273 lines
10 KiB
Plaintext
273 lines
10 KiB
Plaintext
# MediaPipe graph to detect/predict hand landmarks on GPU.
|
|
#
|
|
# The procedure is done in two steps:
|
|
# - locate palms/hands
|
|
# - detect landmarks for each palm/hand.
|
|
# This graph tries to skip palm detection as much as possible by reusing
|
|
# previously detected/predicted landmarks for new images.
|
|
|
|
type: "HandLandmarkTrackingGpu"
|
|
|
|
# GPU image. (GpuBuffer)
|
|
input_stream: "IMAGE:image"
|
|
|
|
# Max number of hands to detect/track. (int)
|
|
input_side_packet: "NUM_HANDS:num_hands"
|
|
|
|
# Complexity of hand landmark and palm detection models: 0 or 1. Accuracy as
|
|
# well as inference latency generally go up with the model complexity. If
|
|
# unspecified, functions as set to 1. (int)
|
|
input_side_packet: "MODEL_COMPLEXITY:model_complexity"
|
|
|
|
# Whether landmarks on the previous image should be used to help localize
|
|
# landmarks on the current image. (bool)
|
|
input_side_packet: "USE_PREV_LANDMARKS:use_prev_landmarks"
|
|
|
|
# Collection of detected/predicted hands, each represented as a list of
|
|
# landmarks. (std::vector<NormalizedLandmarkList>)
|
|
# NOTE: there will not be an output packet in the LANDMARKS stream for this
|
|
# particular timestamp if none of hands detected. However, the MediaPipe
|
|
# framework will internally inform the downstream calculators of the absence of
|
|
# this packet so that they don't wait for it unnecessarily.
|
|
output_stream: "LANDMARKS:multi_hand_landmarks"
|
|
|
|
# Collection of detected/predicted hand world landmarks.
|
|
# (std::vector<LandmarkList>)
|
|
#
|
|
# World landmarks are real-world 3D coordinates in meters with the origin in the
|
|
# center of the hand bounding box calculated from the landmarks.
|
|
#
|
|
# WORLD_LANDMARKS shares the same landmark topology as LANDMARKS. However,
|
|
# LANDMARKS provides coordinates (in pixels) of a 3D object projected onto the
|
|
# 2D image surface, while WORLD_LANDMARKS provides coordinates (in meters) of
|
|
# the 3D object itself.
|
|
output_stream: "WORLD_LANDMARKS:multi_hand_world_landmarks"
|
|
|
|
# Collection of handedness of the detected hands (i.e. is hand left or right),
|
|
# each represented as a ClassificationList proto with a single Classification
|
|
# entry. (std::vector<ClassificationList>)
|
|
# Note that handedness is determined assuming the input image is mirrored,
|
|
# i.e., taken with a front-facing/selfie camera with images flipped
|
|
# horizontally.
|
|
output_stream: "HANDEDNESS:multi_handedness"
|
|
|
|
# Extra outputs (for debugging, for instance).
|
|
# Detected palms. (std::vector<Detection>)
|
|
output_stream: "PALM_DETECTIONS:palm_detections"
|
|
# Regions of interest calculated based on landmarks.
|
|
# (std::vector<NormalizedRect>)
|
|
output_stream: "HAND_ROIS_FROM_LANDMARKS:hand_rects"
|
|
# Regions of interest calculated based on palm detections.
|
|
# (std::vector<NormalizedRect>)
|
|
output_stream: "HAND_ROIS_FROM_PALM_DETECTIONS:hand_rects_from_palm_detections"
|
|
|
|
# When the optional input side packet "use_prev_landmarks" is either absent or
|
|
# set to true, uses the landmarks on the previous image to help localize
|
|
# landmarks on the current image.
|
|
node {
|
|
calculator: "GateCalculator"
|
|
input_side_packet: "ALLOW:use_prev_landmarks"
|
|
input_stream: "prev_hand_rects_from_landmarks"
|
|
output_stream: "gated_prev_hand_rects_from_landmarks"
|
|
options: {
|
|
[mediapipe.GateCalculatorOptions.ext] {
|
|
allow: true
|
|
}
|
|
}
|
|
}
|
|
|
|
# Determines if an input vector of NormalizedRect has a size greater than or
|
|
# equal to the provided num_hands.
|
|
node {
|
|
calculator: "NormalizedRectVectorHasMinSizeCalculator"
|
|
input_stream: "ITERABLE:gated_prev_hand_rects_from_landmarks"
|
|
input_side_packet: "num_hands"
|
|
output_stream: "prev_has_enough_hands"
