157 lines
8.7 KiB
Markdown
157 lines
8.7 KiB
Markdown
---
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layout: default
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title: Instant Motion Tracking
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parent: Solutions
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nav_order: 11
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---
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# MediaPipe Instant Motion Tracking
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{: .no_toc }
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<details close markdown="block">
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<summary>
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Table of contents
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</summary>
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{: .text-delta }
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1. TOC
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{:toc}
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</details>
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---
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**Attention:** *Thank you for your interest in MediaPipe Solutions.
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We have ended support for this MediaPipe Legacy Solution as of March 1, 2023.
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For more information, see the new
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[MediaPipe Solutions](https://developers.google.com/mediapipe/solutions/guide#legacy)
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site.*
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*This notice and web page will be removed on April 3, 2023.*
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----
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## Overview
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Augmented Reality (AR) technology creates fun, engaging, and immersive user
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experiences. The ability to perform AR tracking across devices and platforms,
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without initialization, remains important to power AR applications at scale.
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MediaPipe Instant Motion Tracking provides AR tracking across devices and
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platforms without initialization or calibration. It is built upon the
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[MediaPipe Box Tracking](./box_tracking.md) solution. With Instant Motion
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Tracking, you can easily place virtual 2D and 3D content on static or moving
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surfaces, allowing them to seamlessly interact with the real-world environment.
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:-----------------------------------------------------------------------: |
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*Fig 1. Instant Motion Tracking is used to augment the world with a 3D sticker.* |
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## Pipeline
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The Instant Motion Tracking pipeline is implemented as a MediaPipe
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[graph](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/instant_motion_tracking.pbtxt),
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which internally utilizes a
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[RegionTrackingSubgraph](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/subgraphs/region_tracking.pbtxt)
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in order to perform anchor tracking for each individual 3D sticker.
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We first use a
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[StickerManagerCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/calculators/sticker_manager_calculator.cc)
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to prepare the individual sticker data for the rest of the application. This
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information is then sent to the
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[RegionTrackingSubgraph](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/subgraphs/region_tracking.pbtxt)
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that performs 3D region tracking for sticker placement and rendering. Once
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acquired, our tracked sticker regions are sent with user transformations (i.e.
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gestures from the user to rotate and zoom the sticker) and IMU data to the
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[MatricesManagerCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/calculators/matrices_manager_calculator.cc),
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which turns all our sticker transformation data into a set of model matrices.
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This data is handled directly by our
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[GlAnimationOverlayCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/object_detection_3d/calculators/gl_animation_overlay_calculator.cc)
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as an input stream, which will render the provided texture and object file using
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our matrix specifications. The output of
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[GlAnimationOverlayCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/object_detection_3d/calculators/gl_animation_overlay_calculator.cc)
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is a video stream depicting the virtual 3D content rendered on top of the real
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world, creating immersive AR experiences for users.
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## Using Instant Motion Tracking
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With the Instant Motion Tracking MediaPipe [graph](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/instant_motion_tracking.pbtxt),
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an application can create an interactive and realistic AR experience by
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specifying the required input streams, side packets, and output streams.
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The input streams are the following:
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* Input Video (GpuBuffer): Video frames to render augmented stickers onto.
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* Rotation Matrix (9-element Float Array): The 3x3 row-major rotation
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matrix from the device IMU to determine proper orientation of the device.
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* Sticker Proto String (String): A string representing the
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serialized [sticker buffer protobuf message](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/calculators/sticker_buffer.proto),
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containing a list of all stickers and their attributes.
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* Each sticker in the Protobuffer has a unique ID to find associated
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anchors and transforms, an initial anchor placement in a normalized [0.0, 1.0]
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3D space, a user rotation and user scaling transform on the sticker,
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and an integer indicating which type of objects to render for the
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sticker (e.g. 3D asset or GIF).
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* Sticker Sentinel (Integer): When an anchor must be initially placed or
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repositioned, this value must be changed to the ID of the anchor to reset from
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the sticker buffer protobuf message. If no valid ID is provided, the system
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will simply maintain tracking.
