Project import generated by Copybara.

GitOrigin-RevId: c3919b8aaf432b2e4a1f0cf404b2cbfe37dad35e

mediapipe/calculators/core/gate_calculator.cc

@@ -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_ =
@@ -156,16 +150,14 @@ 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_;
+    bool allow = empty_packets_as_allow_;
     if (use_side_packet_for_allow_disallow_) {
       allow = allow_by_side_packet_decision_;
     } else {
@@ -178,7 +170,6 @@ class GateCalculator : public CalculatorBase {
         allow = !cc->Inputs().Tag("DISALLOW").Get<bool>();
       }
     }
-    }
     const GateState new_gate_state = allow ? GATE_ALLOW : GATE_DISALLOW;
 
     if (cc->Outputs().HasTag("STATE_CHANGE")) {
@@ -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);
 

mediapipe/calculators/core/gate_calculator.proto

@@ -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;
 }

mediapipe/calculators/core/gate_calculator_test.cc

@@ -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

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.cc

@@ -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()) {

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.h

@@ -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

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver.proto

@@ -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];
 }

mediapipe/examples/desktop/autoflip/quality/kinematic_path_solver_test.cc

@@ -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

mediapipe/framework/profiler/graph_profiler_test.cc

@@ -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"