483 lines
18 KiB
C++
483 lines
18 KiB
C++
// Copyright 2020 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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#include <memory>
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#include "absl/algorithm/container.h"
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#include "mediapipe/calculators/util/landmarks_smoothing_calculator.pb.h"
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#include "mediapipe/framework/calculator_framework.h"
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#include "mediapipe/framework/formats/landmark.pb.h"
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#include "mediapipe/framework/formats/rect.pb.h"
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#include "mediapipe/framework/port/ret_check.h"
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#include "mediapipe/framework/timestamp.h"
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#include "mediapipe/util/filtering/one_euro_filter.h"
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#include "mediapipe/util/filtering/relative_velocity_filter.h"
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namespace mediapipe {
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namespace {
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constexpr char kNormalizedLandmarksTag[] = "NORM_LANDMARKS";
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constexpr char kLandmarksTag[] = "LANDMARKS";
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constexpr char kImageSizeTag[] = "IMAGE_SIZE";
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constexpr char kObjectScaleRoiTag[] = "OBJECT_SCALE_ROI";
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constexpr char kNormalizedFilteredLandmarksTag[] = "NORM_FILTERED_LANDMARKS";
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constexpr char kFilteredLandmarksTag[] = "FILTERED_LANDMARKS";
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using ::mediapipe::NormalizedRect;
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using mediapipe::OneEuroFilter;
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using ::mediapipe::Rect;
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using mediapipe::RelativeVelocityFilter;
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void NormalizedLandmarksToLandmarks(
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const NormalizedLandmarkList& norm_landmarks, const int image_width,
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const int image_height, LandmarkList* landmarks) {
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for (int i = 0; i < norm_landmarks.landmark_size(); ++i) {
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const auto& norm_landmark = norm_landmarks.landmark(i);
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auto* landmark = landmarks->add_landmark();
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landmark->set_x(norm_landmark.x() * image_width);
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landmark->set_y(norm_landmark.y() * image_height);
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// Scale Z the same way as X (using image width).
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landmark->set_z(norm_landmark.z() * image_width);
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landmark->set_visibility(norm_landmark.visibility());
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landmark->set_presence(norm_landmark.presence());
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}
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}
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void LandmarksToNormalizedLandmarks(const LandmarkList& landmarks,
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const int image_width,
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const int image_height,
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NormalizedLandmarkList* norm_landmarks) {
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for (int i = 0; i < landmarks.landmark_size(); ++i) {
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const auto& landmark = landmarks.landmark(i);
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auto* norm_landmark = norm_landmarks->add_landmark();
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norm_landmark->set_x(landmark.x() / image_width);
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norm_landmark->set_y(landmark.y() / image_height);
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// Scale Z the same way as X (using image width).
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norm_landmark->set_z(landmark.z() / image_width);
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norm_landmark->set_visibility(landmark.visibility());
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norm_landmark->set_presence(landmark.presence());
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}
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}
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// Estimate object scale to use its inverse value as velocity scale for
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// RelativeVelocityFilter. If value will be too small (less than
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// `options_.min_allowed_object_scale`) smoothing will be disabled and
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// landmarks will be returned as is.
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// Object scale is calculated as average between bounding box width and height
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// with sides parallel to axis.
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float GetObjectScale(const LandmarkList& landmarks) {
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const auto& lm_minmax_x = absl::c_minmax_element(
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landmarks.landmark(),
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[](const auto& a, const auto& b) { return a.x() < b.x(); });
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const float x_min = lm_minmax_x.first->x();
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const float x_max = lm_minmax_x.second->x();
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const auto& lm_minmax_y = absl::c_minmax_element(
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landmarks.landmark(),
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[](const auto& a, const auto& b) { return a.y() < b.y(); });
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const float y_min = lm_minmax_y.first->y();
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const float y_max = lm_minmax_y.second->y();
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const float object_width = x_max - x_min;
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const float object_height = y_max - y_min;
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return (object_width + object_height) / 2.0f;
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}
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float GetObjectScale(const NormalizedRect& roi, const int image_width,
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const int image_height) {
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const float object_width = roi.width() * image_width;
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const float object_height = roi.height() * image_height;
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return (object_width + object_height) / 2.0f;
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}
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float GetObjectScale(const Rect& roi) {
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return (roi.width() + roi.height()) / 2.0f;
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}
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// Abstract class for various landmarks filters.
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class LandmarksFilter {
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public:
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virtual ~LandmarksFilter() = default;
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virtual absl::Status Reset() { return absl::OkStatus(); }
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virtual absl::Status Apply(const LandmarkList& in_landmarks,
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const absl::Duration& timestamp,
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const absl::optional<float> object_scale_opt,
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LandmarkList* out_landmarks) = 0;
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};
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// Returns landmarks as is without smoothing.
