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61
mediapipe/tasks/cc/vision/utils/ghum/BUILD
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61
mediapipe/tasks/cc/vision/utils/ghum/BUILD
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@ -0,0 +1,61 @@
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# Copyright 2023 The MediaPipe Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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package(default_visibility = ["//mediapipe/tasks:internal"])
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licenses(["notice"])
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cc_library(
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name = "ghum_hand_topology",
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hdrs = ["ghum_hand_topology.h"],
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)
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cc_library(
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name = "ghum_hand_utils",
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srcs = ["ghum_hand_utils.cc"],
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hdrs = ["ghum_hand_utils.h"],
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deps = [
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":ghum_hand_topology",
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"//mediapipe/calculators/util:set_joints_visibility_calculator",
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"//mediapipe/calculators/util:set_joints_visibility_calculator_cc_proto",
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"//mediapipe/framework/api2:builder",
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"//mediapipe/framework/formats:body_rig_cc_proto",
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"//mediapipe/framework/formats:landmark_cc_proto",
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"//mediapipe/tasks/cc/vision/hand_landmarker:hand_topology",
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"@com_google_absl//absl/log:absl_check",
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],
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)
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cc_library(
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name = "ghum_topology",
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hdrs = ["ghum_topology.h"],
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)
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cc_library(
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name = "ghum_utils",
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srcs = ["ghum_utils.cc"],
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hdrs = ["ghum_utils.h"],
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deps = [
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":ghum_topology",
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"//mediapipe/calculators/util:combine_joints_calculator",
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"//mediapipe/calculators/util:combine_joints_calculator_cc_proto",
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"//mediapipe/calculators/util:set_joints_visibility_calculator",
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"//mediapipe/calculators/util:set_joints_visibility_calculator_cc_proto",
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"//mediapipe/framework/api2:builder",
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"//mediapipe/framework/formats:body_rig_cc_proto",
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"//mediapipe/framework/formats:landmark_cc_proto",
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"//mediapipe/tasks/cc/vision/pose_landmarker:pose_topology",
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"@com_google_absl//absl/types:span",
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],
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)
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46
mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_topology.h
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46
mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_topology.h
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/* Copyright 2023 The MediaPipe Authors.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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Defines topology of the GHUM Hand model. This is related only to the 3D model of
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the hand, not the way NN model predicts joint rotations for it.
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==============================================================================*/
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#ifndef MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_HAND_TOPOLOGY_H_
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#define MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_HAND_TOPOLOGY_H_
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namespace mediapipe::tasks::vision::utils::ghum {
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// GHUM hand 16 joint names in order they are produced by the HandRig pipeline.
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enum class GhumHandJointName {
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kHand = 0,
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kIndex01,
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kIndex02,
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kIndex03,
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kMiddle01,
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kMiddle02,
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kMiddle03,
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kRing01,
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kRing02,
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kRing03,
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kPinky01,
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kPinky02,
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kPinky03,
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kThumb01,
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kThumb02,
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kThumb03,
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};
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} // namespace mediapipe::tasks::vision::utils::ghum
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#endif // MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_HAND_TOPOLOGY_H_
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80
mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_utils.cc
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80
mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_utils.cc
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/* Copyright 2023 The MediaPipe Authors.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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==============================================================================*/
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#include "mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_utils.h"
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#include <array>
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#include <utility>
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#include "absl/log/absl_check.h"
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#include "mediapipe/calculators/util/set_joints_visibility_calculator.h"
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#include "mediapipe/calculators/util/set_joints_visibility_calculator.pb.h"
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#include "mediapipe/framework/api2/builder.h"
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#include "mediapipe/tasks/cc/vision/hand_landmarker/hand_topology.h"
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#include "mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_topology.h"
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namespace mediapipe::tasks::vision::utils::ghum {
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namespace {
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using ::mediapipe::api2::SetJointsVisibilityCalculator;
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using ::mediapipe::api2::builder::Stream;
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using ::mediapipe::tasks::vision::hand_landmarker::HandLandmarkName;
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// Includes mapping for all 16 GHUM Hand joints.
