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multi_hand_tracking_landmarks_gpu.cc
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multi_hand_tracking_landmarks_gpu.cc
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// Copyright 2019 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.
//
// An example of sending OpenCV webcam frames into a MediaPipe graph.
// This example requires a linux computer and a GPU with EGL support drivers.
#include <cstdlib>
#include <memory>
#include <vector>
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/formats/image_frame.h"
#include "mediapipe/framework/formats/image_frame_opencv.h"
#include "mediapipe/framework/formats/landmark.pb.h"
#include "mediapipe/framework/port/commandlineflags.h"
#include "mediapipe/framework/port/file_helpers.h"
#include "mediapipe/framework/port/opencv_highgui_inc.h"
#include "mediapipe/framework/port/opencv_imgproc_inc.h"
#include "mediapipe/framework/port/opencv_video_inc.h"
#include "mediapipe/framework/port/parse_text_proto.h"
#include "mediapipe/framework/port/status.h"
#include "mediapipe/gpu/gl_calculator_helper.h"
#include "mediapipe/gpu/gpu_buffer.h"
#include "mediapipe/gpu/gpu_shared_data_internal.h"
#include "mediapipe/calculators/util/landmarks_to_render_data_calculator.pb.h"
#include "mediapipe/framework/formats/landmark.pb.h"
constexpr char kInputStream[] = "input_video";
constexpr char kOutputStream[] = "output_video";
constexpr char kLandmarksStream[] = "multi_hand_landmarks";
constexpr char kWindowName[] = "MediaPipe";
constexpr char kMultiHandLandmarksOutputStream[] = "multi_hand_landmarks";
constexpr char kCalculatorGraphConfigFile[] =
"mediapipe/graphs/hand_tracking/multi_hand_tracking_mobile.pbtxt";
DEFINE_string(input_video_path, "",
"Full path of video to load. "
"If not provided, attempt to use a webcam.");
DEFINE_string(output_video_path, "",
"Full path of where to save result (.mp4 only). "
"If not provided, show result in a window.");
::mediapipe::Status RunMPPGraph() {
std::string calculator_graph_config_contents;
MP_RETURN_IF_ERROR(mediapipe::file::GetContents(
FLAGS_calculator_graph_config_file, &calculator_graph_config_contents));
LOG(INFO) << "Get calculator graph config contents: "
<< calculator_graph_config_contents;
mediapipe::CalculatorGraphConfig config =
mediapipe::ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig>(
calculator_graph_config_contents);
LOG(INFO) << "Initialize the calculator graph.";
mediapipe::CalculatorGraph graph;
MP_RETURN_IF_ERROR(graph.Initialize(config));
LOG(INFO) << "Initialize the GPU.";
ASSIGN_OR_RETURN(auto gpu_resources, mediapipe::GpuResources::Create());
MP_RETURN_IF_ERROR(graph.SetGpuResources(std::move(gpu_resources)));
mediapipe::GlCalculatorHelper gpu_helper;
gpu_helper.InitializeForTest(graph.GetGpuResources().get());
LOG(INFO) << "Initialize the camera or load the video.";
cv::VideoCapture capture;
const bool load_video = !FLAGS_input_video_path.empty();
if (load_video) {
capture.open(FLAGS_input_video_path);
} else {
capture.open(0);
}
RET_CHECK(capture.isOpened());
cv::VideoWriter writer;
const bool save_video = !FLAGS_output_video_path.empty();
if (!save_video) {
cv::namedWindow(kWindowName, /*flags=WINDOW_AUTOSIZE*/ 1);
#if (CV_MAJOR_VERSION >= 3) && (CV_MINOR_VERSION >= 2)
capture.set(cv::CAP_PROP_FRAME_WIDTH, 640);
capture.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
capture.set(cv::CAP_PROP_FPS, 30);
#endif
}
LOG(INFO) << "Start running the calculator graph.";
ASSIGN_OR_RETURN(::mediapipe::OutputStreamPoller poller,
graph->AddOutputStreamPoller(kOutputStream));
ASSIGN_OR_RETURN(::mediapipe::OutputStreamPoller multi_hand_landmarks_poller,
graph.AddOutputStreamPoller(kMultiHandLandmarksOutputStream))
MP_RETURN_IF_ERROR(graph->StartRun({}));
LOG(INFO) << "Start grabbing and processing frames.";
bool grab_frames = true;
while (grab_frames) {
// Capture opencv camera or video frame.
cv::Mat camera_frame_raw;
capture >> camera_frame_raw;
if (camera_frame_raw.empty()) break; // End of video.
cv::Mat camera_frame;
cv::cvtColor(camera_frame_raw, camera_frame, cv::COLOR_BGR2RGB);
if (!load_video) {
cv::flip(camera_frame, camera_frame, /*flipcode=HORIZONTAL*/ 1);
}
// Wrap Mat into an ImageFrame.