|
|
}
|
|
|
|
# Drops the incoming image if enough hands have already been identified from the
|
|
# previous image. Otherwise, passes the incoming image through to trigger a new
|
|
# round of palm detection.
|
|
node {
|
|
calculator: "GateCalculator"
|
|
input_stream: "image"
|
|
input_stream: "DISALLOW:prev_has_enough_hands"
|
|
output_stream: "palm_detection_image"
|
|
options: {
|
|
[mediapipe.GateCalculatorOptions.ext] {
|
|
empty_packets_as_allow: true
|
|
}
|
|
}
|
|
}
|
|
|
|
# Detects palms.
|
|
node {
|
|
calculator: "PalmDetectionGpu"
|
|
input_side_packet: "MODEL_COMPLEXITY:model_complexity"
|
|
input_stream: "IMAGE:palm_detection_image"
|
|
output_stream: "DETECTIONS:all_palm_detections"
|
|
}
|
|
|
|
# Makes sure there are no more detections than provided num_hands.
|
|
node {
|
|
calculator: "ClipDetectionVectorSizeCalculator"
|
|
input_stream: "all_palm_detections"
|
|
output_stream: "palm_detections"
|
|
input_side_packet: "num_hands"
|
|
}
|
|
|
|
# Extracts image size.
|
|
node {
|
|
calculator: "ImagePropertiesCalculator"
|
|
input_stream: "IMAGE_GPU:palm_detection_image"
|
|
output_stream: "SIZE:palm_detection_image_size"
|
|
}
|
|
|
|
# Outputs each element of palm_detections at a fake timestamp for the rest of
|
|
# the graph to process. Clones the image_size packet for each palm_detection at
|
|
# the fake timestamp. At the end of the loop, outputs the BATCH_END timestamp
|
|
# for downstream calculators to inform them that all elements in the vector have
|
|
# been processed.
|
|
node {
|
|
calculator: "BeginLoopDetectionCalculator"
|
|
input_stream: "ITERABLE:palm_detections"
|
|
input_stream: "CLONE:palm_detection_image_size"
|
|
output_stream: "ITEM:palm_detection"
|
|
output_stream: "CLONE:image_size_for_palms"
|
|
output_stream: "BATCH_END:palm_detections_timestamp"
|
|
}
|
|
|
|
# Calculates region of interest (ROI) base on the specified palm.
|
|
node {
|
|
calculator: "PalmDetectionDetectionToRoi"
|
|
input_stream: "DETECTION:palm_detection"
|
|
input_stream: "IMAGE_SIZE:image_size_for_palms"
|
|
output_stream: "ROI:hand_rect_from_palm_detection"
|
|
}
|
|
|
|
# Collects a NormalizedRect for each hand into a vector. Upon receiving the
|
|
# BATCH_END timestamp, outputs the vector of NormalizedRect at the BATCH_END
|
|
# timestamp.
|
|
node {
|
|
name: "EndLoopForPalmDetections"
|
|
calculator: "EndLoopNormalizedRectCalculator"
|
|
input_stream: "ITEM:hand_rect_from_palm_detection"
|
|
input_stream: "BATCH_END:palm_detections_timestamp"
|
|
output_stream: "ITERABLE:hand_rects_from_palm_detections"
|
|
}
|
|
|
|
# Performs association between NormalizedRect vector elements from previous
|
|
# image and rects based on palm detections from the current image. This
|
|
# calculator ensures that the output hand_rects vector doesn't contain
|
|
# overlapping regions based on the specified min_similarity_threshold.
|
|
node {
|
|
calculator: "AssociationNormRectCalculator"
|
|
input_stream: "hand_rects_from_palm_detections"
|
|
input_stream: "gated_prev_hand_rects_from_landmarks"
|
|
output_stream: "hand_rects"
|
|
options: {
|
|
[mediapipe.AssociationCalculatorOptions.ext] {
|
|
min_similarity_threshold: 0.5
|
|
}
|
|
}
|
|
}
|
|
|
|
# Extracts image size.
|
|
node {
|
|
calculator: "ImagePropertiesCalculator"
|
|
input_stream: "IMAGE_GPU:image"
|
|
output_stream: "SIZE:image_size"
