Port LandmarksSmoothingCalculator to api2

PiperOrigin-RevId: 536474279
This commit is contained in:
MediaPipe Team 2023-05-30 12:17:42 -07:00 committed by Copybara-Service
parent 96357b1910
commit a432559123
5 changed files with 585 additions and 446 deletions

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@ -899,16 +899,32 @@ mediapipe_proto_library(
cc_library(
name = "landmarks_smoothing_calculator",
srcs = ["landmarks_smoothing_calculator.cc"],
hdrs = ["landmarks_smoothing_calculator.h"],
deps = [
":landmarks_smoothing_calculator_cc_proto",
":landmarks_smoothing_calculator_utils",
"//mediapipe/framework:calculator_framework",
"//mediapipe/framework:timestamp",
"//mediapipe/framework/api2:node",
"//mediapipe/framework/formats:landmark_cc_proto",
"//mediapipe/framework/formats:rect_cc_proto",
"//mediapipe/framework/port:ret_check",
],
alwayslink = 1,
)
cc_library(
name = "landmarks_smoothing_calculator_utils",
srcs = ["landmarks_smoothing_calculator_utils.cc"],
hdrs = ["landmarks_smoothing_calculator_utils.h"],
deps = [
":landmarks_smoothing_calculator_cc_proto",
"//mediapipe/framework:calculator_context",
"//mediapipe/framework/formats:landmark_cc_proto",
"//mediapipe/framework/formats:rect_cc_proto",
"//mediapipe/framework/port:ret_check",
"//mediapipe/util/filtering:one_euro_filter",
"//mediapipe/util/filtering:relative_velocity_filter",
"@com_google_absl//absl/algorithm:container",
],
alwayslink = 1,
)

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@ -1,4 +1,4 @@
// Copyright 2020 The MediaPipe Authors.
// Copyright 2023 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.
@ -12,471 +12,105 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mediapipe/calculators/util/landmarks_smoothing_calculator.h"
#include <memory>
#include "absl/algorithm/container.h"
#include "mediapipe/calculators/util/landmarks_smoothing_calculator.pb.h"
#include "mediapipe/calculators/util/landmarks_smoothing_calculator_utils.h"
#include "mediapipe/framework/api2/node.h"
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/formats/landmark.pb.h"
#include "mediapipe/framework/formats/rect.pb.h"
#include "mediapipe/framework/port/ret_check.h"
#include "mediapipe/framework/timestamp.h"
#include "mediapipe/util/filtering/one_euro_filter.h"
#include "mediapipe/util/filtering/relative_velocity_filter.h"
namespace mediapipe {
namespace api2 {
namespace {
constexpr char kNormalizedLandmarksTag[] = "NORM_LANDMARKS";
constexpr char kLandmarksTag[] = "LANDMARKS";
constexpr char kImageSizeTag[] = "IMAGE_SIZE";
constexpr char kObjectScaleRoiTag[] = "OBJECT_SCALE_ROI";
constexpr char kNormalizedFilteredLandmarksTag[] = "NORM_FILTERED_LANDMARKS";
constexpr char kFilteredLandmarksTag[] = "FILTERED_LANDMARKS";
using ::mediapipe::NormalizedRect;
using mediapipe::OneEuroFilter;
using ::mediapipe::Rect;
using mediapipe::RelativeVelocityFilter;
void NormalizedLandmarksToLandmarks(
const NormalizedLandmarkList& norm_landmarks, const int image_width,
const int image_height, LandmarkList* landmarks) {
for (int i = 0; i < norm_landmarks.landmark_size(); ++i) {
const auto& norm_landmark = norm_landmarks.landmark(i);
auto* landmark = landmarks->add_landmark();
landmark->set_x(norm_landmark.x() * image_width);
landmark->set_y(norm_landmark.y() * image_height);
// Scale Z the same way as X (using image width).
landmark->set_z(norm_landmark.z() * image_width);
landmark->set_visibility(norm_landmark.visibility());
landmark->set_presence(norm_landmark.presence());
}
}
void LandmarksToNormalizedLandmarks(const LandmarkList& landmarks,
const int image_width,
const int image_height,
NormalizedLandmarkList* norm_landmarks) {
for (int i = 0; i < landmarks.landmark_size(); ++i) {
const auto& landmark = landmarks.landmark(i);
auto* norm_landmark = norm_landmarks->add_landmark();
norm_landmark->set_x(landmark.x() / image_width);
norm_landmark->set_y(landmark.y() / image_height);
// Scale Z the same way as X (using image width).
norm_landmark->set_z(landmark.z() / image_width);
norm_landmark->set_visibility(landmark.visibility());
norm_landmark->set_presence(landmark.presence());
}
}
// Estimate object scale to use its inverse value as velocity scale for
// RelativeVelocityFilter. If value will be too small (less than
// `options_.min_allowed_object_scale`) smoothing will be disabled and
// landmarks will be returned as is.
