Introduce CombineJointsCalculator

PiperOrigin-RevId: 570739088
This commit is contained in:
MediaPipe Team 2023-10-04 10:43:00 -07:00 committed by Copybara-Service
parent 7f1c17065a
commit c81624d7b2
5 changed files with 405 additions and 0 deletions

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@ -1617,6 +1617,48 @@ cc_test(
], ],
) )
cc_library(
name = "combine_joints_calculator",
srcs = ["combine_joints_calculator.cc"],
hdrs = ["combine_joints_calculator.h"],
deps = [
":combine_joints_calculator_cc_proto",
"//mediapipe/framework:calculator_framework",
"//mediapipe/framework/api2:node",
"//mediapipe/framework/formats:body_rig_cc_proto",
"//mediapipe/framework/port:ret_check",
],
alwayslink = 1,
)
mediapipe_proto_library(
name = "combine_joints_calculator_proto",
srcs = ["combine_joints_calculator.proto"],
deps = [
"//mediapipe/framework:calculator_options_proto",
"//mediapipe/framework:calculator_proto",
"//mediapipe/framework/formats:body_rig_proto",
],
)
cc_test(
name = "combine_joints_calculator_test",
srcs = ["combine_joints_calculator_test.cc"],
deps = [
":combine_joints_calculator",
":combine_joints_calculator_cc_proto",
"//mediapipe/framework:calculator_framework",
"//mediapipe/framework:calculator_runner",
"//mediapipe/framework:packet",
"//mediapipe/framework/formats:body_rig_cc_proto",
"//mediapipe/framework/port:gtest_main",
"//mediapipe/framework/port:parse_text_proto",
"//mediapipe/framework/port:status_matchers",
"@com_google_absl//absl/strings",
"@com_google_absl//absl/strings:str_format",
],
)
cc_library( cc_library(
name = "pass_through_or_empty_detection_vector_calculator", name = "pass_through_or_empty_detection_vector_calculator",
srcs = ["pass_through_or_empty_detection_vector_calculator.cc"], srcs = ["pass_through_or_empty_detection_vector_calculator.cc"],

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@ -0,0 +1,79 @@
// 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/combine_joints_calculator.h"
#include <utility>
#include "mediapipe/calculators/util/combine_joints_calculator.pb.h"
#include "mediapipe/framework/api2/node.h"
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/formats/body_rig.pb.h"
#include "mediapipe/framework/port/ret_check.h"
namespace mediapipe {
namespace api2 {
namespace {} // namespace
class CombineJointsCalculatorImpl : public NodeImpl<CombineJointsCalculator> {
public:
absl::Status Open(CalculatorContext* cc) override {
options_ = cc->Options<CombineJointsCalculatorOptions>();
RET_CHECK_GE(options_.num_joints(), 0);
RET_CHECK_GT(kInJoints(cc).Count(), 0);
RET_CHECK_EQ(kInJoints(cc).Count(), options_.joints_mapping_size());
RET_CHECK(options_.has_default_joint());
for (const auto& mapping : options_.joints_mapping()) {
for (int idx : mapping.idx()) {
RET_CHECK_GE(idx, 0);
RET_CHECK_LT(idx, options_.num_joints());
}
}
return absl::OkStatus();
}
absl::Status Process(CalculatorContext* cc) override {
// Initialize output joints with default values.
JointList out_joints;
for (int i = 0; i < options_.num_joints(); ++i) {
*out_joints.add_joint() = options_.default_joint();
}
// Override default joints with provided joints.
for (int i = 0; i < kInJoints(cc).Count(); ++i) {
// Skip empty joint streams.
if (kInJoints(cc)[i].IsEmpty()) {
continue;
}
const JointList& in_joints = kInJoints(cc)[i].Get();
const auto& mapping = options_.joints_mapping(i);
RET_CHECK_EQ(in_joints.joint_size(), mapping.idx_size());
for (int j = 0; j < in_joints.joint_size(); ++j) {
*out_joints.mutable_joint(mapping.idx(j)) = in_joints.joint(j);
}
}
kOutJoints(cc).Send(std::move(out_joints));
return absl::OkStatus();
}
private:
CombineJointsCalculatorOptions options_;
};
MEDIAPIPE_NODE_IMPLEMENTATION(CombineJointsCalculatorImpl);
} // namespace api2
} // namespace mediapipe