|
|
}
|
|
|
|
# Outputs each element of hand_rects at a fake timestamp for the rest of the
|
|
# graph to process. Clones image and image size packets for each
|
|
# single_hand_rect at the fake timestamp. At the end of the loop, outputs the
|
|
# BATCH_END timestamp for downstream calculators to inform them that all
|
|
# elements in the vector have been processed.
|
|
node {
|
|
calculator: "BeginLoopNormalizedRectCalculator"
|
|
input_stream: "ITERABLE:hand_rects"
|
|
input_stream: "CLONE:0:image"
|
|
input_stream: "CLONE:1:image_size"
|
|
output_stream: "ITEM:single_hand_rect"
|
|
output_stream: "CLONE:0:image_for_landmarks"
|
|
output_stream: "CLONE:1:image_size_for_landmarks"
|
|
output_stream: "BATCH_END:hand_rects_timestamp"
|
|
}
|
|
|
|
# Detect hand landmarks for the specific hand rect.
|
|
node {
|
|
calculator: "HandLandmarkGpu"
|
|
input_side_packet: "MODEL_COMPLEXITY:model_complexity"
|
|
input_stream: "IMAGE:image_for_landmarks"
|
|
input_stream: "ROI:single_hand_rect"
|
|
output_stream: "LANDMARKS:single_hand_landmarks"
|
|
output_stream: "WORLD_LANDMARKS:single_hand_world_landmarks"
|
|
output_stream: "HANDEDNESS:single_handedness"
|
|
}
|
|
|
|
# Collects the handedness for each single hand into a vector. Upon receiving the
|
|
# BATCH_END timestamp, outputs a vector of ClassificationList at the BATCH_END
|
|
# timestamp.
|
|
node {
|
|
calculator: "EndLoopClassificationListCalculator"
|
|
input_stream: "ITEM:single_handedness"
|
|
input_stream: "BATCH_END:hand_rects_timestamp"
|
|
output_stream: "ITERABLE:multi_handedness"
|
|
}
|
|
|
|
# Calculate region of interest (ROI) based on detected hand landmarks to reuse
|
|
# on the subsequent runs of the graph.
|
|
node {
|
|
calculator: "HandLandmarkLandmarksToRoi"
|
|
input_stream: "IMAGE_SIZE:image_size_for_landmarks"
|
|
input_stream: "LANDMARKS:single_hand_landmarks"
|
|
output_stream: "ROI:single_hand_rect_from_landmarks"
|
|
}
|
|
|
|
# Collects a set of landmarks for each hand into a vector. Upon receiving the
|
|
# BATCH_END timestamp, outputs the vector of landmarks at the BATCH_END
|
|
# timestamp.
|
|
node {
|
|
calculator: "EndLoopNormalizedLandmarkListVectorCalculator"
|
|
input_stream: "ITEM:single_hand_landmarks"
|
|
input_stream: "BATCH_END:hand_rects_timestamp"
|
|
output_stream: "ITERABLE:multi_hand_landmarks"
|
|
}
|
|
|
|
# Collects a set of world landmarks for each hand into a vector. Upon receiving
|
|
# the BATCH_END timestamp, outputs the vector of landmarks at the BATCH_END
|
|
# timestamp.
|
|
node {
|
|
calculator: "EndLoopLandmarkListVectorCalculator"
|
|
input_stream: "ITEM:single_hand_world_landmarks"
|
|
input_stream: "BATCH_END:hand_rects_timestamp"
|
|
output_stream: "ITERABLE:multi_hand_world_landmarks"
|
|
}
|
|
|
|
# Collects a NormalizedRect for each hand into a vector. Upon receiving the
|
|
# BATCH_END timestamp, outputs the vector of NormalizedRect at the BATCH_END
|
|
# timestamp.
|
|
node {
|
|
calculator: "EndLoopNormalizedRectCalculator"
|
|
input_stream: "ITEM:single_hand_rect_from_landmarks"
|
|
input_stream: "BATCH_END:hand_rects_timestamp"
|
|
output_stream: "ITERABLE:hand_rects_from_landmarks"
|
|
}
|
|
|
|
# Caches hand rects calculated from landmarks, and upon the arrival of the next
|
|
# input image, sends out the cached rects with timestamps replaced by that of
|
|
# the input image, essentially generating a packet that carries the previous
|
|
# hand rects. Note that upon the arrival of the very first input image, a
|
|
# timestamp bound update occurs to jump start the feedback loop.
|
|
node {
|
|
calculator: "PreviousLoopbackCalculator"
|
|
input_stream: "MAIN:image"
|
|
input_stream: "LOOP:hand_rects_from_landmarks"
|
|
input_stream_info: {
|
|
tag_index: "LOOP"
|
|
back_edge: true
|
|
}
|
|
output_stream: "PREV_LOOP:prev_hand_rects_from_landmarks"
|
|
}
|