr char kTestDataDirectory[] = "/mediapipe/tasks/testdata/vision/";
 constexpr char kHandLandmarkerBundleAsset[] = "hand_landmarker.task";
@@ -74,7 +74,6 @@ constexpr char kPointingUpImage[] = "pointing_up.jpg";
 constexpr char kPointingUpRotatedImage[] = "pointing_up_rotated.jpg";
 constexpr char kNoHandsImage[] = "cats_and_dogs.jpg";
 
-constexpr float kLandmarksFractionDiff = 0.03;  // percentage
 constexpr float kLandmarksAbsMargin = 0.03;
 constexpr float kHandednessMargin = 0.05;
 
@@ -101,13 +100,47 @@ HandLandmarkerResult GetExpectedHandLandmarkerResult(
     const auto landmarks_detection_result =
         GetLandmarksDetectionResult(file_name);
     expected_results.hand_landmarks.push_back(
-        landmarks_detection_result.landmarks());
+        ConvertToNormalizedLandmarks(landmarks_detection_result.landmarks()));
     expected_results.handedness.push_back(
-        landmarks_detection_result.classifications());
+        ConvertToClassifications(landmarks_detection_result.classifications()));
   }
   return expected_results;
 }
 
+MATCHER_P2(HandednessMatches, expected_handedness, tolerance, "") {
+  for (int i = 0; i < arg.size(); i++) {
+    for (int j = 0; j < arg[i].categories.size(); j++) {
+      if (arg[i].categories[j].index !=
+          expected_handedness[i].categories[j].index) {
+        return false;
+      }
+      if (std::abs(arg[i].categories[j].score -
+                   expected_handedness[i].categories[j].score) > tolerance) {
+        return false;
+      }
+      if (arg[i].categories[j].category_name !=
+          expected_handedness[i].categories[j].category_name) {
+        return false;
+      }
+    }
+  }
+  return true;
+}
+
+MATCHER_P2(LandmarksMatches, expected_landmarks, toleration, "") {
+  for (int i = 0; i < arg.size(); i++) {
+    for (int j = 0; j < arg[i].landmarks.size(); j++) {
+      if (std::abs(arg[i].landmarks[j].x -
+                   expected_landmarks[i].landmarks[j].x) > toleration ||
+          std::abs(arg[i].landmarks[j].y -
+                   expected_landmarks[i].landmarks[j].y) > toleration) {
+        return false;
+      }
+    }
+  }
+  return true;
+}
+
 void ExpectHandLandmarkerResultsCorrect(
     const HandLandmarkerResult& actual_results,
     const HandLandmarkerResult& expected_results) {
@@ -119,16 +152,15 @@ void ExpectHandLandmarkerResultsCorrect(
 
   ASSERT_EQ(actual_landmarks.size(), expected_landmarks.size());
   ASSERT_EQ(actual_handedness.size(), expected_handedness.size());
+  if (actual_landmarks.empty()) {
+    return;
+  }
+  ASSERT_GE(actual_landmarks.size(), 1);
 
-  EXPECT_THAT(
+  EXPECT_THAT(actual_handedness,
-      actual_handedness,
+              HandednessMatches(expected_handedness, kHandednessMargin));
-      Pointwise(Approximately(Partially(EqualsProto()), kHandednessMargin),
-                expected_handedness));
   EXPECT_THAT(actual_landmarks,
-              Pointwise(Approximately(Partially(EqualsProto()),
+              LandmarksMatches(expected_landmarks, kLandmarksAbsMargin));
-                                      /*margin=*/kLandmarksAbsMargin,
-                                      /*fraction=*/kLandmarksFractionDiff),
-                        expected_landmarks));
 }
 
 }  // namespace