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class NoFilter : public LandmarksFilter {
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public:
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absl::Status Apply(const LandmarkList& in_landmarks,
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const absl::Duration& timestamp,
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const absl::optional<float> object_scale_opt,
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LandmarkList* out_landmarks) override {
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*out_landmarks = in_landmarks;
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return absl::OkStatus();
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}
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};
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// Please check RelativeVelocityFilter documentation for details.
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class VelocityFilter : public LandmarksFilter {
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public:
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VelocityFilter(int window_size, float velocity_scale,
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float min_allowed_object_scale, bool disable_value_scaling)
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: window_size_(window_size),
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velocity_scale_(velocity_scale),
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min_allowed_object_scale_(min_allowed_object_scale),
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disable_value_scaling_(disable_value_scaling) {}
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absl::Status Reset() override {
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x_filters_.clear();
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y_filters_.clear();
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z_filters_.clear();
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return absl::OkStatus();
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}
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absl::Status Apply(const LandmarkList& in_landmarks,
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const absl::Duration& timestamp,
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const absl::optional<float> object_scale_opt,
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LandmarkList* out_landmarks) override {
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// Get value scale as inverse value of the object scale.
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// If value is too small smoothing will be disabled and landmarks will be
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// returned as is.
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float value_scale = 1.0f;
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if (!disable_value_scaling_) {
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const float object_scale =
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object_scale_opt ? *object_scale_opt : GetObjectScale(in_landmarks);
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if (object_scale < min_allowed_object_scale_) {
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*out_landmarks = in_landmarks;
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return absl::OkStatus();
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}
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value_scale = 1.0f / object_scale;
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}
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// Initialize filters once.
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MP_RETURN_IF_ERROR(InitializeFiltersIfEmpty(in_landmarks.landmark_size()));
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// Filter landmarks. Every axis of every landmark is filtered separately.
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for (int i = 0; i < in_landmarks.landmark_size(); ++i) {
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const auto& in_landmark = in_landmarks.landmark(i);
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auto* out_landmark = out_landmarks->add_landmark();
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*out_landmark = in_landmark;
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out_landmark->set_x(
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x_filters_[i].Apply(timestamp, value_scale, in_landmark.x()));
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out_landmark->set_y(
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y_filters_[i].Apply(timestamp, value_scale, in_landmark.y()));
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out_landmark->set_z(
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z_filters_[i].Apply(timestamp, value_scale, in_landmark.z()));
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}
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return absl::OkStatus();
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}
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private:
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// Initializes filters for the first time or after Reset. If initialized then
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// check the size.
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absl::Status InitializeFiltersIfEmpty(const int n_landmarks) {
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if (!x_filters_.empty()) {
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RET_CHECK_EQ(x_filters_.size(), n_landmarks);
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RET_CHECK_EQ(y_filters_.size(), n_landmarks);
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RET_CHECK_EQ(z_filters_.size(), n_landmarks);
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return absl::OkStatus();
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}
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x_filters_.resize(n_landmarks,
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RelativeVelocityFilter(window_size_, velocity_scale_));
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y_filters_.resize(n_landmarks,
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RelativeVelocityFilter(window_size_, velocity_scale_));
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z_filters_.resize(n_landmarks,
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RelativeVelocityFilter(window_size_, velocity_scale_));
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return absl::OkStatus();
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}
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int window_size_;
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float velocity_scale_;
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float min_allowed_object_scale_;
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bool disable_value_scaling_;
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std::vector<RelativeVelocityFilter> x_filters_;
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std::vector<RelativeVelocityFilter> y_filters_;
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std::vector<RelativeVelocityFilter> z_filters_;
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};
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// Please check OneEuroFilter documentation for details.
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class OneEuroFilterImpl : public LandmarksFilter {
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public:
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OneEuroFilterImpl(double frequency, double min_cutoff, double beta,
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double derivate_cutoff, float min_allowed_object_scale,
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bool disable_value_scaling)
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: frequency_(frequency),
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min_cutoff_(min_cutoff),
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beta_(beta),
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derivate_cutoff_(derivate_cutoff),
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min_allowed_object_scale_(min_allowed_object_scale),
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disable_value_scaling_(disable_value_scaling) {}
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absl::Status Reset() override {
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x_filters_.clear();
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y_filters_.clear();
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z_filters_.clear();
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return absl::OkStatus();
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}
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absl::Status Apply(const LandmarkList& in_landmarks,
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const absl::Duration& timestamp,
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const absl::optional<float> object_scale_opt,
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LandmarkList* out_landmarks) override {
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// Initialize filters once.
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MP_RETURN_IF_ERROR(InitializeFiltersIfEmpty(in_landmarks.landmark_size()));
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// Get value scale as inverse value of the object scale.
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// If value is too small smoothing will be disabled and landmarks will be
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// returned as is.