// Object scale is calculated as average between bounding box width and height
// with sides parallel to axis.
float GetObjectScale(const LandmarkList& landmarks) {
const auto& lm_minmax_x = absl::c_minmax_element(
landmarks.landmark(),
[](const auto& a, const auto& b) { return a.x() < b.x(); });
const float x_min = lm_minmax_x.first->x();
const float x_max = lm_minmax_x.second->x();
const auto& lm_minmax_y = absl::c_minmax_element(
landmarks.landmark(),
[](const auto& a, const auto& b) { return a.y() < b.y(); });
const float y_min = lm_minmax_y.first->y();
const float y_max = lm_minmax_y.second->y();
const float object_width = x_max - x_min;
const float object_height = y_max - y_min;
return (object_width + object_height) / 2.0f;
}
float GetObjectScale(const NormalizedRect& roi, const int image_width,
const int image_height) {
const float object_width = roi.width() * image_width;
const float object_height = roi.height() * image_height;
return (object_width + object_height) / 2.0f;
}
float GetObjectScale(const Rect& roi) {
return (roi.width() + roi.height()) / 2.0f;
}
// Abstract class for various landmarks filters.
class LandmarksFilter {
public:
virtual ~LandmarksFilter() = default;
virtual absl::Status Reset() { return absl::OkStatus(); }
virtual absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList* out_landmarks) = 0;
};
// Returns landmarks as is without smoothing.
class NoFilter : public LandmarksFilter {
public:
absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList* out_landmarks) override {
*out_landmarks = in_landmarks;
return absl::OkStatus();
}
};
// Please check RelativeVelocityFilter documentation for details.
class VelocityFilter : public LandmarksFilter {
public:
VelocityFilter(int window_size, float velocity_scale,
float min_allowed_object_scale, bool disable_value_scaling)
: window_size_(window_size),
velocity_scale_(velocity_scale),
min_allowed_object_scale_(min_allowed_object_scale),
disable_value_scaling_(disable_value_scaling) {}
absl::Status Reset() override {
x_filters_.clear();
y_filters_.clear();
z_filters_.clear();
return absl::OkStatus();
}
absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList* out_landmarks) override {
// Get value scale as inverse value of the object scale.
// If value is too small smoothing will be disabled and landmarks will be
// returned as is.
float value_scale = 1.0f;
if (!disable_value_scaling_) {
const float object_scale =
object_scale_opt ? *object_scale_opt : GetObjectScale(in_landmarks);
if (object_scale < min_allowed_object_scale_) {
*out_landmarks = in_landmarks;
return absl::OkStatus();
}
value_scale = 1.0f / object_scale;
}
// Initialize filters once.
MP_RETURN_IF_ERROR(InitializeFiltersIfEmpty(in_landmarks.landmark_size()));
// Filter landmarks. Every axis of every landmark is filtered separately.
for (int i = 0; i < in_landmarks.landmark_size(); ++i) {
const auto& in_landmark = in_landmarks.landmark(i);
auto* out_landmark = out_landmarks->add_landmark();
*out_landmark = in_landmark;
out_landmark->set_x(
x_filters_[i].Apply(timestamp, value_scale, in_landmark.x()));
out_landmark->set_y(
y_filters_[i].Apply(timestamp, value_scale, in_landmark.y()));
out_landmark->set_z(
z_filters_[i].Apply(timestamp, value_scale, in_landmark.z()));
}
return absl::OkStatus();
}
private:
// Initializes filters for the first time or after Reset. If initialized then
// check the size.
absl::Status InitializeFiltersIfEmpty(const int n_landmarks) {
if (!x_filters_.empty()) {
RET_CHECK_EQ(x_filters_.size(), n_landmarks);
RET_CHECK_EQ(y_filters_.size(), n_landmarks);
RET_CHECK_EQ(z_filters_.size(), n_landmarks);
return absl::OkStatus();
}
x_filters_.resize(n_landmarks,
RelativeVelocityFilter(window_size_, velocity_scale_));
y_filters_.resize(n_landmarks,
RelativeVelocityFilter(window_size_, velocity_scale_));
z_filters_.resize(n_landmarks,
RelativeVelocityFilter(window_size_, velocity_scale_));
return absl::OkStatus();
}
int window_size_;
float velocity_scale_;
float min_allowed_object_scale_;
bool disable_value_scaling_;
std::vector<RelativeVelocityFilter> x_filters_;
std::vector<RelativeVelocityFilter> y_filters_;
std::vector<RelativeVelocityFilter> z_filters_;
};
// Please check OneEuroFilter documentation for details.
class OneEuroFilterImpl : public LandmarksFilter {
public:
OneEuroFilterImpl(double frequency, double min_cutoff, double beta,
double derivate_cutoff, float min_allowed_object_scale,
bool disable_value_scaling)
: frequency_(frequency),
min_cutoff_(min_cutoff),
beta_(beta),
derivate_cutoff_(derivate_cutoff),
min_allowed_object_scale_(min_allowed_object_scale),
disable_value_scaling_(disable_value_scaling) {}
absl::Status Reset() override {
x_filters_.clear();
y_filters_.clear();
z_filters_.clear();
return absl::OkStatus();
}
absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList* out_landmarks) override {
// Initialize filters once.