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Side packets are also an integral part of the Instant Motion Tracking solution
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to provide device-specific information for the rendering system:
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* Field of View (Float): The field of view of the camera in radians.
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* Aspect Ratio (Float): The aspect ratio (width / height) of the camera frames
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(this ratio corresponds to the image frames themselves, not necessarily the
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screen bounds).
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* Object Asset (String): The
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[GlAnimationOverlayCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/object_detection_3d/calculators/gl_animation_overlay_calculator.cc)
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must be provided with an associated asset file name pointing to the 3D model
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to render in the viewfinder.
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* (Optional) Texture (ImageFrame on Android, GpuBuffer on iOS): Textures for
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the
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[GlAnimationOverlayCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/object_detection_3d/calculators/gl_animation_overlay_calculator.cc)
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can be provided either via an input stream (dynamic texturing) or as a side
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packet (unchanging texture).
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The rendering system for the Instant Motion Tracking is powered by OpenGL. For
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more information regarding the structure of model matrices and OpenGL rendering,
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please visit [OpenGL Wiki](https://www.khronos.org/opengl/wiki/). With the
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specifications above, the Instant Motion Tracking capabilities can be adapted to
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any device that is able to run the MediaPipe framework with a working IMU system
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and connected camera.
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## Example Apps
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Please first see general instructions for
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[Android](../getting_started/android.md) on how to build MediaPipe examples.
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* Graph: [mediapipe/graphs/instant_motion_tracking/instant_motion_tracking.pbtxt](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/instant_motion_tracking/instant_motion_tracking.pbtxt)
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* Android target (or download prebuilt [ARM64 APK](https://drive.google.com/file/d/1KnaBBoKpCHR73nOBJ4fL_YdWVTAcwe6L/view?usp=sharing)):
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[`mediapipe/examples/android/src/java/com/google/mediapipe/apps/instantmotiontracking:instantmotiontracking`](https://github.com/google/mediapipe/tree/master/mediapipe/examples/android/src/java/com/google/mediapipe/apps/instantmotiontracking/BUILD)
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* Assets rendered by the [GlAnimationOverlayCalculator](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/object_detection_3d/calculators/gl_animation_overlay_calculator.cc) must be preprocessed into an OpenGL-ready custom .uuu format. This can be done
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for user assets as follows:
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> First run
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>
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> ```shell
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> ./mediapipe/graphs/object_detection_3d/obj_parser/obj_cleanup.sh [INPUT_DIR] [INTERMEDIATE_OUTPUT_DIR]
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> ```
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> and then run
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>
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> ```build
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> bazel run -c opt mediapipe/graphs/object_detection_3d/obj_parser:ObjParser -- input_dir=[INTERMEDIATE_OUTPUT_DIR] output_dir=[OUTPUT_DIR]
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> ```
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> INPUT_DIR should be the folder with initial asset .obj files to be processed,
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> and OUTPUT_DIR is the folder where the processed asset .uuu file will be placed.
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>
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> Note: ObjParser combines all .obj files found in the given directory into a
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> single .uuu animation file, using the order given by sorting the filenames alphanumerically. Also the ObjParser directory inputs must be given as
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> absolute paths, not relative paths. See parser utility library at [`mediapipe/graphs/object_detection_3d/obj_parser/`](https://github.com/google/mediapipe/tree/master/mediapipe/graphs/object_detection_3d/obj_parser/) for more details.
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## Resources
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* Google Developers Blog:
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[Instant Motion Tracking With MediaPipe](https://developers.googleblog.com/2020/08/instant-motion-tracking-with-mediapipe.html)
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* Google AI Blog:
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[The Instant Motion Tracking Behind Motion Stills AR](https://ai.googleblog.com/2018/02/the-instant-motion-tracking-behind.html)
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* Paper:
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[Instant Motion Tracking and Its Applications to Augmented Reality](https://arxiv.org/abs/1907.06796)
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