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constexpr std::array<std::pair<GhumHandJointName, HandLandmarkName>, 16>
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kGhumHandJointsToHandLandmarksMapping = {{
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{GhumHandJointName::kHand, HandLandmarkName::kWrist},
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{GhumHandJointName::kIndex01, HandLandmarkName::kIndex1},
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{GhumHandJointName::kIndex02, HandLandmarkName::kIndex2},
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{GhumHandJointName::kIndex03, HandLandmarkName::kIndex3},
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{GhumHandJointName::kMiddle01, HandLandmarkName::kMiddle1},
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{GhumHandJointName::kMiddle02, HandLandmarkName::kMiddle2},
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{GhumHandJointName::kMiddle03, HandLandmarkName::kMiddle3},
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{GhumHandJointName::kRing01, HandLandmarkName::kRing1},
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{GhumHandJointName::kRing02, HandLandmarkName::kRing2},
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{GhumHandJointName::kRing03, HandLandmarkName::kRing3},
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{GhumHandJointName::kPinky01, HandLandmarkName::kPinky1},
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{GhumHandJointName::kPinky02, HandLandmarkName::kPinky2},
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{GhumHandJointName::kPinky03, HandLandmarkName::kPinky3},
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{GhumHandJointName::kThumb01, HandLandmarkName::kThumb1},
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{GhumHandJointName::kThumb02, HandLandmarkName::kThumb2},
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{GhumHandJointName::kThumb03, HandLandmarkName::kThumb3},
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}};
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} // namespace
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Stream<JointList> SetGhumHandJointsVisibilityFromWorldLandmarks(
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Stream<JointList> ghum_hand_joints,
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Stream<LandmarkList> hand_world_landmarks,
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mediapipe::api2::builder::Graph& graph) {
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auto& node = graph.AddNode("SetJointsVisibilityCalculator");
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auto& opts = node.GetOptions<SetJointsVisibilityCalculatorOptions>();
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for (const auto& pair : kGhumHandJointsToHandLandmarksMapping) {
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// Sanity check to verify that all hand joints are set and are set in the
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// right order.
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ABSL_CHECK_EQ(static_cast<int>(pair.first), opts.mapping_size());
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auto* mapping = opts.add_mapping();
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mapping->mutable_copy()->set_idx(static_cast<int>(pair.second));
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}
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ghum_hand_joints.ConnectTo(node[SetJointsVisibilityCalculator::kInJoints]);
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hand_world_landmarks.ConnectTo(
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node[SetJointsVisibilityCalculator::kInLandmarks]);
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return node[SetJointsVisibilityCalculator::kOutJoints];
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}
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} // namespace mediapipe::tasks::vision::utils::ghum
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38
mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_utils.h
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38
mediapipe/tasks/cc/vision/utils/ghum/ghum_hand_utils.h
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@ -0,0 +1,38 @@
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/* Copyright 2023 The MediaPipe Authors.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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Utility methods for populating Ghum Hand joints from joints produced by Hund
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Hand model and hand landmarks.
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==============================================================================*/
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#ifndef MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_HAND_UTILS_H_
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#define MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_HAND_UTILS_H_
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#include "mediapipe/framework/api2/builder.h"
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#include "mediapipe/framework/formats/body_rig.pb.h"
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#include "mediapipe/framework/formats/landmark.pb.h"
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namespace mediapipe::tasks::vision::utils::ghum {
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// Sets visibility of 16 GHUM hand joints from 21 hand world landmarks.
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mediapipe::api2::builder::Stream<mediapipe::JointList>
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SetGhumHandJointsVisibilityFromWorldLandmarks(
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mediapipe::api2::builder::Stream<mediapipe::JointList> ghum_hand_joints,
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mediapipe::api2::builder::Stream<mediapipe::LandmarkList>
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hand_world_landmarks,
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mediapipe::api2::builder::Graph& graph);
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} // namespace mediapipe::tasks::vision::utils::ghum
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#endif // MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_HAND_UTILS_H_
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230
mediapipe/tasks/cc/vision/utils/ghum/ghum_topology.h
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230
mediapipe/tasks/cc/vision/utils/ghum/ghum_topology.h
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@ -0,0 +1,230 @@
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/* Copyright 2023 The MediaPipe Authors.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
|
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|
You may obtain a copy of the License at
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|
|
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|
http://www.apache.org/licenses/LICENSE-2.0
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|
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|
Unless required by applicable law or agreed to in writing, software
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||||||
|
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.
|
||||||
|
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Defines topology of the GHUM model. This is related only to the 3D model of the
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body, not the way NN models predict joint rotations for it.
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==============================================================================*/
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#ifndef MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_TOPOLOGY_H_
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#define MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_TOPOLOGY_H_
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#include <array>
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namespace mediapipe::tasks::vision::utils::ghum {
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// GHUM 63 joint names in order they are produced by the PoseRig and
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// XenomorphRig pipelines.
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//
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// Note that some joints will always remain in default rotation (i.e.
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// kGhumDefaultJointRotation) depending on what joints are supported by the
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// pipeline.