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@ -0,0 +1,64 @@
// 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_COMBINE_JOINTS_CALCULATOR_H_
#define MEDIAPIPE_CALCULATORS_UTIL_COMBINE_JOINTS_CALCULATOR_H_
#include "mediapipe/framework/api2/node.h"
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/formats/body_rig.pb.h"
namespace mediapipe {
namespace api2 {
// A calculator to combine several joint sets into one.
//
// Input:
// JOINTS - Multiple JointList
// Joint sets to combine into one. Subsets are applied in provided order and
// overwrite each other.
//
// Output:
// JOINTS - JointList
// Combined joints.
//
// Example:
// node {
// calculator: "CombineJointsCalculator"
// input_stream: "JOINTS:0:joints_0"
// input_stream: "JOINTS:1:joints_1"
// output_stream: "JOINTS:combined_joints"
// options: {
// [mediapipe.CombineJointsCalculatorOptions.ext] {
// num_joints: 63
// joints_mapping: { idx: [0, 1, 2] }
// joints_mapping: { idx: [2, 3] }
// default_joint: {
// rotation_6d: [1, 0, 0, 1, 0, 0]
// visibility: 1.0
// }
// }
// }
// }
class CombineJointsCalculator : public NodeIntf {
public:
static constexpr Input<mediapipe::JointList>::Multiple kInJoints{"JOINTS"};
static constexpr Output<mediapipe::JointList> kOutJoints{"JOINTS"};
MEDIAPIPE_NODE_INTERFACE(CombineJointsCalculator, kInJoints, kOutJoints);
};
} // namespace api2
} // namespace mediapipe
#endif // MEDIAPIPE_CALCULATORS_UTIL_COMBINE_JOINTS_CALCULATOR_H_

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@ -0,0 +1,46 @@
// 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.
syntax = "proto2";
package mediapipe;
import "mediapipe/framework/calculator.proto";
import "mediapipe/framework/formats/body_rig.proto";
message CombineJointsCalculatorOptions {
extend CalculatorOptions {
optional CombineJointsCalculatorOptions ext = 406440185;
}
// Mapping from joint set to the resulting set.
message JointsMapping {
// Indexes of provided joints in the resulting joint set.
// All indexes must be within the [0, num_joints - 1] range.
repeated int32 idx = 1 [packed = true];
}
// Number of joints in the resulting set.
optional int32 num_joints = 1;
// Mapping from joint sets to the resulting set.
// Number of mappings must be equal to number of provided joint sets. Number
// of indexes in each mapping must be equal to number of joints in
// corresponding joint set. Mappings are applied in the provided order and can
// overwrite each other.
repeated JointsMapping joints_mapping = 2;
// Default joint to initialize joints in the resulting set.
optional Joint default_joint = 3;
}