auto input_frame = absl::make_unique<mediapipe::ImageFrame>(
mediapipe::ImageFormat::SRGB, camera_frame.cols, camera_frame.rows,
mediapipe::ImageFrame::kGlDefaultAlignmentBoundary);
cv::Mat input_frame_mat = mediapipe::formats::MatView(input_frame.get());
camera_frame.copyTo(input_frame_mat);
// Prepare and add graph input packet.
size_t frame_timestamp_us =
(double)cv::getTickCount() / (double)cv::getTickFrequency() * 1e6;
MP_RETURN_IF_ERROR(
gpu_helper.RunInGlContext([&input_frame, &frame_timestamp_us, &graph,
&gpu_helper]() -> ::mediapipe::Status {
// Convert ImageFrame to GpuBuffer.
auto texture = gpu_helper.CreateSourceTexture(*input_frame.get());
auto gpu_frame = texture.GetFrame<mediapipe::GpuBuffer>();
glFlush();
texture.Release();
// Send GPU image packet into the graph.
MP_RETURN_IF_ERROR(graph.AddPacketToInputStream(
kInputStream, mediapipe::Adopt(gpu_frame.release())
.At(mediapipe::Timestamp(frame_timestamp_us))));
return ::mediapipe::OkStatus();
}));
// Get the graph result packet, or stop if that fails.
mediapipe::Packet packet;
if (!poller.Next(&packet)) break;
std::unique_ptr<mediapipe::ImageFrame> output_frame;
// Get the packet containing multi_hand_landmarks.
::mediapipe::Packet multi_hand_landmarks_packet;
if (!multi_hand_landmarks_poller.Next(&multi_hand_landmarks_packet)) break;
const auto& multi_hand_landmarks =
multi_hand_landmarks_packet.Get<
std::vector<::mediapipe::NormalizedLandmarkList>>();
LOG(INFO) << "#Multi Hand landmarks: " << multi_hand_landmarks.size();
int hand_id = 0;
for (const auto& single_hand_landmarks: multi_hand_landmarks) {
++hand_id;
LOG(INFO) << "Hand [" << hand_id << "]:";
for (int i = 0; i < single_hand_landmarks.landmark_size(); ++i) {
const auto& landmark = single_hand_landmarks.landmark(i);
LOG(INFO) << "\tLandmark [" << i << "]: ("
<< landmark.x() << ", "
<< landmark.y() << ", "
<< landmark.z() << ")";
}
}
// Convert GpuBuffer to ImageFrame.
MP_RETURN_IF_ERROR(gpu_helper.RunInGlContext(
[&packet, &output_frame, &gpu_helper]() -> ::mediapipe::Status {
auto& gpu_frame = packet.Get<mediapipe::GpuBuffer>();
auto texture = gpu_helper.CreateSourceTexture(gpu_frame);
output_frame = absl::make_unique<mediapipe::ImageFrame>(
mediapipe::ImageFormatForGpuBufferFormat(gpu_frame.format()),
gpu_frame.width(), gpu_frame.height(),
mediapipe::ImageFrame::kGlDefaultAlignmentBoundary);
gpu_helper.BindFramebuffer(texture);
const auto info =
mediapipe::GlTextureInfoForGpuBufferFormat(gpu_frame.format(), 0);
glReadPixels(0, 0, texture.width(), texture.height(), info.gl_format,
info.gl_type, output_frame->MutablePixelData());
glFlush();
texture.Release();
return ::mediapipe::OkStatus();
}));
// Convert back to opencv for display or saving.
cv::Mat output_frame_mat = mediapipe::formats::MatView(output_frame.get());
cv::cvtColor(output_frame_mat, output_frame_mat, cv::COLOR_RGB2BGR);
if (save_video) {
if (!writer.isOpened()) {
LOG(INFO) << "Prepare video writer.";
writer.open(FLAGS_output_video_path,
mediapipe::fourcc('a', 'v', 'c', '1'), // .mp4
capture.get(cv::CAP_PROP_FPS), output_frame_mat.size());
RET_CHECK(writer.isOpened());
}
writer.write(output_frame_mat);
} else {
cv::imshow(kWindowName, output_frame_mat);
// Press any key to exit.
const int pressed_key = cv::waitKey(5);
if (pressed_key >= 0 && pressed_key != 255) grab_frames = false;
}
}
LOG(INFO) << "Shutting down.";
if (writer.isOpened()) writer.release();
MP_RETURN_IF_ERROR(graph.CloseInputStream(kInputStream));
return graph.WaitUntilDone();
}
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
gflags::ParseCommandLineFlags(&argc, &argv, true);
::mediapipe::Status run_status = RunMPPGraph();
if (!run_status.ok()) {
LOG(ERROR) << "Failed to run the graph: " << run_status.message();
return EXIT_FAILURE;
} else {
LOG(INFO) << "Success!";
}
return EXIT_SUCCESS;
}