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enum class GhumJointName {
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kPelvis = 0,
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kSpine01,
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kSpine02,
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kSpine03,
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kNeck01,
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kHead01,
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kJaw01,
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kEye01L,
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kEyelidup01L,
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kEye01R,
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kEyelidup01R,
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kEyeliddown01L,
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kEyeliddown01R,
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kClavicleL,
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kUpperarmL,
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kLowerarmL,
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kHandL,
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kIndex01L,
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kIndex02L,
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kIndex03L,
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kMiddle01L,
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kMiddle02L,
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kMiddle03L,
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kRing01L,
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kRing02L,
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kRing03L,
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kPinky01L,
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kPinky02L,
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kPinky03L,
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kThumb01L,
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kThumb02L,
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kThumb03L,
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kClavicleR,
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kUpperarmR,
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kLowerarmR,
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kHandR,
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kIndex01R,
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kIndex02R,
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kIndex03R,
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kMiddle01R,
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kMiddle02R,
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kMiddle03R,
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kRing01R,
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kRing02R,
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kRing03R,
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kPinky01R,
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kPinky02R,
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kPinky03R,
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kThumb01R,
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kThumb02R,
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kThumb03R,
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kThighL,
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kCalfL,
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kAnkleL,
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kFootL,
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kBallL,
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kToes01L,
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kThighR,
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kCalfR,
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kAnkleR,
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kFootR,
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kBallR,
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kToes01R,
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};
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// GHUM default joint rotation. When applied - won't change initial pose of 3D
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// model.