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float value_scale = 1.0f;
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if (!disable_value_scaling_) {
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const float object_scale =
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object_scale_opt ? *object_scale_opt : GetObjectScale(in_landmarks);
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if (object_scale < min_allowed_object_scale_) {
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*out_landmarks = in_landmarks;
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return absl::OkStatus();
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}
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value_scale = 1.0f / object_scale;
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}
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// Filter landmarks. Every axis of every landmark is filtered separately.
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for (int i = 0; i < in_landmarks.landmark_size(); ++i) {
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const auto& in_landmark = in_landmarks.landmark(i);
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auto* out_landmark = out_landmarks->add_landmark();
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*out_landmark = in_landmark;
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out_landmark->set_x(
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x_filters_[i].Apply(timestamp, value_scale, in_landmark.x()));
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out_landmark->set_y(
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y_filters_[i].Apply(timestamp, value_scale, in_landmark.y()));
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out_landmark->set_z(
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z_filters_[i].Apply(timestamp, value_scale, in_landmark.z()));
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}
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return absl::OkStatus();
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}
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private:
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// Initializes filters for the first time or after Reset. If initialized then
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// check the size.
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absl::Status InitializeFiltersIfEmpty(const int n_landmarks) {
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if (!x_filters_.empty()) {
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RET_CHECK_EQ(x_filters_.size(), n_landmarks);
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RET_CHECK_EQ(y_filters_.size(), n_landmarks);
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RET_CHECK_EQ(z_filters_.size(), n_landmarks);
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return absl::OkStatus();
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}
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for (int i = 0; i < n_landmarks; ++i) {
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x_filters_.push_back(
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OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
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y_filters_.push_back(
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OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
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z_filters_.push_back(
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OneEuroFilter(frequency_, min_cutoff_, beta_, derivate_cutoff_));
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}
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return absl::OkStatus();
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}
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double frequency_;
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double min_cutoff_;
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double beta_;
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double derivate_cutoff_;
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double min_allowed_object_scale_;
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bool disable_value_scaling_;
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std::vector<OneEuroFilter> x_filters_;
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std::vector<OneEuroFilter> y_filters_;
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std::vector<OneEuroFilter> z_filters_;
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};
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} // namespace
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// A calculator to smooth landmarks over time.
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//
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// Inputs:
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// NORM_LANDMARKS: A NormalizedLandmarkList of landmarks you want to smooth.
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// IMAGE_SIZE: A std::pair<int, int> represention of image width and height.
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// Required to perform all computations in absolute coordinates to avoid any
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// influence of normalized values.
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// OBJECT_SCALE_ROI (optional): A NormRect or Rect (depending on the format of
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// input landmarks) used to determine the object scale for some of the
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// filters. If not provided - object scale will be calculated from
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// landmarks.
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//
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// Outputs:
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// NORM_FILTERED_LANDMARKS: A NormalizedLandmarkList of smoothed landmarks.
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//
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// Example config:
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// node {
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// calculator: "LandmarksSmoothingCalculator"
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// input_stream: "NORM_LANDMARKS:pose_landmarks"
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// input_stream: "IMAGE_SIZE:image_size"
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// input_stream: "OBJECT_SCALE_ROI:roi"
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// output_stream: "NORM_FILTERED_LANDMARKS:pose_landmarks_filtered"
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// options: {
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// [mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
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// velocity_filter: {
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// window_size: 5
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// velocity_scale: 10.0
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// }
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// }
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// }
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// }
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//
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class LandmarksSmoothingCalculator : public CalculatorBase {
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public:
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static absl::Status GetContract(CalculatorContract* cc);
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absl::Status Open(CalculatorContext* cc) override;
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absl::Status Process(CalculatorContext* cc) override;
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private:
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std::unique_ptr<LandmarksFilter> landmarks_filter_;
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};
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REGISTER_CALCULATOR(LandmarksSmoothingCalculator);
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absl::Status LandmarksSmoothingCalculator::GetContract(CalculatorContract* cc) {
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if (cc->Inputs().HasTag(kNormalizedLandmarksTag)) {
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cc->Inputs().Tag(kNormalizedLandmarksTag).Set<NormalizedLandmarkList>();
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cc->Inputs().Tag(kImageSizeTag).Set<std::pair<int, int>>();
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cc->Outputs()
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.Tag(kNormalizedFilteredLandmarksTag)
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.Set<NormalizedLandmarkList>();
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if (cc->Inputs().HasTag(kObjectScaleRoiTag)) {
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cc->Inputs().Tag(kObjectScaleRoiTag).Set<NormalizedRect>();
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}
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} else {
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cc->Inputs().Tag(kLandmarksTag).Set<LandmarkList>();
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cc->Outputs().Tag(kFilteredLandmarksTag).Set<LandmarkList>();
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if (cc->Inputs().HasTag(kObjectScaleRoiTag)) {
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cc->Inputs().Tag(kObjectScaleRoiTag).Set<Rect>();
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}
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}
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return absl::OkStatus();
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}
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absl::Status LandmarksSmoothingCalculator::Open(CalculatorContext* cc) {
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cc->SetOffset(TimestampDiff(0));
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// Pick landmarks filter.
