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GitOrigin-RevId: c3919b8aaf432b2e4a1f0cf404b2cbfe37dad35e
This commit is contained in:
MediaPipe Team 2020-10-19 20:03:15 -04:00 committed by chuoling
parent c828392681
commit d53068fe2c
8 changed files with 99 additions and 81 deletions
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53
mediapipe/calculators/core/gate_calculator.cc
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@ -134,13 +134,7 @@ class GateCalculator : public CalculatorBase {
}
::mediapipe::Status Open(CalculatorContext* cc) final {
const auto& options = cc->Options<::mediapipe::GateCalculatorOptions>();
use_calculator_option_for_allow_disallow_ =
options.has_allowance_override();
if (use_calculator_option_for_allow_disallow_) {
allow_by_calculator_option_ = options.allowance_override();
}
use_side_packet_for_allow_disallow_ = false;
if (cc->InputSidePackets().HasTag("ALLOW")) {
use_side_packet_for_allow_disallow_ = true;
allow_by_side_packet_decision_ =
@ -156,27 +150,24 @@ class GateCalculator : public CalculatorBase {
last_gate_state_ = GATE_UNINITIALIZED;
RET_CHECK_OK(CopyInputHeadersToOutputs(cc->Inputs(), &cc->Outputs()));
const auto& options = cc->Options<::mediapipe::GateCalculatorOptions>();
empty_packets_as_allow_ = options.empty_packets_as_allow();
return ::mediapipe::OkStatus();
}
::mediapipe::Status Process(CalculatorContext* cc) final {
// The allow/disallow signal in the calculator option has the highest
// priority. If it's not set, use the stream/side packet signal.
bool allow = allow_by_calculator_option_;
if (!use_calculator_option_for_allow_disallow_) {
allow = empty_packets_as_allow_;
if (use_side_packet_for_allow_disallow_) {
allow = allow_by_side_packet_decision_;
} else {
if (cc->Inputs().HasTag("ALLOW") &&
!cc->Inputs().Tag("ALLOW").IsEmpty()) {
allow = cc->Inputs().Tag("ALLOW").Get<bool>();
}
if (cc->Inputs().HasTag("DISALLOW") &&
!cc->Inputs().Tag("DISALLOW").IsEmpty()) {
allow = !cc->Inputs().Tag("DISALLOW").Get<bool>();
}
bool allow = empty_packets_as_allow_;
if (use_side_packet_for_allow_disallow_) {
allow = allow_by_side_packet_decision_;
} else {
if (cc->Inputs().HasTag("ALLOW") &&
!cc->Inputs().Tag("ALLOW").IsEmpty()) {
allow = cc->Inputs().Tag("ALLOW").Get<bool>();
}
if (cc->Inputs().HasTag("DISALLOW") &&
!cc->Inputs().Tag("DISALLOW").IsEmpty()) {
allow = !cc->Inputs().Tag("DISALLOW").Get<bool>();
}
}
const GateState new_gate_state = allow ? GATE_ALLOW : GATE_DISALLOW;
@ -196,6 +187,14 @@ class GateCalculator : public CalculatorBase {
last_gate_state_ = new_gate_state;
if (!allow) {
// Close the output streams if the gate will be permanently closed.
// Prevents buffering in calculators whose parents do no use SetOffset.
for (int i = 0; i < num_data_streams_; ++i) {
if (!cc->Outputs().Get("", i).IsClosed() &&
use_side_packet_for_allow_disallow_) {
cc->Outputs().Get("", i).Close();
}
}
return ::mediapipe::OkStatus();
}
@ -212,11 +211,9 @@ class GateCalculator : public CalculatorBase {
private:
GateState last_gate_state_ = GATE_UNINITIALIZED;
int num_data_streams_;
bool empty_packets_as_allow_ = false;
bool use_side_packet_for_allow_disallow_ = false;
bool allow_by_side_packet_decision_ = false;
bool use_calculator_option_for_allow_disallow_ = false;
bool allow_by_calculator_option_ = false;
bool empty_packets_as_allow_;
bool use_side_packet_for_allow_disallow_;
bool allow_by_side_packet_decision_;
};
REGISTER_CALCULATOR(GateCalculator);