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constexpr std::array<int, 6> kGhumDefaultJointRotation = {{1, 0, 0, 1, 0, 0}};
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// GHUM resting joint positions defined in 6D rotation format. Joint rotations
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|
// produced by Hund models should be applied ON TOP OF THEM (i.e. multiplied).
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//
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|
constexpr std::array<std::array<float, 6>, 63> kGhumRestingJointRotations = {{
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{3.3306690738754696e-16, -1.1102230246251565e-16, 0.9907665252685547,
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0.1355789452791214, -0.1355789452791214, 0.9907665252685547},
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{-2.220446049250313e-16, -2.220446049250313e-16, 0.9965463876724243,
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-0.08303803205490112, 0.08303803205490112, 0.9965463876724243},
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{2.220446049250313e-16, -1.1102230246251565e-16, 0.9830689430236816,
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||||||
|
0.1832359880208969, -0.1832359880208969, 0.9830689430236816},
|
||||||
|
{0.0, -1.1102230246251565e-16, 0.9998827576637268, -0.015312896110117435,
|
||||||
|
0.015312896110117435, 0.9998827576637268},
|
||||||
|
{1.1102230246251565e-16, -1.1102230246251565e-16, 0.9737479090690613,
|
||||||
|
-0.22762899100780487, 0.22762899100780487, 0.9737479090690613},
|
||||||
|
{0.0, -2.220446049250313e-16, 0.9975937008857727, -0.06933078169822693,
|
||||||
|
0.06933078169822693, 0.9975937008857727},
|
||||||
|
{0.0, 0.0, -0.7646467089653015, 0.6444497108459473, 0.6444497108459473,
|
||||||
|
0.7646467089653015},
|
||||||
|
{1.0, 0.0, 0.0, 1.0, 0.0, 0.0},
|
||||||
|
{1.0, 0.0, 0.0, 1.0, 0.0, 0.0},
|
||||||
|
{1.0, 0.0, 0.0, -1.0, 0.0, -1.2246468525851679e-16},
|
||||||
|
{1.0, 0.0, 0.0, -1.0, 0.0, -1.2246468525851679e-16},
|
||||||
|
{1.0, 0.0, 0.0, 1.0, 0.0, 0.0},
|
||||||
|
{1.0, 0.0, 0.0, -1.0, 0.0, -1.2246468525851679e-16},
|
||||||
|
{0.8921475410461426, 0.2971198558807373, -0.17762203514575958,
|
||||||
|
0.9233117699623108, -0.41535913944244385, 0.24334177374839783},
|
||||||
|
{0.4769144654273987, 0.87869793176651, -0.878876805305481,
|
||||||
|
0.4764299690723419, -0.011322125792503357, 0.03007427789270878},
|
||||||
|
{0.5015625953674316, 0.865040123462677, -0.8650957345962524,
|
||||||
|
0.5016061067581177, 0.00665692426264286, 0.009843245148658752},
|
||||||
|
{0.5015625953674316, 0.865040123462677, -0.8650957345962524,
|
||||||
|
0.5016061067581177, 0.00665692426264286, 0.009843245148658752},
|
||||||
|
{0.37746769189834595, 0.8884291648864746, -0.9007542133331299,
|
||||||
|
0.4176981747150421, 0.21484869718551636, 0.1903204619884491},
|
||||||
|
{0.37291213870048523, 0.9067361354827881, -0.9177148342132568,
|
||||||
|
0.39173614978790283, 0.13687947392463684, 0.1561165302991867},
|
||||||
|
{0.37291213870048523, 0.9067361354827881, -0.9177148342132568,
|
||||||
|
0.39173614978790283, 0.13687947392463684, 0.1561165302991867},
|
||||||
|
{0.46410179138183594, 0.8850933313369751, -0.8857383131980896,
|
||||||
|
0.4641091823577881, -0.008784775622189045, -0.03482021763920784},
|
||||||
|
{0.4025099277496338, 0.9154127836227417, -0.9146613478660583,
|
||||||
|
0.4022779166698456, 0.03715258091688156, -0.013853170908987522},
|
||||||
|
{0.4025099277496338, 0.9154127836227417, -0.9146613478660583,
|
||||||
|
0.4022779166698456, 0.03715258091688156, -0.013853170908987522},
|
||||||
|
{0.34835490584373474, 0.8863212466239929, -0.9299189448356628,
|
||||||
|
0.36770808696746826, -0.11789664626121521, -0.28147009015083313},
|
||||||
|
{0.35047438740730286, 0.8873153328895569, -0.9331605434417725,
|
||||||
|
0.35812410712242126, -0.07986952364444733, -0.2905488610267639},
|
||||||
|
{0.35047438740730286, 0.8873153328895569, -0.9331605434417725,
|
||||||
|
0.35812410712242126, -0.07986952364444733, -0.2905488610267639},
|
||||||
|
{0.29830706119537354, 0.7789736986160278, -0.9084595441818237,
|
||||||
|
0.4089738428592682, -0.2927698493003845, -0.4753318727016449},
|
||||||
|
{0.2655753493309021, 0.7524029612541199, -0.9429818987846375,
|
||||||
|
0.33284398913383484, -0.2006361186504364, -0.5684230327606201},
|
||||||
|