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@ -0,0 +1,174 @@
// 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 <optional>
#include <string>
#include <utility>
#include <vector>
#include "absl/strings/str_format.h"
#include "absl/strings/substitute.h"
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/calculator_runner.h"
#include "mediapipe/framework/formats/body_rig.pb.h"
#include "mediapipe/framework/packet.h"
#include "mediapipe/framework/port/gmock.h"
#include "mediapipe/framework/port/gtest.h"
#include "mediapipe/framework/port/parse_text_proto.h"
#include "mediapipe/framework/port/status_matchers.h"
namespace mediapipe {
namespace api2 {
namespace {
using Node = ::mediapipe::CalculatorGraphConfig::Node;
Joint MakeJoint(const std::vector<float>& rotation_6d,
std::optional<float> visibility) {
Joint joint;
for (float r : rotation_6d) {
joint.add_rotation_6d(r);
}
if (visibility) {
joint.set_visibility(visibility.value());
}
return joint;
}
struct CombineJointsTestCase {
std::string test_name;
int num_joints;
std::string joints_mapping;
std::vector<std::vector<Joint>> in_joints;
std::vector<Joint> out_joints;
};
using CombineJointsTest = ::testing::TestWithParam<CombineJointsTestCase>;
TEST_P(CombineJointsTest, CombineJointsTest) {
const CombineJointsTestCase& tc = GetParam();
std::string input_joint_streams = "";
for (int i = 0; i < tc.in_joints.size(); ++i) {
input_joint_streams +=
absl::StrFormat("input_stream: \"JOINTS:%d:joints_%d\"\n", i, i);
}
// Prepare graph.
mediapipe::CalculatorRunner runner(ParseTextProtoOrDie<Node>(absl::Substitute(
R"(
calculator: "CombineJointsCalculator"
$0
output_stream: "JOINTS:combined_joints"
options: {
[mediapipe.CombineJointsCalculatorOptions.ext] {
num_joints: $1
joints_mapping: [ $2 ]
default_joint: {
rotation_6d: [1, 0, 0, 1, 0, 0]
visibility: 1.0
}
}
}
)",
input_joint_streams, tc.num_joints, tc.joints_mapping)));
// Prepare and send joints.
for (int i = 0; i < tc.in_joints.size(); ++i) {
JointList in_joints;
for (const auto& joint : tc.in_joints[i]) {
*in_joints.add_joint() = joint;
}
runner.MutableInputs()
->Get("JOINTS", i)
.packets.push_back(MakePacket<JointList>(std::move(in_joints))
.At(mediapipe::Timestamp(0)));
}
// Run the graph.
MP_ASSERT_OK(runner.Run());
const auto& output_packets = runner.Outputs().Tag("JOINTS").packets;
EXPECT_EQ(1, output_packets.size());
const auto& out_joints = output_packets[0].Get<JointList>();
EXPECT_EQ(out_joints.joint_size(), tc.out_joints.size());
for (int i = 0; i < out_joints.joint_size(); ++i) {
const Joint& actual = out_joints.joint(i);
const Joint& expected = tc.out_joints[i];
EXPECT_EQ(actual.rotation_6d_size(), expected.rotation_6d_size())
<< "Unexpected joint #" << i << " rotation";
for (int j = 0; j < actual.rotation_6d_size(); ++j) {
EXPECT_NEAR(actual.rotation_6d(j), expected.rotation_6d(j), 1e-5)
<< "Unexpected joint #" << i << " rotation";
}
EXPECT_EQ(actual.has_visibility(), expected.has_visibility())
<< "Unexpected joint #" << i << " visibility";
if (actual.has_visibility()) {
EXPECT_NEAR(actual.visibility(), expected.visibility(), 1e-5)
<< "Unexpected joint #" << i << " visibility";
}
}
}
INSTANTIATE_TEST_SUITE_P(
CombineJointsTests, CombineJointsTest,
testing::ValuesIn<CombineJointsTestCase>({
{"Empty_NoOutJoints", 0, "{ idx: [] }", {{}}, {}},
{"Empty_SingleOutJoint",
1,
"{ idx: [] }",
{{}},
{MakeJoint({1, 0, 0, 1, 0, 0}, 1)}},
{"Single_SetFirst",
2,
"{ idx: [0] }",
{{MakeJoint({3, 3, 3, 3, 3, 3}, 4)}},
{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({1, 0, 0, 1, 0, 0}, 1)}},
{"Single_SetBoth",
2,
"{ idx: [0, 1] }",
{{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({7, 7, 7, 7, 7, 7}, 8)}},
{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({7, 7, 7, 7, 7, 7}, 8)}},
{"Single_SetBoth_ReverseOrder",
2,
"{ idx: [1, 0] }",
{{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({7, 7, 7, 7, 7, 7}, 8)}},
{MakeJoint({7, 7, 7, 7, 7, 7}, 8), MakeJoint({3, 3, 3, 3, 3, 3}, 4)}},
{"Double_NoOverwrite",
3,
"{ idx: [0] }, { idx: [1] }",
{{MakeJoint({3, 3, 3, 3, 3, 3}, 4)},
{MakeJoint({7, 7, 7, 7, 7, 7}, 8)}},
{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({7, 7, 7, 7, 7, 7}, 8),
MakeJoint({1, 0, 0, 1, 0, 0}, 1)}},
{"Double_OverwriteSecond",
3,
"{ idx: [0, 1] }, { idx: [1, 2] }",
{{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({4, 4, 4, 4, 4, 4}, 5)},
{MakeJoint({6, 6, 6, 6, 6, 6}, 7), MakeJoint({8, 8, 8, 8, 8, 8}, 9)}},
{MakeJoint({3, 3, 3, 3, 3, 3}, 4), MakeJoint({6, 6, 6, 6, 6, 6}, 7),
MakeJoint({8, 8, 8, 8, 8, 8}, 9)}},
}),
[](const testing::TestParamInfo<CombineJointsTest::ParamType>& info) {
return info.param.test_name;
});
} // namespace
} // namespace api2
} // namespace mediapipe