5
mediapipe/calculators/core/gate_calculator.proto
View File

@ -27,9 +27,4 @@ message GateCalculatorOptions {
// disallowing the corresponding packets in the data input streams. Setting
// this option to true inverts that, allowing the data packets to go through.
optional bool empty_packets_as_allow = 1;
// If set, the calculator will always allow (if set to yes) or disallow (if
// set to no) the input streams to pass through, and ignore the ALLOW or
// DISALLOW input stream or side input packets.
optional bool allowance_override = 2;
}

47
mediapipe/calculators/core/gate_calculator_test.cc
View File

@ -330,52 +330,5 @@ TEST_F(GateCalculatorTest, AllowInitialNoStateTransition) {
ASSERT_EQ(0, output.size());
}
TEST_F(GateCalculatorTest,
TestCalculatorOptionDecisionOverrideOverStreamSingal) {
SetRunner(R"(
calculator: "GateCalculator"
input_stream: "test_input"
input_stream: "ALLOW:gating_stream"
output_stream: "test_output"
options: {
[mediapipe.GateCalculatorOptions.ext] {
allowance_override: false
}
}
)");
constexpr int64 kTimestampValue0 = 42;
// The CalculatorOptions says disallow and the stream says allow. Should
// follow the CalculatorOptions' decision to disallow outputting anything.
RunTimeStep(kTimestampValue0, "ALLOW", true);
const std::vector<Packet>& output = runner()->Outputs().Get("", 0).packets;
ASSERT_EQ(0, output.size());
}
TEST_F(GateCalculatorTest,
TestCalculatorOptionDecisionOverrideOverSidePacketSingal) {
SetRunner(R"(
calculator: "GateCalculator"
input_stream: "test_input"
input_side_packet: "ALLOW:gating_packet"
output_stream: "test_output"
options: {
[mediapipe.GateCalculatorOptions.ext] {
allowance_override: true
}
}
)");
constexpr int64 kTimestampValue0 = 42;
// The CalculatorOptions says allow and the side packet says disallow. Should
// follow the CalculatorOptions' decision to allow outputting a packet.
runner()->MutableSidePackets()->Tag("ALLOW") = Adopt(new bool(false));
RunTimeStep(kTimestampValue0, true);
const std::vector<Packet>& output = runner()->Outputs().Get("", 0).packets;
ASSERT_EQ(1, output.size());
}
} // namespace
} // namespace mediapipe

28
mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.cc
View File

@ -2,11 +2,24 @@
namespace mediapipe {
namespace autoflip {
namespace {
int Median(const std::deque<std::pair<uint64, int>>& positions_raw) {
std::deque<int> positions;
for (const auto& position : positions_raw) {
positions.push_back(position.second);
}
size_t n = positions.size() / 2;
nth_element(positions.begin(), positions.begin() + n, positions.end());
return positions[n];
}
} // namespace
::mediapipe::Status KinematicPathSolver::AddObservation(int position,
const uint64 time_us) {
if (!initialized_) {
current_position_px_ = position;
raw_positions_at_time_.push_front(
std::pair<uint64, int>(time_us, position));
current_time_ = time_us;
initialized_ = true;
current_velocity_deg_per_s_ = 0;
@ -16,13 +29,26 @@ namespace autoflip {
<< "update_rate_seconds must be greater than 0.";
RET_CHECK_GE(options_.min_motion_to_reframe(), options_.reframe_window())
<< "Reframe window cannot exceed min_motion_to_reframe.";
RET_CHECK_GE(options_.filtering_time_window_us(), 0)
<< "update_rate_seconds must be greater than 0.";
return ::mediapipe::OkStatus();
}
RET_CHECK(current_time_ < time_us)
<< "Observation added before a prior observations.";
double delta_degs = (position - current_position_px_) / pixels_per_degree_;
raw_positions_at_time_.push_front(std::pair<uint64, int>(time_us, position));
while (raw_positions_at_time_.size() > 1) {
if (static_cast<int64>(raw_positions_at_time_.back().first) <
static_cast<int64>(time_us) - options_.filtering_time_window_us()) {
raw_positions_at_time_.pop_back();
} else {
break;
}
}
double delta_degs = (Median(raw_positions_at_time_) - current_position_px_) /
pixels_per_degree_;
// If the motion is smaller than the min, don't use the update.
if (abs(delta_degs) < options_.min_motion_to_reframe()) {