MP_RETURN_IF_ERROR(InitializeFiltersIfEmpty(in_landmarks.landmark_size()));
// Get value scale as inverse value of the object scale.
// If value is too small smoothing will be disabled and landmarks will be
// returned as is.
float value_scale = 1.0f;
if (!disable_value_scaling_) {
const float object_scale =
object_scale_opt ? *object_scale_opt : GetObjectScale(in_landmarks);
if (object_scale < min_allowed_object_scale_) {
*out_landmarks = in_landmarks;
return absl::OkStatus();
}
value_scale = 1.0f / object_scale;
}
// Filter landmarks. Every axis of every landmark is filtered separately.
for (int i = 0; i < in_landmarks.landmark_size(); ++i) {
const auto& in_landmark = in_landmarks.landmark(i);
auto* out_landmark = out_landmarks->add_landmark();
*out_landmark = in_landmark;
out_landmark->set_x(
x_filters_[i].Apply(timestamp, value_scale, in_landmark.x()));
out_landmark->set_y(
y_filters_[i].Apply(timestamp, value_scale, in_landmark.y()));
out_landmark->set_z(
z_filters_[i].Apply(timestamp, value_scale, in_landmark.z()));
}
return absl::OkStatus();
}
private:
// Initializes filters for the first time or after Reset. If initialized then
// check the size.
absl::Status InitializeFiltersIfEmpty(const int n_landmarks) {
if (!x_filters_.empty()) {
RET_CHECK_EQ(x_filters_.size(), n_landmarks);
RET_CHECK_EQ(y_filters_.size(), n_landmarks);
RET_CHECK_EQ(z_filters_.size(), n_landmarks);
return absl::OkStatus();
}
for (int i = 0; i < n_landmarks; ++i) {
x_filters_.push_back(
OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
y_filters_.push_back(
OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
z_filters_.push_back(
OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
}
return absl::OkStatus();
}
double frequency_;
double min_cutoff_;
double beta_;
double derivate_cutoff_;
double min_allowed_object_scale_;
bool disable_value_scaling_;
std::vector<OneEuroFilter> x_filters_;
std::vector<OneEuroFilter> y_filters_;
std::vector<OneEuroFilter> z_filters_;
};
using ::mediapipe::landmarks_smoothing::GetObjectScale;
using ::mediapipe::landmarks_smoothing::InitializeLandmarksFilter;
using ::mediapipe::landmarks_smoothing::LandmarksFilter;
using ::mediapipe::landmarks_smoothing::LandmarksToNormalizedLandmarks;
using ::mediapipe::landmarks_smoothing::NormalizedLandmarksToLandmarks;
} // namespace
// A calculator to smooth landmarks over time.
//
// Inputs:
// NORM_LANDMARKS: A NormalizedLandmarkList of landmarks you want to smooth.
// IMAGE_SIZE: A std::pair<int, int> represention of image width and height.
// Required to perform all computations in absolute coordinates to avoid any
// influence of normalized values.
// OBJECT_SCALE_ROI (optional): A NormRect or Rect (depending on the format of
// input landmarks) used to determine the object scale for some of the
// filters. If not provided - object scale will be calculated from
// landmarks.
//
// Outputs:
// NORM_FILTERED_LANDMARKS: A NormalizedLandmarkList of smoothed landmarks.
//
// Example config:
// node {
// calculator: "LandmarksSmoothingCalculator"
// input_stream: "NORM_LANDMARKS:pose_landmarks"
// input_stream: "IMAGE_SIZE:image_size"
// input_stream: "OBJECT_SCALE_ROI:roi"
// output_stream: "NORM_FILTERED_LANDMARKS:pose_landmarks_filtered"
// options: {
// [mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
// velocity_filter: {
// window_size: 5
// velocity_scale: 10.0
// }
// }
// }
// }
//
class LandmarksSmoothingCalculator : public CalculatorBase {
class LandmarksSmoothingCalculatorImpl
: public NodeImpl<LandmarksSmoothingCalculator> {
public:
static absl::Status GetContract(CalculatorContract* cc);
absl::Status Open(CalculatorContext* cc) override;
absl::Status Process(CalculatorContext* cc) override;
absl::Status Open(CalculatorContext* cc) override {
ASSIGN_OR_RETURN(landmarks_filter_,
InitializeLandmarksFilter(
cc->Options<LandmarksSmoothingCalculatorOptions>()));
return absl::OkStatus();
}
absl::Status Process(CalculatorContext* cc) override {
// Check that landmarks are not empty and reset the filter if so.