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const auto& options = cc->Options<LandmarksSmoothingCalculatorOptions>();
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if (options.has_no_filter()) {
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landmarks_filter_ = absl::make_unique<NoFilter>();
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} else if (options.has_velocity_filter()) {
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landmarks_filter_ = absl::make_unique<VelocityFilter>(
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options.velocity_filter().window_size(),
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options.velocity_filter().velocity_scale(),
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options.velocity_filter().min_allowed_object_scale(),
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options.velocity_filter().disable_value_scaling());
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} else if (options.has_one_euro_filter()) {
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landmarks_filter_ = absl::make_unique<OneEuroFilterImpl>(
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options.one_euro_filter().frequency(),
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options.one_euro_filter().min_cutoff(),
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options.one_euro_filter().beta(),
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options.one_euro_filter().derivate_cutoff(),
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options.one_euro_filter().min_allowed_object_scale(),
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options.one_euro_filter().disable_value_scaling());
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} else {
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RET_CHECK_FAIL()
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<< "Landmarks filter is either not specified or not supported";
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}
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return absl::OkStatus();
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}
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absl::Status LandmarksSmoothingCalculator::Process(CalculatorContext* cc) {
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// Check that landmarks are not empty and reset the filter if so.
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// Don't emit an empty packet for this timestamp.
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if ((cc->Inputs().HasTag(kNormalizedLandmarksTag) &&
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cc->Inputs().Tag(kNormalizedLandmarksTag).IsEmpty()) ||
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(cc->Inputs().HasTag(kLandmarksTag) &&
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cc->Inputs().Tag(kLandmarksTag).IsEmpty())) {
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MP_RETURN_IF_ERROR(landmarks_filter_->Reset());
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return absl::OkStatus();
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}
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const auto& timestamp =
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absl::Microseconds(cc->InputTimestamp().Microseconds());
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if (cc->Inputs().HasTag(kNormalizedLandmarksTag)) {
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const auto& in_norm_landmarks =
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cc->Inputs().Tag(kNormalizedLandmarksTag).Get<NormalizedLandmarkList>();
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int image_width;
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int image_height;
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std::tie(image_width, image_height) =
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cc->Inputs().Tag(kImageSizeTag).Get<std::pair<int, int>>();
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absl::optional<float> object_scale;
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if (cc->Inputs().HasTag(kObjectScaleRoiTag) &&
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!cc->Inputs().Tag(kObjectScaleRoiTag).IsEmpty()) {
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auto& roi = cc->Inputs().Tag(kObjectScaleRoiTag).Get<NormalizedRect>();
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object_scale = GetObjectScale(roi, image_width, image_height);
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}
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auto in_landmarks = absl::make_unique<LandmarkList>();
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NormalizedLandmarksToLandmarks(in_norm_landmarks, image_width, image_height,
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in_landmarks.get());
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auto out_landmarks = absl::make_unique<LandmarkList>();
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MP_RETURN_IF_ERROR(landmarks_filter_->Apply(
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*in_landmarks, timestamp, object_scale, out_landmarks.get()));
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auto out_norm_landmarks = absl::make_unique<NormalizedLandmarkList>();
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LandmarksToNormalizedLandmarks(*out_landmarks, image_width, image_height,
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out_norm_landmarks.get());
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cc->Outputs()
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.Tag(kNormalizedFilteredLandmarksTag)
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.Add(out_norm_landmarks.release(), cc->InputTimestamp());
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} else {
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const auto& in_landmarks =
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cc->Inputs().Tag(kLandmarksTag).Get<LandmarkList>();
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absl::optional<float> object_scale;
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if (cc->Inputs().HasTag(kObjectScaleRoiTag) &&
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!cc->Inputs().Tag(kObjectScaleRoiTag).IsEmpty()) {
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auto& roi = cc->Inputs().Tag(kObjectScaleRoiTag).Get<Rect>();
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object_scale = GetObjectScale(roi);
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}
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auto out_landmarks = absl::make_unique<LandmarkList>();
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MP_RETURN_IF_ERROR(landmarks_filter_->Apply(
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in_landmarks, timestamp, object_scale, out_landmarks.get()));
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cc->Outputs()
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.Tag(kFilteredLandmarksTag)
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.Add(out_landmarks.release(), cc->InputTimestamp());
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}
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return absl::OkStatus();
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}
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} // namespace mediapipe
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