4
mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.h
View File

@ -15,6 +15,8 @@
#ifndef MEDIAPIPE_EXAMPLES_DESKTOP_AUTOFLIP_QUALITY_UNIFORM_ACCELERATION_PATH_SOLVER_H_
#define MEDIAPIPE_EXAMPLES_DESKTOP_AUTOFLIP_QUALITY_UNIFORM_ACCELERATION_PATH_SOLVER_H_
#include <deque>
#include "mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.pb.h"
#include "mediapipe/framework/port/integral_types.h"
#include "mediapipe/framework/port/ret_check.h"
@ -61,6 +63,8 @@ class KinematicPathSolver {
double current_position_px_;
double current_velocity_deg_per_s_;
uint64 current_time_;
// History of observations (second) and their time (first).
std::deque<std::pair<uint64, int>> raw_positions_at_time_;
};
} // namespace autoflip

2
mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.proto
View File

@ -20,4 +20,6 @@ message KinematicOptions {
// where delta_time_s is the time since the last frame.
optional double update_rate_seconds = 5 [default = 0.20];
optional double max_update_rate = 6 [default = 0.8];
// History time window of observations to be median filtered.
optional int64 filtering_time_window_us = 7 [default = 0];
}

40
mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver_test.cc
View File

@ -81,6 +81,46 @@ TEST(KinematicPathSolverTest, PassNotEnoughMotionSmallImg) {
EXPECT_EQ(state, 400);
}
TEST(KinematicPathSolverTest, PassEnoughMotionFiltered) {
KinematicOptions options;
// Set min motion to 2deg
options.set_min_motion_to_reframe(1.0);
options.set_update_rate(1);
options.set_max_velocity(1000);
options.set_filtering_time_window_us(3000000);
// Set degrees / pixel to 16.6
KinematicPathSolver solver(options, 0, 1000, 1000.0 / kWidthFieldOfView);
int state;
MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 0));
// Move target by 20px / 16.6 = 1.2deg
MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 1));
MP_ASSERT_OK(solver.AddObservation(520, kMicroSecInSec * 2));
MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 3));
MP_ASSERT_OK(solver.GetState(&state));
// Expect cam to not move.
EXPECT_EQ(state, 500);
}
TEST(KinematicPathSolverTest, PassEnoughMotionNotFiltered) {
KinematicOptions options;
// Set min motion to 2deg
options.set_min_motion_to_reframe(1.0);
options.set_update_rate(1);
options.set_max_velocity(1000);
options.set_filtering_time_window_us(0);
// Set degrees / pixel to 16.6
KinematicPathSolver solver(options, 0, 1000, 1000.0 / kWidthFieldOfView);
int state;
MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 0));
// Move target by 20px / 16.6 = 1.2deg
MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 1));
MP_ASSERT_OK(solver.AddObservation(520, kMicroSecInSec * 2));
MP_ASSERT_OK(solver.AddObservation(500, kMicroSecInSec * 3));
MP_ASSERT_OK(solver.GetState(&state));
// Expect cam to not move.
EXPECT_EQ(state, 519);
}
TEST(KinematicPathSolverTest, PassEnoughMotionLargeImg) {
KinematicOptions options;
// Set min motion to 1deg

1
mediapipe/framework/profiler/graph_profiler_test.cc
View File

@ -14,6 +14,7 @@
#include "mediapipe/framework/profiler/graph_profiler.h"
#include "absl/status/statusor.h"
#include "absl/synchronization/mutex.h"
#include "absl/time/time.h"
#include "mediapipe/framework/calculator_framework.h"