// Don't emit an empty packet for this timestamp.
if ((kInNormLandmarks(cc).IsConnected() &&
kInNormLandmarks(cc).IsEmpty()) ||
(kInLandmarks(cc).IsConnected() && kInLandmarks(cc).IsEmpty())) {
MP_RETURN_IF_ERROR(landmarks_filter_->Reset());
return absl::OkStatus();
}
const auto& timestamp =
absl::Microseconds(cc->InputTimestamp().Microseconds());
if (kInNormLandmarks(cc).IsConnected()) {
const auto& in_norm_landmarks = kInNormLandmarks(cc).Get();
int image_width;
int image_height;
std::tie(image_width, image_height) = kImageSize(cc).Get();
absl::optional<float> object_scale;
if (kObjectScaleRoi(cc).IsConnected() && !kObjectScaleRoi(cc).IsEmpty()) {
auto& roi = kObjectScaleRoi(cc).Get<NormalizedRect>();
object_scale = GetObjectScale(roi, image_width, image_height);
}
auto in_landmarks = absl::make_unique<LandmarkList>();
NormalizedLandmarksToLandmarks(in_norm_landmarks, image_width,
image_height, *in_landmarks.get());
auto out_landmarks = absl::make_unique<LandmarkList>();
MP_RETURN_IF_ERROR(landmarks_filter_->Apply(
*in_landmarks, timestamp, object_scale, *out_landmarks));
auto out_norm_landmarks = absl::make_unique<NormalizedLandmarkList>();
LandmarksToNormalizedLandmarks(*out_landmarks, image_width, image_height,
*out_norm_landmarks.get());
kOutNormLandmarks(cc).Send(std::move(out_norm_landmarks));
} else {
const auto& in_landmarks = kInLandmarks(cc).Get();
absl::optional<float> object_scale;
if (kObjectScaleRoi(cc).IsConnected() && !kObjectScaleRoi(cc).IsEmpty()) {
auto& roi = kObjectScaleRoi(cc).Get<Rect>();
object_scale = GetObjectScale(roi);
}
auto out_landmarks = absl::make_unique<LandmarkList>();
MP_RETURN_IF_ERROR(landmarks_filter_->Apply(
in_landmarks, timestamp, object_scale, *out_landmarks));
kOutLandmarks(cc).Send(std::move(out_landmarks));
}
return absl::OkStatus();
}
private:
std::unique_ptr<LandmarksFilter> landmarks_filter_;
};
REGISTER_CALCULATOR(LandmarksSmoothingCalculator);
absl::Status LandmarksSmoothingCalculator::GetContract(CalculatorContract* cc) {
if (cc->Inputs().HasTag(kNormalizedLandmarksTag)) {
cc->Inputs().Tag(kNormalizedLandmarksTag).Set<NormalizedLandmarkList>();
cc->Inputs().Tag(kImageSizeTag).Set<std::pair<int, int>>();
cc->Outputs()
.Tag(kNormalizedFilteredLandmarksTag)
.Set<NormalizedLandmarkList>();
if (cc->Inputs().HasTag(kObjectScaleRoiTag)) {
cc->Inputs().Tag(kObjectScaleRoiTag).Set<NormalizedRect>();
}
} else {
cc->Inputs().Tag(kLandmarksTag).Set<LandmarkList>();
cc->Outputs().Tag(kFilteredLandmarksTag).Set<LandmarkList>();
if (cc->Inputs().HasTag(kObjectScaleRoiTag)) {
cc->Inputs().Tag(kObjectScaleRoiTag).Set<Rect>();
}
}
return absl::OkStatus();
}
absl::Status LandmarksSmoothingCalculator::Open(CalculatorContext* cc) {
cc->SetOffset(TimestampDiff(0));
// Pick landmarks filter.
const auto& options = cc->Options<LandmarksSmoothingCalculatorOptions>();
if (options.has_no_filter()) {
landmarks_filter_ = absl::make_unique<NoFilter>();
} else if (options.has_velocity_filter()) {
landmarks_filter_ = absl::make_unique<VelocityFilter>(
options.velocity_filter().window_size(),
options.velocity_filter().velocity_scale(),
options.velocity_filter().min_allowed_object_scale(),
options.velocity_filter().disable_value_scaling());
} else if (options.has_one_euro_filter()) {
landmarks_filter_ = absl::make_unique<OneEuroFilterImpl>(
options.one_euro_filter().frequency(),
options.one_euro_filter().min_cutoff(),
options.one_euro_filter().beta(),
options.one_euro_filter().derivate_cutoff(),
options.one_euro_filter().min_allowed_object_scale(),
options.one_euro_filter().disable_value_scaling());
} else {
RET_CHECK_FAIL()
<< "Landmarks filter is either not specified or not supported";
}
return absl::OkStatus();
}
absl::Status LandmarksSmoothingCalculator::Process(CalculatorContext* cc) {
// Check that landmarks are not empty and reset the filter if so.