{0.2655753493309021, 0.7524029612541199, -0.9429818987846375,
|
||||||
|
0.33284398913383484, -0.2006361186504364, -0.5684230327606201},
|
||||||
|
{-0.1977168470621109, -0.2275119423866272, -0.7548012137413025,
|
||||||
|
0.6559536457061768, 0.6254464387893677, 0.719696581363678},
|
||||||
|
{-0.07406296581029892, -0.2195579558610916, -0.947542130947113,
|
||||||
|
0.3196309804916382, 0.31093189120292664, 0.9217539429664612},
|
||||||
|
{-0.07406296581029892, -0.2195579558610916, -0.947542130947113,
|
||||||
|
0.3196309804916382, 0.31093189120292664, 0.9217539429664612},
|
||||||
|
{0.8921475410461426, 0.2971198558807373, 0.17762203514575958,
|
||||||
|
-0.9233117699623108, 0.41535913944244385, -0.24334177374839783},
|
||||||
|
{0.4769144654273987, 0.87869793176651, 0.878876805305481,
|
||||||
|
-0.4764299690723419, 0.011322125792503357, -0.03007427789270878},
|
||||||
|
{0.5015625953674316, 0.865040123462677, 0.8650957345962524,
|
||||||
|
-0.5016061067581177, -0.00665692426264286, -0.009843245148658752},
|
||||||
|
{0.5015625953674316, 0.865040123462677, 0.8650957345962524,
|
||||||
|
-0.5016061067581177, -0.00665692426264286, -0.009843245148658752},
|
||||||
|
{0.37746769189834595, 0.8884291648864746, 0.9007542133331299,
|
||||||
|
-0.4176981747150421, -0.21484869718551636, -0.1903204619884491},
|
||||||
|
{0.37291213870048523, 0.9067361354827881, 0.9177148342132568,
|
||||||
|
-0.39173614978790283, -0.13687947392463684, -0.1561165302991867},
|
||||||
|
{0.37291213870048523, 0.9067361354827881, 0.9177148342132568,
|
||||||
|
-0.39173614978790283, -0.13687947392463684, -0.1561165302991867},
|
||||||
|
{0.46410179138183594, 0.8850933313369751, 0.8857383131980896,
|
||||||
|
-0.4641091823577881, 0.008784775622189045, 0.03482021763920784},
|
||||||
|
{0.4025099277496338, 0.9154127836227417, 0.9146613478660583,
|
||||||
|
-0.4022779166698456, -0.03715258091688156, 0.013853170908987522},
|
||||||
|
{0.4025099277496338, 0.9154127836227417, 0.9146613478660583,
|
||||||
|
-0.4022779166698456, -0.03715258091688156, 0.013853170908987522},
|
||||||
|
{0.34835490584373474, 0.8863212466239929, 0.9299189448356628,
|
||||||
|
-0.36770808696746826, 0.11789664626121521, 0.28147009015083313},
|
||||||
|
{0.35047438740730286, 0.8873153328895569, 0.9331605434417725,
|
||||||
|
-0.35812410712242126, 0.07986952364444733, 0.2905488610267639},
|
||||||
|
{0.35047438740730286, 0.8873153328895569, 0.9331605434417725,
|
||||||
|
-0.35812410712242126, 0.07986952364444733, 0.2905488610267639},
|
||||||
|
{0.29830706119537354, 0.7789736986160278, 0.9084595441818237,
|
||||||
|
-0.4089738428592682, 0.2927698493003845, 0.4753318727016449},
|
||||||
|
{0.2655753493309021, 0.7524029612541199, 0.9429818987846375,
|
||||||
|
-0.33284398913383484, 0.2006361186504364, 0.5684230327606201},
|
||||||
|
{0.2655753493309021, 0.7524029612541199, 0.9429818987846375,
|
||||||
|
-0.33284398913383484, 0.2006361186504364, 0.5684230327606201},
|
||||||
|
{-0.1977168470621109, -0.2275119423866272, 0.7548012137413025,
|
||||||
|
-0.6559536457061768, -0.6254464387893677, -0.719696581363678},
|
||||||
|
{-0.07406296581029892, -0.2195579558610916, 0.947542130947113,
|
||||||
|
-0.3196309804916382, -0.31093189120292664, -0.9217539429664612},
|
||||||
|
{-0.07406295835971832, -0.2195579558610916, 0.947542130947113,
|
||||||
|
-0.3196309804916382, -0.31093189120292664, -0.9217539429664612},
|
||||||
|
{-0.01636510342359543, 0.01171059813350439, -0.9988228678703308,
|
||||||
|
0.045474592596292496, 0.04566308110952377, 0.9988968372344971},
|
||||||
|
{0.05019572749733925, 0.024085810407996178, -0.9970070123672485,
|
||||||
|
-0.05764812231063843, -0.05879946053028107, 0.9980463981628418},
|
||||||
|
{-0.012483594939112663, -0.038166593760252, -0.9944827556610107,
|
||||||
|
0.104560986161232, 0.10415486991405487, 0.9937858581542969},
|
||||||
|
{3.3306690738754696e-16, 2.7755575615628914e-17, -0.30688488483428955,
|
||||||
|
0.9517466425895691, 0.9517466425895691, 0.30688488483428955},
|
||||||
|
{-0.06284070760011673, -0.009795981459319592, -0.15403378009796143,
|
||||||
|
0.9880656003952026, 0.9860652089118958, 0.15372197329998016},
|
||||||
|
{2.220446049250313e-16, 6.938893903907228e-18, -0.0882575735449791,
|
||||||
|
0.9960976839065552, 0.9960976839065552, 0.0882575735449791},
|
||||||
|
{-0.01636510342359543, 0.01171059813350439, 0.9988228678703308,
|
||||||
|