// Don't emit an empty packet for this timestamp.
if ((cc->Inputs().HasTag(kNormalizedLandmarksTag) &&
cc->Inputs().Tag(kNormalizedLandmarksTag).IsEmpty()) ||
(cc->Inputs().HasTag(kLandmarksTag) &&
cc->Inputs().Tag(kLandmarksTag).IsEmpty())) {
MP_RETURN_IF_ERROR(landmarks_filter_->Reset());
return absl::OkStatus();
}
const auto& timestamp =
absl::Microseconds(cc->InputTimestamp().Microseconds());
if (cc->Inputs().HasTag(kNormalizedLandmarksTag)) {
const auto& in_norm_landmarks =
cc->Inputs().Tag(kNormalizedLandmarksTag).Get<NormalizedLandmarkList>();
int image_width;
int image_height;
std::tie(image_width, image_height) =
cc->Inputs().Tag(kImageSizeTag).Get<std::pair<int, int>>();
absl::optional<float> object_scale;
if (cc->Inputs().HasTag(kObjectScaleRoiTag) &&
!cc->Inputs().Tag(kObjectScaleRoiTag).IsEmpty()) {
auto& roi = cc->Inputs().Tag(kObjectScaleRoiTag).Get<NormalizedRect>();
object_scale = GetObjectScale(roi, image_width, image_height);
}
auto in_landmarks = absl::make_unique<LandmarkList>();
NormalizedLandmarksToLandmarks(in_norm_landmarks, image_width, image_height,
in_landmarks.get());
auto out_landmarks = absl::make_unique<LandmarkList>();
MP_RETURN_IF_ERROR(landmarks_filter_->Apply(
*in_landmarks, timestamp, object_scale, out_landmarks.get()));
auto out_norm_landmarks = absl::make_unique<NormalizedLandmarkList>();
LandmarksToNormalizedLandmarks(*out_landmarks, image_width, image_height,
out_norm_landmarks.get());
cc->Outputs()
.Tag(kNormalizedFilteredLandmarksTag)
.Add(out_norm_landmarks.release(), cc->InputTimestamp());
} else {
const auto& in_landmarks =
cc->Inputs().Tag(kLandmarksTag).Get<LandmarkList>();
absl::optional<float> object_scale;
if (cc->Inputs().HasTag(kObjectScaleRoiTag) &&
!cc->Inputs().Tag(kObjectScaleRoiTag).IsEmpty()) {
auto& roi = cc->Inputs().Tag(kObjectScaleRoiTag).Get<Rect>();
object_scale = GetObjectScale(roi);
}
auto out_landmarks = absl::make_unique<LandmarkList>();
MP_RETURN_IF_ERROR(landmarks_filter_->Apply(
in_landmarks, timestamp, object_scale, out_landmarks.get()));
cc->Outputs()
.Tag(kFilteredLandmarksTag)
.Add(out_landmarks.release(), cc->InputTimestamp());
}
return absl::OkStatus();
}
MEDIAPIPE_NODE_IMPLEMENTATION(LandmarksSmoothingCalculatorImpl);
} // namespace api2
} // namespace mediapipe

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@ -0,0 +1,106 @@
// Copyright 2023 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.
#ifndef MEDIAPIPE_CALCULATORS_UTIL_LANDMARKS_SMOOTHING_CALCULATOR_H_
#define MEDIAPIPE_CALCULATORS_UTIL_LANDMARKS_SMOOTHING_CALCULATOR_H_
#include "mediapipe/framework/api2/node.h"
#include "mediapipe/framework/formats/landmark.pb.h"
#include "mediapipe/framework/formats/rect.pb.h"
#include "mediapipe/framework/port/ret_check.h"
namespace mediapipe {
namespace api2 {
// A calculator to smooth landmarks over time.
//
// Inputs:
// NORM_LANDMARKS (optional): A NormalizedLandmarkList of landmarks you want
// to smooth.
// LANDMARKS (optional): A LandmarkList of landmarks you want to smooth.
// IMAGE_SIZE (optional): A std::pair<int, int> represention of image width
// and height. Required to perform all computations in absolute coordinates
// when smoothing NORM_LANDMARKS to avoid any influence of normalized
// values.
// OBJECT_SCALE_ROI (optional): A NormRect or Rect (depending on the format of
// input landmarks) used to determine the object scale for some of the
// filters. If not provided - object scale will be calculated from
// landmarks.
//
// Outputs:
// NORM_FILTERED_LANDMARKS (optional): A NormalizedLandmarkList of smoothed
// landmarks.
// FILTERED_LANDMARKS (optional): A LandmarkList of smoothed landmarks.
//
// Example config:
// node {
// calculator: "LandmarksSmoothingCalculator"
// input_stream: "NORM_LANDMARKS:landmarks"
// input_stream: "IMAGE_SIZE:image_size"
// input_stream: "OBJECT_SCALE_ROI:roi"
// output_stream: "NORM_FILTERED_LANDMARKS:landmarks_filtered"
// options: {
// [mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
// velocity_filter: {
// window_size: 5
// velocity_scale: 10.0
// }
// }
// }
// }
//
class LandmarksSmoothingCalculator : public NodeIntf {
public:
static constexpr Input<mediapipe::NormalizedLandmarkList>::Optional
kInNormLandmarks{"NORM_LANDMARKS"};
static constexpr Input<mediapipe::LandmarkList>::Optional kInLandmarks{
"LANDMARKS"};
static constexpr Input<std::pair<int, int>>::Optional kImageSize{
"IMAGE_SIZE"};
static constexpr Input<OneOf<NormalizedRect, Rect>>::Optional kObjectScaleRoi{
"OBJECT_SCALE_ROI"};
static constexpr Output<mediapipe::NormalizedLandmarkList>::Optional
kOutNormLandmarks{"NORM_FILTERED_LANDMARKS"};
static constexpr Output<mediapipe::LandmarkList>::Optional kOutLandmarks{
"FILTERED_LANDMARKS"};
MEDIAPIPE_NODE_INTERFACE(LandmarksSmoothingCalculator, kInNormLandmarks,
kInLandmarks, kImageSize, kObjectScaleRoi,
kOutNormLandmarks, kOutLandmarks);
static absl::Status UpdateContract(CalculatorContract* cc) {
RET_CHECK(kInNormLandmarks(cc).IsConnected() ^
kInLandmarks(cc).IsConnected())
<< "One and only one of NORM_LANDMARKS and LANDMARKS input is allowed";
// TODO: Verify scale ROI is of the same type as landmarks
// that are being smoothed.
if (kInNormLandmarks(cc).IsConnected()) {
RET_CHECK(kImageSize(cc).IsConnected());
RET_CHECK(kOutNormLandmarks(cc).IsConnected());
RET_CHECK(!kOutLandmarks(cc).IsConnected());
} else {
RET_CHECK(!kImageSize(cc).IsConnected());
RET_CHECK(kOutLandmarks(cc).IsConnected());
RET_CHECK(!kOutNormLandmarks(cc).IsConnected());
}
return absl::OkStatus();
}
};
} // namespace api2
} // namespace mediapipe
#endif // MEDIAPIPE_CALCULATORS_UTIL_LANDMARKS_SMOOTHING_CALCULATOR_H_

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// Copyright 2023 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.
#include "mediapipe/calculators/util/landmarks_smoothing_calculator_utils.h"
#include "mediapipe/calculators/util/landmarks_smoothing_calculator.pb.h"
#include "mediapipe/framework/formats/landmark.pb.h"
#include "mediapipe/framework/formats/rect.pb.h"
#include "mediapipe/framework/port/ret_check.h"
#include "mediapipe/util/filtering/one_euro_filter.h"
#include "mediapipe/util/filtering/relative_velocity_filter.h"
namespace mediapipe {
namespace landmarks_smoothing {
namespace {
using ::mediapipe::NormalizedRect;
using ::mediapipe::OneEuroFilter;
using ::mediapipe::Rect;
using ::mediapipe::RelativeVelocityFilter;
// Estimate object scale to use its inverse value as velocity scale for
// RelativeVelocityFilter. If value will be too small (less than
// `options_.min_allowed_object_scale`) smoothing will be disabled and
// landmarks will be returned as is.
// Object scale is calculated as average between bounding box width and height
// with sides parallel to axis.
float GetObjectScale(const LandmarkList& landmarks) {
const auto& lm_minmax_x = absl::c_minmax_element(
landmarks.landmark(),
[](const auto& a, const auto& b) { return a.x() < b.x(); });
const float x_min = lm_minmax_x.first->x();
const float x_max = lm_minmax_x.second->x();
const auto& lm_minmax_y = absl::c_minmax_element(
landmarks.landmark(),
[](const auto& a, const auto& b) { return a.y() < b.y(); });
const float y_min = lm_minmax_y.first->y();
const float y_max = lm_minmax_y.second->y();
const float object_width = x_max - x_min;
const float object_height = y_max - y_min;
return (object_width + object_height) / 2.0f;
}
// Returns landmarks as is without smoothing.
class NoFilter : public LandmarksFilter {
public:
absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList& out_landmarks) override {
out_landmarks = in_landmarks;
return absl::OkStatus();
}
};
// Please check RelativeVelocityFilter documentation for details.
class VelocityFilter : public LandmarksFilter {
public:
VelocityFilter(int window_size, float velocity_scale,
float min_allowed_object_scale, bool disable_value_scaling)
: window_size_(window_size),
velocity_scale_(velocity_scale),
min_allowed_object_scale_(min_allowed_object_scale),
disable_value_scaling_(disable_value_scaling) {}
absl::Status Reset() override {
x_filters_.clear();
y_filters_.clear();
z_filters_.clear();
return absl::OkStatus();
}
absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList& out_landmarks) override {
// Get value scale as inverse value of the object scale.
// If value is too small smoothing will be disabled and landmarks will be
// returned as is.
float value_scale = 1.0f;
if (!disable_value_scaling_) {
const float object_scale =
object_scale_opt ? *object_scale_opt : GetObjectScale(in_landmarks);
if (object_scale < min_allowed_object_scale_) {
out_landmarks = in_landmarks;
return absl::OkStatus();
}
value_scale = 1.0f / object_scale;
}
// Initialize filters once.