-0.045474592596292496, -0.04566308110952377, -0.9988968372344971},
|
||||||
|
{0.05019572749733925, 0.024085810407996178, 0.9970070123672485,
|
||||||
|
0.05764812231063843, 0.05879946053028107, -0.9980463981628418},
|
||||||
|
{-0.012483594939112663, -0.038166593760252, 0.9944827556610107,
|
||||||
|
-0.104560986161232, -0.10415486991405487, -0.9937858581542969},
|
||||||
|
{3.3306690738754696e-16, -8.326672684688674e-17, 0.30688488483428955,
|
||||||
|
-0.9517466425895691, -0.9517466425895691, -0.30688488483428955},
|
||||||
|
{-0.06284070760011673, -0.009795981459319592, 0.15403378009796143,
|
||||||
|
-0.9880656003952026, -0.9860652089118958, -0.15372197329998016},
|
||||||
|
{2.220446049250313e-16, -1.1796119636642288e-16, 0.0882575735449791,
|
||||||
|
-0.9960976839065552, -0.9960976839065552, -0.0882575735449791},
|
||||||
|
}};
|
||||||
|
|
||||||
|
} // namespace mediapipe::tasks::vision::utils::ghum
|
||||||
|
|
||||||
|
#endif // MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_TOPOLOGY_H_
|
||||||
184
mediapipe/tasks/cc/vision/utils/ghum/ghum_utils.cc
Normal file
184
mediapipe/tasks/cc/vision/utils/ghum/ghum_utils.cc
Normal file
|
|
@ -0,0 +1,184 @@
|
||||||
|
/* 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/tasks/cc/vision/utils/ghum/ghum_utils.h"
|
||||||
|
|
||||||
|
#include <array>
|
||||||
|
#include <utility>
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
#include "absl/types/span.h"
|
||||||
|
#include "mediapipe/calculators/util/combine_joints_calculator.h"
|
||||||
|
#include "mediapipe/calculators/util/combine_joints_calculator.pb.h"
|
||||||
|
#include "mediapipe/calculators/util/set_joints_visibility_calculator.h"
|
||||||
|
#include "mediapipe/calculators/util/set_joints_visibility_calculator.pb.h"
|
||||||
|
#include "mediapipe/framework/api2/builder.h"
|
||||||
|
#include "mediapipe/framework/formats/landmark.pb.h"
|
||||||
|
#include "mediapipe/tasks/cc/vision/pose_landmarker/pose_topology.h"
|
||||||
|
#include "mediapipe/tasks/cc/vision/utils/ghum/ghum_topology.h"
|
||||||
|
|
||||||
|
namespace mediapipe::tasks::vision::utils::ghum {
|
||||||
|
|
||||||
|
namespace {
|
||||||
|
|
||||||
|
using ::mediapipe::api2::CombineJointsCalculator;
|
||||||
|
using ::mediapipe::api2::SetJointsVisibilityCalculator;
|
||||||
|
using ::mediapipe::api2::builder::Graph;
|
||||||
|
using ::mediapipe::api2::builder::SidePacket;
|
||||||
|
using ::mediapipe::api2::builder::Stream;
|
||||||
|
using ::mediapipe::tasks::vision::pose_landmarker::PoseLandmarkName;
|
||||||
|
|
||||||
|
} // namespace
|
||||||
|
|
||||||
|
Stream<JointList> SetGhumJointsFromHundJoints(
|
||||||
|
std::vector<HundToGhumJointsMapping>& mappings, Graph& graph) {
|
||||||
|
auto& to_ghum = graph.AddNode("CombineJointsCalculator");
|
||||||
|
auto& to_ghum_options = to_ghum.GetOptions<CombineJointsCalculatorOptions>();
|
||||||
|
to_ghum_options.set_num_joints(63);
|
||||||
|
|
||||||
|
// Default joint values for not mapped joints.
|
||||||
|
for (float v : kGhumDefaultJointRotation) {
|
||||||
|
to_ghum_options.mutable_default_joint()->add_rotation_6d(v);
|
||||||
|
}
|
||||||
|
to_ghum_options.mutable_default_joint()->set_visibility(1.0);
|
||||||
|
|
||||||
|
for (int i = 0; i < mappings.size(); ++i) {
|
||||||
|
auto* subset = to_ghum_options.add_joints_mapping();
|
||||||
|
for (const auto& joint_name : mappings[i].ghum_joints_order) {
|
||||||
|
subset->add_idx(static_cast<int>(joint_name));
|
||||||
|
}
|
||||||
|
mappings[i].hund_joints.ConnectTo(
|
||||||
|
to_ghum[CombineJointsCalculator::kInJoints][i]);
|
||||||
|
}
|
||||||
|
|
||||||
|
return to_ghum[CombineJointsCalculator::kOutJoints];
|
||||||
|
}
|
||||||
|
|
||||||
|
Stream<JointList> SetGhumJointsVisibilityFromWorldLandmarks(
|
||||||
|
Stream<JointList> ghum_joints, Stream<LandmarkList> pose_world_landmarks,
|
||||||
|
Graph& graph) {
|
||||||
|
auto& set_visibility = graph.AddNode("SetJointsVisibilityCalculator");
|
||||||
|
auto& set_visibility_options =
|
||||||
|
set_visibility.GetOptions<SetJointsVisibilityCalculatorOptions>();
|
||||||
|
std::vector<std::pair<GhumJointName, std::vector<PoseLandmarkName>>> mapping =
|
||||||
|
{
|
||||||
|
{GhumJointName::kPelvis,
|
||||||
|
{PoseLandmarkName::kLeftHip, PoseLandmarkName::kRightHip}},
|
||||||
|
{GhumJointName::kSpine01,
|
||||||
|
{PoseLandmarkName::kLeftHip, PoseLandmarkName::kRightHip}},