MP_RETURN_IF_ERROR(InitializeFiltersIfEmpty(in_landmarks.landmark_size()));
// Filter landmarks. Every axis of every landmark is filtered separately.
for (int i = 0; i < in_landmarks.landmark_size(); ++i) {
const auto& in_landmark = in_landmarks.landmark(i);
auto* out_landmark = out_landmarks.add_landmark();
*out_landmark = in_landmark;
out_landmark->set_x(
x_filters_[i].Apply(timestamp, value_scale, in_landmark.x()));
out_landmark->set_y(
y_filters_[i].Apply(timestamp, value_scale, in_landmark.y()));
out_landmark->set_z(
z_filters_[i].Apply(timestamp, value_scale, in_landmark.z()));
}
return absl::OkStatus();
}
private:
// Initializes filters for the first time or after Reset. If initialized then
// check the size.
absl::Status InitializeFiltersIfEmpty(const int n_landmarks) {
if (!x_filters_.empty()) {
RET_CHECK_EQ(x_filters_.size(), n_landmarks);
RET_CHECK_EQ(y_filters_.size(), n_landmarks);
RET_CHECK_EQ(z_filters_.size(), n_landmarks);
return absl::OkStatus();
}
x_filters_.resize(n_landmarks,
RelativeVelocityFilter(window_size_, velocity_scale_));
y_filters_.resize(n_landmarks,
RelativeVelocityFilter(window_size_, velocity_scale_));
z_filters_.resize(n_landmarks,
RelativeVelocityFilter(window_size_, velocity_scale_));
return absl::OkStatus();
}
int window_size_;
float velocity_scale_;
float min_allowed_object_scale_;
bool disable_value_scaling_;
std::vector<RelativeVelocityFilter> x_filters_;
std::vector<RelativeVelocityFilter> y_filters_;
std::vector<RelativeVelocityFilter> z_filters_;
};
// Please check OneEuroFilter documentation for details.
class OneEuroFilterImpl : public LandmarksFilter {
public:
OneEuroFilterImpl(double frequency, double min_cutoff, double beta,
double derivate_cutoff, float min_allowed_object_scale,
bool disable_value_scaling)
: frequency_(frequency),
min_cutoff_(min_cutoff),
beta_(beta),
derivate_cutoff_(derivate_cutoff),
min_allowed_object_scale_(min_allowed_object_scale),
disable_value_scaling_(disable_value_scaling) {}
absl::Status Reset() override {
x_filters_.clear();
y_filters_.clear();
z_filters_.clear();
return absl::OkStatus();
}
absl::Status Apply(const LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
LandmarkList& out_landmarks) override {
// Initialize filters once.
MP_RETURN_IF_ERROR(InitializeFiltersIfEmpty(in_landmarks.landmark_size()));
// Get value scale as inverse value of the object scale.
// If value is too small smoothing will be disabled and landmarks will be
// returned as is.
float value_scale = 1.0f;
if (!disable_value_scaling_) {
const float object_scale =
object_scale_opt ? *object_scale_opt : GetObjectScale(in_landmarks);
if (object_scale < min_allowed_object_scale_) {
out_landmarks = in_landmarks;
return absl::OkStatus();
}
value_scale = 1.0f / object_scale;
}
// Filter landmarks. Every axis of every landmark is filtered separately.
for (int i = 0; i < in_landmarks.landmark_size(); ++i) {
const auto& in_landmark = in_landmarks.landmark(i);
auto* out_landmark = out_landmarks.add_landmark();
*out_landmark = in_landmark;
out_landmark->set_x(
x_filters_[i].Apply(timestamp, value_scale, in_landmark.x()));
out_landmark->set_y(
y_filters_[i].Apply(timestamp, value_scale, in_landmark.y()));
out_landmark->set_z(
z_filters_[i].Apply(timestamp, value_scale, in_landmark.z()));
}
return absl::OkStatus();
}
private:
// Initializes filters for the first time or after Reset. If initialized then
// check the size.
absl::Status InitializeFiltersIfEmpty(const int n_landmarks) {
if (!x_filters_.empty()) {
RET_CHECK_EQ(x_filters_.size(), n_landmarks);
RET_CHECK_EQ(y_filters_.size(), n_landmarks);
RET_CHECK_EQ(z_filters_.size(), n_landmarks);
return absl::OkStatus();
}
for (int i = 0; i < n_landmarks; ++i) {
x_filters_.push_back(
OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
y_filters_.push_back(
OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
z_filters_.push_back(
OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
}
return absl::OkStatus();
}
double frequency_;
double min_cutoff_;
double beta_;
double derivate_cutoff_;
double min_allowed_object_scale_;
bool disable_value_scaling_;
std::vector<OneEuroFilter> x_filters_;
std::vector<OneEuroFilter> y_filters_;
std::vector<OneEuroFilter> z_filters_;
};
} // namespace
void NormalizedLandmarksToLandmarks(
const NormalizedLandmarkList& norm_landmarks, const int image_width,
const int image_height, LandmarkList& landmarks) {
for (int i = 0; i < norm_landmarks.landmark_size(); ++i) {
const auto& norm_landmark = norm_landmarks.landmark(i);
auto* landmark = landmarks.add_landmark();
landmark->set_x(norm_landmark.x() * image_width);
landmark->set_y(norm_landmark.y() * image_height);
// Scale Z the same way as X (using image width).