|
||||||
|
{GhumJointName::kSpine02,
|
||||||
|
{PoseLandmarkName::kLeftHip, PoseLandmarkName::kRightHip}},
|
||||||
|
{GhumJointName::kSpine03,
|
||||||
|
{PoseLandmarkName::kLeftShoulder, PoseLandmarkName::kRightShoulder}},
|
||||||
|
{GhumJointName::kNeck01,
|
||||||
|
{PoseLandmarkName::kLeftShoulder, PoseLandmarkName::kRightShoulder}},
|
||||||
|
{GhumJointName::kHead01,
|
||||||
|
{PoseLandmarkName::kLeftShoulder, PoseLandmarkName::kRightShoulder}},
|
||||||
|
{GhumJointName::kJaw01,
|
||||||
|
{PoseLandmarkName::kMouthLeft, PoseLandmarkName::kMouthRight}},
|
||||||
|
{GhumJointName::kEye01L, {PoseLandmarkName::kLeftEye}},
|
||||||
|
{GhumJointName::kEyelidup01L, {PoseLandmarkName::kLeftEye}},
|
||||||
|
{GhumJointName::kEye01R, {PoseLandmarkName::kRightEye}},
|
||||||
|
{GhumJointName::kEyelidup01R, {PoseLandmarkName::kRightEye}},
|
||||||
|
{GhumJointName::kEyeliddown01L, {PoseLandmarkName::kLeftEye}},
|
||||||
|
{GhumJointName::kEyeliddown01R, {PoseLandmarkName::kRightEye}},
|
||||||
|
{GhumJointName::kClavicleL, {PoseLandmarkName::kLeftShoulder}},
|
||||||
|
{GhumJointName::kUpperarmL, {PoseLandmarkName::kLeftShoulder}},
|
||||||
|
{GhumJointName::kLowerarmL, {PoseLandmarkName::kLeftElbow}},
|
||||||
|
{GhumJointName::kHandL, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kIndex01L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kIndex02L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kIndex03L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kMiddle01L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kMiddle02L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kMiddle03L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kRing01L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kRing02L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kRing03L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kPinky01L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kPinky02L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kPinky03L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kThumb01L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kThumb02L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kThumb03L, {PoseLandmarkName::kLeftWrist}},
|
||||||
|
{GhumJointName::kClavicleR, {PoseLandmarkName::kRightShoulder}},
|
||||||
|
{GhumJointName::kUpperarmR, {PoseLandmarkName::kRightShoulder}},
|
||||||
|
{GhumJointName::kLowerarmR, {PoseLandmarkName::kRightElbow}},
|
||||||
|
{GhumJointName::kHandR, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kIndex01R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kIndex02R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kIndex03R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kMiddle01R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kMiddle02R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kMiddle03R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kRing01R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kRing02R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kRing03R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kPinky01R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kPinky02R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kPinky03R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kThumb01R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kThumb02R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kThumb03R, {PoseLandmarkName::kRightWrist}},
|
||||||
|
{GhumJointName::kThighL, {PoseLandmarkName::kLeftHip}},
|
||||||
|
{GhumJointName::kCalfL, {PoseLandmarkName::kLeftKnee}},
|
||||||
|
{GhumJointName::kAnkleL, {PoseLandmarkName::kLeftAnkle}},
|
||||||
|
{GhumJointName::kFootL, {PoseLandmarkName::kLeftAnkle}},
|
||||||
|
{GhumJointName::kBallL, {PoseLandmarkName::kLeftHeel}},
|
||||||
|
{GhumJointName::kToes01L, {PoseLandmarkName::kLeftFootIndex}},
|
||||||
|
{GhumJointName::kThighR, {PoseLandmarkName::kRightHip}},
|
||||||
|
{GhumJointName::kCalfR, {PoseLandmarkName::kRightKnee}},
|
||||||
|
{GhumJointName::kAnkleR, {PoseLandmarkName::kRightAnkle}},
|
||||||
|
{GhumJointName::kFootR, {PoseLandmarkName::kRightAnkle}},
|
||||||
|
{GhumJointName::kBallR, {PoseLandmarkName::kRightHeel}},
|
||||||
|
{GhumJointName::kToes01R, {PoseLandmarkName::kRightFootIndex}},
|
||||||
|
};
|
||||||
|
for (const auto& pair : mapping) {
|
||||||
|
const auto& joint_name = pair.first;
|
||||||
|
const auto& landmark_names = pair.second;
|
||||||
|
|
||||||
|
CHECK_EQ(static_cast<int>(joint_name),
|
||||||
|
set_visibility_options.mapping_size());
|
||||||
|
auto* mapping = set_visibility_options.add_mapping();
|
||||||
|
|
||||||
|
if (landmark_names.size() == 1) {
|
||||||
|
mapping->mutable_copy()->set_idx(static_cast<int>(landmark_names[0]));
|
||||||
|
} else {
|
||||||
|
for (const auto& landmark_name : landmark_names) {
|
||||||
|
mapping->mutable_highest()->add_idx(static_cast<int>(landmark_name));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
ghum_joints.ConnectTo(
|
||||||
|
set_visibility[SetJointsVisibilityCalculator::kInJoints]);
|
||||||
|
pose_world_landmarks.ConnectTo(
|
||||||
|
set_visibility[SetJointsVisibilityCalculator::kInLandmarks]);
|
||||||
|
|
||||||
|
return set_visibility[SetJointsVisibilityCalculator::kOutJoints];
|
||||||
|
}
|
||||||
|
|
||||||
|
std::vector<std::array<float, 6>> GetGhumRestingJointRotationsSubset(
|
||||||
|
absl::Span<const GhumJointName> ghum_joint_names) {
|
||||||
|
std::vector<std::array<float, 6>> res;
|
||||||
|
res.reserve(ghum_joint_names.size());
|
||||||
|
for (GhumJointName ghum_joint_name : ghum_joint_names) {
|
||||||
|
res.push_back(
|
||||||
|
kGhumRestingJointRotations[static_cast<int>(ghum_joint_name)]);
|
||||||
|
}
|
||||||
|
return res;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace mediapipe::tasks::vision::utils::ghum
|
||||||
67
mediapipe/tasks/cc/vision/utils/ghum/ghum_utils.h
Normal file
67
mediapipe/tasks/cc/vision/utils/ghum/ghum_utils.h
Normal file
|
|
@ -0,0 +1,67 @@
|
||||||
|
/* 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.
|
||||||
|
|
||||||
|
Utility methods for populating Ghum joints from joints produced by Hund Hand
|
||||||
|
Pose and Hund Hand models and pose landmarks.
|
||||||
|
==============================================================================*/
|
||||||
|
|
||||||
|
#ifndef MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_UTILS_H_
|
||||||
|
#define MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_UTILS_H_
|
||||||
|
|
||||||
|
#include <array>
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
#include "absl/types/span.h"
|
||||||
|
#include "mediapipe/framework/api2/builder.h"
|
||||||
|
#include "mediapipe/framework/formats/body_rig.pb.h"
|
||||||
|
#include "mediapipe/framework/formats/landmark.pb.h"
|
||||||
|
#include "mediapipe/tasks/cc/vision/utils/ghum/ghum_topology.h"
|
||||||
|
|
||||||
|
namespace mediapipe::tasks::vision::utils::ghum {
|
||||||
|
|
||||||
|
struct HundToGhumJointsMapping {
|
||||||
|
// Joints produced by the HUND models.
|
||||||
|
mediapipe::api2::builder::Stream<mediapipe::JointList> hund_joints;
|
||||||
|
// Order of joints in GHUM topology.
|
||||||
|
absl::Span<const GhumJointName> ghum_joints_order;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Sets GHUM joints from given HUND joints according to the mappings and in
|
||||||
|
// specified order.
|
||||||
|
//
|
||||||
|
// All joints that are not defined will remain in kGhumDefaultJointRotation
|
||||||
|
// and with 1.0 visibility.
|
||||||
|
//
|
||||||
|
// All joints specified later in order will override those that were specified
|
||||||
|
// earlier.
|
||||||
|
mediapipe::api2::builder::Stream<mediapipe::JointList>
|
||||||
|
SetGhumJointsFromHundJoints(
|
||||||
|
std::vector<HundToGhumJointsMapping>& hund_to_ghum_joints_mappings,
|
||||||
|
mediapipe::api2::builder::Graph& graph);
|
||||||
|
|
||||||
|
// Sets visibility of 63 GHUM joints from 33 pose world landmarks.
|
||||||
|
mediapipe::api2::builder::Stream<mediapipe::JointList>
|
||||||
|
SetGhumJointsVisibilityFromWorldLandmarks(
|
||||||
|
mediapipe::api2::builder::Stream<mediapipe::JointList> ghum_joints,
|
||||||
|
mediapipe::api2::builder::Stream<mediapipe::LandmarkList>
|
||||||
|
pose_world_landmarks,
|
||||||
|
mediapipe::api2::builder::Graph& graph);
|
||||||
|
|
||||||
|
// Gets a subset of kGhumRestingJointRotations in 6D format.
|
||||||
|
std::vector<std::array<float, 6>> GetGhumRestingJointRotationsSubset(
|
||||||
|
absl::Span<const GhumJointName> ghum_joint_names);
|
||||||
|
|
||||||
|
} // namespace mediapipe::tasks::vision::utils::ghum
|
||||||
|
|
||||||
|
#endif // MEDIAPIPE_TASKS_CC_VISION_UTILS_GHUM_GHUM_UTILS_H_
|
||||||
Loading…
Reference in New Issue
Block a user