landmark->set_z(norm_landmark.z() * image_width);
landmark->set_visibility(norm_landmark.visibility());
landmark->set_presence(norm_landmark.presence());
}
}
void LandmarksToNormalizedLandmarks(const LandmarkList& landmarks,
const int image_width,
const int image_height,
NormalizedLandmarkList& norm_landmarks) {
for (int i = 0; i < landmarks.landmark_size(); ++i) {
const auto& landmark = landmarks.landmark(i);
auto* norm_landmark = norm_landmarks.add_landmark();
norm_landmark->set_x(landmark.x() / image_width);
norm_landmark->set_y(landmark.y() / image_height);
// Scale Z the same way as X (using image width).
norm_landmark->set_z(landmark.z() / image_width);
norm_landmark->set_visibility(landmark.visibility());
norm_landmark->set_presence(landmark.presence());
}
}
float GetObjectScale(const NormalizedRect& roi, const int image_width,
const int image_height) {
const float object_width = roi.width() * image_width;
const float object_height = roi.height() * image_height;
return (object_width + object_height) / 2.0f;
}
float GetObjectScale(const Rect& roi) {
return (roi.width() + roi.height()) / 2.0f;
}
absl::StatusOr<std::unique_ptr<LandmarksFilter>> InitializeLandmarksFilter(
const LandmarksSmoothingCalculatorOptions& options) {
if (options.has_no_filter()) {
return absl::make_unique<NoFilter>();
} else if (options.has_velocity_filter()) {
return absl::make_unique<VelocityFilter>(
options.velocity_filter().window_size(),
options.velocity_filter().velocity_scale(),
options.velocity_filter().min_allowed_object_scale(),
options.velocity_filter().disable_value_scaling());
} else if (options.has_one_euro_filter()) {
return absl::make_unique<OneEuroFilterImpl>(
options.one_euro_filter().frequency(),
options.one_euro_filter().min_cutoff(),
options.one_euro_filter().beta(),
options.one_euro_filter().derivate_cutoff(),
options.one_euro_filter().min_allowed_object_scale(),
options.one_euro_filter().disable_value_scaling());
} else {
RET_CHECK_FAIL()
<< "Landmarks filter is either not specified or not supported";
}
}
} // namespace landmarks_smoothing
} // namespace mediapipe

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// Copyright 2023 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.
#ifndef MEDIAPIPE_CALCULATORS_UTIL_LANDMARKS_SMOOTHING_CALCULATOR_UTILS_H_
#define MEDIAPIPE_CALCULATORS_UTIL_LANDMARKS_SMOOTHING_CALCULATOR_UTILS_H_
#include "mediapipe/calculators/util/landmarks_smoothing_calculator.pb.h"
#include "mediapipe/framework/calculator_context.h"
#include "mediapipe/framework/formats/landmark.pb.h"
#include "mediapipe/framework/formats/rect.pb.h"
#include "mediapipe/util/filtering/one_euro_filter.h"
#include "mediapipe/util/filtering/relative_velocity_filter.h"
namespace mediapipe {
namespace landmarks_smoothing {
void NormalizedLandmarksToLandmarks(
const mediapipe::NormalizedLandmarkList& norm_landmarks,
const int image_width, const int image_height,
mediapipe::LandmarkList& landmarks);
void LandmarksToNormalizedLandmarks(
const mediapipe::LandmarkList& landmarks, const int image_width,
const int image_height, mediapipe::NormalizedLandmarkList& norm_landmarks);
float GetObjectScale(const NormalizedRect& roi, const int image_width,
const int image_height);
float GetObjectScale(const Rect& roi);
// Abstract class for various landmarks filters.
class LandmarksFilter {
public:
virtual ~LandmarksFilter() = default;
virtual absl::Status Reset() { return absl::OkStatus(); }
virtual absl::Status Apply(const mediapipe::LandmarkList& in_landmarks,
const absl::Duration& timestamp,
const absl::optional<float> object_scale_opt,
mediapipe::LandmarkList& out_landmarks) = 0;
};
absl::StatusOr<std::unique_ptr<LandmarksFilter>> InitializeLandmarksFilter(
const mediapipe::LandmarksSmoothingCalculatorOptions& options);
} // namespace landmarks_smoothing
} // namespace mediapipe
#endif // MEDIAPIPE_CALCULATORS_UTIL_LANDMARKS_SMOOTHING_CALCULATOR_UTILS_H_